This paper introduces a novel hybrid structure design that is composed of rigid links and cables for a robotic leg with static walking. The proposed mechanism is characterized by actuated hip joints, passive knee join...
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Abstract This paper presents a solution for improving the obstacle overcoming ability of larm leg mechanism. In order to guide the solution, an analysis on gait adjustment is discussed with design guidelines. Kinemati...
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Abstract This paper presents a solution for improving the obstacle overcoming ability of larm leg mechanism. In order to guide the solution, an analysis on gait adjustment is discussed with design guidelines. Kinematic equations of the proposed leg mechanism are formulated for a computer oriented simulation of operation overcoming obstacles. Numerical simulations are made to indicate that the solution is feasible.
In this paper, a formulation for the ring workspace of three-revolute manipulators has been used for developing a straightforward analysis to investigate a general catalogue of workspace topology. A concept of TWT (ta...
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In this paper, a formulation for the ring workspace of three-revolute manipulators has been used for developing a straightforward analysis to investigate a general catalogue of workspace topology. A concept of TWT (table of workspace topology) has been proposed for a systematic analysis. With TWTs, some typical configurations of general three-revolute manipulators have been computed and analysed. The detected link effects on workspace have been reported in both topology characteristics and volume values.
The chameleon-like robot is a new designed robot especially for working in space station environment. While working in this environment, the robot can work in planar configurations. This paper focuses on the workspace...
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The chameleon-like robot is a new designed robot especially for working in space station environment. While working in this environment, the robot can work in planar configurations. This paper focuses on the workspace determination of this chameleon-like robot with its planar configurations. For this purpose, a geometric approach is used. Formulations and an algorithm have been outlined and implemented for generation and computation of the workspace. Several numerical examples are presented with different design parameters for analyzing the operation performance of this chameleon-like robot.
In this paper, an analysis of mechanisms in two-finger grippers has been discussed to formulate an optimum design procedure. The design problem has been approached and formulated as a new optimization problem by using...
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In this paper we have investigated the possibility of using parallel manipulator architectures for leg design in legged walking robots as inspired from the leg human muscular system. Proposed kinematic designs are pre...
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In this paper we have investigated the possibility of using parallel manipulator architectures for leg design in legged walking robots as inspired from the leg human muscular system. Proposed kinematic designs are presented with their basic features and performance with the aim to identify a solution with cost-oriented user-friendly characteristics as a leg module for biped robots but also for multi-legged walking machines.
In this study, cable-based manipulators are proposed for application in rehabilitation therapies. Cable-based manipulators show good features that are very useful when the system has to interact with humans. In partic...
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In this study, cable-based manipulators are proposed for application in rehabilitation therapies. Cable-based manipulators show good features that are very useful when the system has to interact with humans. In particular, they can be used to aid motion or as monitoring/training systems in rehabilitation therapies. Modelling and simulation of both active and passive cable-based parallel manipulators are presented for an application to help older people, patients or disabled people in the sit-to-stand transfer and as a monitoring/training system. Experimental results are presented by using built prototypes.
In this paper design criteria for manipulators are discussed and formulated for a multi-objective optimization problem. Optimality aspects are identified as suitable for numerical computations in a kinematic design pr...
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Many robotic hands have few configurations to achieve versatile grasp modes or the proper grasp force wrench, which is necessary for stable grasp. In this paper, design considerations are reported for improving the gr...
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ISBN:
(纸本)9781424425020
Many robotic hands have few configurations to achieve versatile grasp modes or the proper grasp force wrench, which is necessary for stable grasp. In this paper, design considerations are reported for improving the grasping capabilities of a low-cost and easy-operation three-finger robotic hand. A special planetary gear mechanism has been designed to adjust the position and orientation of two fingers. This novel solution significantly improves the flexibility of a robotic hand in terms of sizes and shapes of objects which can be grasped. Furthermore, both pinching and enveloping grasp configurations can be achieved similarly to human hands. Simulations are performed in Adams environment to show effectiveness of the proposed mechanism design in terms of both kinematic and dynamic performance.
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