This paper presents a new methodology for the deformation of soft objects by drawing an analogy between heat conduction and elastic deformation. The potential energy stored in an elastic body as a result of a deformat...
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This paper presents a new methodology for the deformation of soft objects by drawing an analogy between heat conduction and elastic deformation. The potential energy stored in an elastic body as a result of a deformation caused by an external force is propagated among mass points by the principle of heat conduction. An improved heat conduction model is developed for propagating the energy generated by the external force in a natural manner. A method is presented to derive the internal forces from the potential energy distribution. This methodology not only deals with large-range deformation, but also accommodates both isotropic and anisotropic materials by simply changing thermal conductivity constants. Examples are presented to demonstrate the efficiency of the proposed methodology.
A new humanoid robot capable of various motion is proposed in this paper, which has a 2 DOF waist and 2 DOF trunk. A new upper body mechanism is mounted on a leg machine, WABIAN2/LL, and a full scale humanoid robot, W...
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A new humanoid robot capable of various motion is proposed in this paper, which has a 2 DOF waist and 2 DOF trunk. A new upper body mechanism is mounted on a leg machine, WABIAN2/LL, and a full scale humanoid robot, WABIAN-2, is constructed in this study. Its trunk is designed to bend forwards, backwards and sideways and rotate in combination with a 2-DOF waist. Also, the upper body is designed in way that makes it able to use a walk-assist machine. Basic walking experiments with and without a walk-assist machine are conducted, and the effectiveness of the mechanism of WABIAN-2 is confirmed
A new method of smooth trajectory generation which can replace typical polynomial type trajectory is suggested. A simple, practical, discrete polynomial-like trajectory generation method which is based on zero final s...
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A new method of smooth trajectory generation which can replace typical polynomial type trajectory is suggested. A simple, practical, discrete polynomial-like trajectory generation method which is based on zero final state constraints was suggested and named ZSPOT. There is a progress about it by allowing nonzero final constraints and named ASPOT. Without watching control issues behind these methods, they are shown only as a new trajectory generation method which is of discrete form so that easily applicable to most practical systems. ZSPOT is applied to a simulation of mobile-manipulator system and the effect of ASPOT is shown through experiment of a linear motor system.
In this paper, a new method for adjusting the height of a cylindrical pair in a static environment is presented. Generic force formulations are established. A technique to uniquely identify the type of contact based o...
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This paper describes the development and verification of a dynamic model for a Cartesian manipulator. Experiments and simulations are performed in order to determine the parameters of the established model. Optical sh...
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This paper presents a new approach to create 3D visualization from discrete simulation results. This approach connects discrete event simulation directly to 3D animation with its novel methods of analyzing and convert...
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This paper presents a new approach to create 3D visualization from discrete simulation results. This approach connects discrete event simulation directly to 3D animation with its novel methods of analyzing and converting discrete simulation results into animation events to trigger 3D animation. In addition, it constructs a 3D animation framework for the visualization of discrete simulation results. This framework supports the reuse of both the existing 3D animation objects and behavior components, and allows the rapid development of new 3D animation objects by users with no special knowledge in computer graphics but average computer skills. This approach has been implemented with the software component technology, and successfully applied in industry. Results from its practice in an electronics assembly factory are also provided in the paper to demonstrate the performance of this new approach.
There was a paper on robust controller design framework of teleoperation[10]. This design method strongly depends on the initial setup of the system and can not be applied to the realistic situation which includes the...
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There was a paper on robust controller design framework of teleoperation[10]. This design method strongly depends on the initial setup of the system and can not be applied to the realistic situation which includes the transition motion as free to contact motion because the controllers were separately derived for the free motion and contact motion. Therefore, we want to propose a new design framework which can solve this dependence. To prove the effectiveness of the proposed method, comparative simulation with the existing four channel design method was performed.
This study was aimed at optimizing the structural design of the robot in regards to two main aspects: link shape and link dimension. This paper presents a method to find an optimal function of link cross-sectional rad...
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This study was aimed at optimizing the structural design of the robot in regards to two main aspects: link shape and link dimension. This paper presents a method to find an optimal function of link cross-sectional radius that provides uniform bending stress along the length of a hollow shaft. This method was successfully applied to some other cases such as a hollow rectangle. We also present a method to determine the optimal link lengths of a manipulator with six revolute joints based on the method introduced in [1]. These optimized dimensions minimize average required torque at each joint.
This paper describes the development and verification of a dynamic model for a Cartesian manipulator. Experiments and simulations are performed in order to determine the parameters of the established model. Optical sh...
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This paper describes the development and verification of a dynamic model for a Cartesian manipulator. Experiments and simulations are performed in order to determine the parameters of the established model. Optical shaft encoder feedback was proven to be unsatisfactory predominantly due to elasticity of the couplings and ball-nut backlash. As a result, a laser interferometry-based measurement system was used for position data acquisition. Experimental results highlight the occurrence of limit-cycles due to inherent friction by the rails, ball-nuts and bearings. The derived model parameters were determined both by theoretical calculations and experimental response observation.
In this paper, a new method for adjusting the height of a cylindrical pair in a static environment is presented. Generic force formulations are established. A technique to uniquely identify the type of contact based o...
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In this paper, a new method for adjusting the height of a cylindrical pair in a static environment is presented. Generic force formulations are established. A technique to uniquely identify the type of contact based on the force and torque data provided by a wrist mounted F/T sensor is developed. For small clearances between the links, the assumption of using zero misalignment in the formulations is justified by means of simulations. Friction, which is a key parameter for contact type identification is experimentally determined. Preliminary experimental results indicate that the presented technique is effective in determining the type of contact for the height adjustment operation.
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