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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In this paper,a topology is presented for feasible workspace regions in general two-revolute *** design problem and concept of feasible workspace regions have been discussed as linked to each *** equations are formula...
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In this paper,a topology is presented for feasible workspace regions in general two-revolute *** design problem and concept of feasible workspace regions have been discussed as linked to each *** equations are formulated by arbitrarily prescribing four workspace boundary *** so-called feasible workspace regions are the intersection of three different sub-regions,which are given by constraint curves as function of the relative positions of three workspace boundary *** using a parametric study,all topologies for three sub-regions are figured *** areas in cross section plane are determined for prescribing the position of a feasible workspace point as function of the topology for sub-regions.A classification has been proposed to determine and to characterize the combination of the topologies for those *** topologies for feasible workspace regions are figured out and they are discussed as a design *** general cases are analyzed in details to characterize workspace design capabilities for general two-revolute manipulators.
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.
The International Federation for the Promotion of Mechanism and Machine Science(IFToMM)held the International Symposium on robotics and mechatronics(ISRM 2009)as the first in a series of conference events promoting ro...
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The International Federation for the Promotion of Mechanism and Machine Science(IFToMM)held the International Symposium on robotics and mechatronics(ISRM 2009)as the first in a series of conference events promoting robotics and mechantronics in the Asian IFToMM *** first event was held in Hanoi University of Technology on Sept.21-23.2009.
We outline problems and potential solutions for feasible human-machine interfaces using cable-based parallel manipulators for physiotherapy *** an engineering perspective,we discuss the design constraints related to a...
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We outline problems and potential solutions for feasible human-machine interfaces using cable-based parallel manipulators for physiotherapy *** an engineering perspective,we discuss the design constraints related to acceptance by patients and physiotherapist *** date,most designs have focused on mobile platforms that are designed to be operated as an end-effector connected to human limbs for direct patient *** specific examples are illustrated from the authors' experience with prototypes available at laboratory of robotics and mechatronics (LARM),Italy.
The International Federation for the Promotion of Mechanism and Machine Science (IFToMM) held the International Symposium on robotics and mechatronics (ISRM 2009) as the first in a series of conference events promotin...
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The International Federation for the Promotion of Mechanism and Machine Science (IFToMM) held the International Symposium on robotics and mechatronics (ISRM 2009) as the first in a series of conference events promoting robotics and mechantronics in the Asian IFToMM community. The first event was held in Hanoi University of Technology on Sept.
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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