Various strain sensors have been developed due to their capability to monitor a piece of basic physiological information. However, a lot of existing strain sensor is based on planar soft sensors, which have a few crit...
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This paper presents a tracked robot composed of the proposed crawler mechanism, in which a planetary gear reducer is employed as transmission device and provides two outputs in different forms with only one actuator. ...
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ISBN:
(纸本)9781617825583
This paper presents a tracked robot composed of the proposed crawler mechanism, in which a planetary gear reducer is employed as transmission device and provides two outputs in different forms with only one actuator. The robot that contains two crawler modules can generate several configurations through controlling cooperatively the two actuators. This tracked robot, which uses two actuators to give four outputs, however could have less realizable postures than that where each output is provided by one actuator exactly. To figure out what postures can be generated by the introduced dual-crawler robot, the quasi-static analysis of the robot has been conducted in case of taking the rolling resistance into consideration, and its realizable postures are obtained numerically. The posture transition of the robot is also discussed in this paper.
The development and integration of robotics education encompass a multifaceted approach that combines theoretical knowledge with practical application. The educational process is geared toward producing highly qualifi...
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This article presents the design methodology, optimization, and computational verification of a compact, high-gain planar XY flexure mechanism. The presented mechanism consists of a decoupled XY mechanism, and a modif...
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The bond graph representation is applied to Linear Time-Varying (LTV) *** state-space repre-sentation and an equivalence transformation are pre-sented. From the state space description of a LTV sys-tem, a bond graph m...
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ISBN:
(纸本)9780889869790
The bond graph representation is applied to Linear Time-Varying (LTV) *** state-space repre-sentation and an equivalence transformation are pre-sented. From the state space description of a LTV sys-tem, a bond graph model using a *** junction structure can be built. The proposed methodologies are applied to some examples.
Physical human activity is central to reducing the risk of many chronic diseases, thus it is considered vital to promoting healthy life styles. Also human Activity recognition (HAR) in recent times has found applicati...
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The development of small applications for engineering calculations is a feasible, useful and interesting work for students of applied mechanics. In order to produce a workable application, it is necessary to have deep...
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A feasibility study on the mechanical design and walking operation of a Cassino biped locomotor is presented in this paper. The biped locomotor consists of two identical 3 degrees-of-freedom tripod leg mechanisms with...
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A feasibility study on the mechanical design and walking operation of a Cassino biped locomotor is presented in this paper. The biped locomotor consists of two identical 3 degrees-of-freedom tripod leg mechanisms with a parallel manipulator architecture. Planning of the biped walking gait is performed by coordinating the motions of the two leg mechanisms and waist. A three- dimensional model is elaborated in SolidWorks environ- ment in order to characterize a feasible mechanical design. Dynamic simulation is carried out in *** environment with the aims of characterizing and evaluat- ing the dynamic walking design. Simulation results performance of the proposed show that the proposed biped locomotor with proper input motions of linear actuators performs practical and feasible walking on fiat surfaces with limited actuation and reaction forces between its feet and the ground. A preliminary prototype of the biped locomotor is built for the purpose of evaluating the operation performance of the biped walking gait of the proposed locomotor.
This paper presents the design and modeling of a lightweight tendon actuated robotic limb. The mechanical structure consists of a sequence of four semi-rigid segments realized in thermoplastic polyurethane material an...
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This paper aims to present general design considerations and optimality criteria for underactuated mechanisms in finger *** issues related to grasping task of robotic fingers are *** characteristics are outlined as re...
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This paper aims to present general design considerations and optimality criteria for underactuated mechanisms in finger *** issues related to grasping task of robotic fingers are *** characteristics are outlined as referring to several aspects of finger *** criteria of the finger performances are formulated after careful analysis.A general design algorithm is summarized and formulated as a suitable multi-objective optimization problem.A numerical case of an underactuated robot finger design for Laboratory of robotics and mechatronics(LARM)hand is illustrated with the aim to show the practical feasibility of the proposed concepts and computations.
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