Kinematic Analysis of a Serial-Parallel Hybrid Mechanism and its Application to a Wheel-Legged Robot

Niu, Jianye; Wang, Hongbo; Jiang, Zifan; Chen, Li; Zhang, Jianjun; Yan, Feng; Guo, Shuxiang

doi:10.1109/access.2020.3001653

Cited by 13 publications

(5 citation statements)

References 32 publications

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“…Recent studies have explored the potential of leg mechanisms inspired by reptiles for their stability and agility [212], [214]. Investigations into balance control strategies for human-exoskeleton systems and the replication of agile walking behaviours seen in insects and crustaceans contribute valuable insights for potential applications in areas like rehabilitation, sports, and industrial automation [110].…”

Section: Future Directions Of Control S and Design In Bipedal Wheel-l...mentioning

confidence: 99%

Evolution, Design, and Future Trajectories on Bipedal Wheel-legged Robot: A Comprehensive Review

Mansor,

Irawan,

Abas

2023

IJRCS

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This comprehensive review delves into the realm of bipedal wheel-legged robots, focusing on their design, control, and applications in assistive technology and disaster mitigation. Drawing insights from various fields such as robotics, computer science, and biomechanics, it offers a holistic understanding of these robots' stability, adaptability, and efficiency. The analysis encompasses optimization techniques, sensor integration, machine learning, and adaptive control methods, evaluating their impact on robot capabilities. Emphasizing the need for adaptable, terrain-aware control algorithms, the review explores the untapped potential of machine learning and soft robotics in enhancing performance across diverse operational scenarios. It highlights the advantages of hybrid models combining legged and wheeled mobility while stressing the importance of refining control frameworks, trajectory planning, and human-robot interactions. The concept of integrating soft and compliant mechanisms for improved adaptability and resilience is introduced. Identifying gaps in current research, the review suggests future directions for investigation in the fields of robotics and control engineering, addressing the evolution and terrain adaptability of bipedal wheel-legged robots, control, stability, and locomotion, as well as integrated sensory and perception systems, microcontrollers, cutting-edge technology, and future design and control directions.

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Section: Future Directions Of Control S and Design In Bipedal Wheel-l...mentioning

confidence: 99%

Evolution, Design, and Future Trajectories on Bipedal Wheel-legged Robot: A Comprehensive Review

Mansor,

Irawan,

Abas

2023

IJRCS

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“…There are two kinematic models for industrial robots; forward and inverse kinematics [25], [26]. calculate the configuration of the chain, and inverse kinematics reverses this calculation to determine the joint parameters [28], [29]. Forward kinematics refers to the use of the kinematic equations of a robot to compute the position of the end-effector from specified values for the joint parameters and reverse process that calculate the joint parameters achieving a specified position of the end-effector is known as inverse kinematics [26]- [31].…”

Section: A Robot Kinematicmentioning

confidence: 99%

“…In this study, we created a kinematic model based on quaternion algebra for multi robot production cell to calculate dynamic TCP for collision management. Quaternions are a number system that extends the complex numbers [29]- [31]. They were first described by Irish mathematician William Rowan Hamilton in 1843 and applied to mechanics in three-dimensional space.…”

Section: A Robot Kinematicmentioning

confidence: 99%

A New Robotic Application for COVID-19 Specimen Collection Process

Deniz

Gökmen²

2021

Journal of Robotics and Control

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Covid-19 manual specimen collection process is too critical for health care workers due to they are able to getting infection from Covid-19-patient during the medical interaction. The purpose of this study, a novel robotic application is developed to achieve automatic specimen collection process for new corona virus (COVID-19). This application is a protection tool for health care workers for the Covid-19 pandemic. This robotic application easily and safely complete the sampling process task and assist to health care workers to prevent infection. The application is basically consist of a collaborative robot (COBOT), base plate, fixtures and a gripper. There are co-operation activities between the COBOT and health care worker to complete all tasks. The robotic application has been tested in the plant health care center as a prototype. The cycle-time (192 sec) for the robotic process needs to be improved. The Manual process is still %60 faster than robotic application. The biggest challenge in this application is patient’s mouth and nose physical size changes. Robot movements for the specimen collection in nose and mouth are arranged just based on the fixed point. This needs to be improved according to size changes. Covid-19 specimen collection process with a robotic application has been presented which don’t need any health care worker interaction with patient. This application needs to be improved related with above challenges to make a shelf product. It will create valuable impact and save lives in this pandemic.

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“…Industrial robots are most successful in applications like pick and place, motion simulation, and machine processing, etc [1]- [3]. The most common industrial robots are mainly composed of serial robots [4], parallel robots [5], [6], and hybrid serial-parallel robots [7], [8]. It is well known that serial robots have the characteristics of simple structures, large workspace, and high motion flexibility.…”

Section: Introductionmentioning

confidence: 99%

Type Synthesis of 2T1R Planar Parallel Mechanisms and Their Moduling Development Applications

et al. 2021

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The two translational degrees-of-freedom (DOF) and one rotational DOF (2T1R) planar parallel mechanisms (PMs) have the characteristics of simple structures, simple kinematic and dynamic models, and ease of control and allow for a variety of application prospects. This paper concentrates on the derivations of the 5-DOF hybrid manipulators based on the synthesized mechanisms. To understand the effect of the constraint on the motion of a rigid body clearly, the method of reciprocal product between the wrench screw (constraint) and the twist screw (motion) is used and the relationships between the constraint and the motion of a rigid body are analyzed as well. The results are extended to the relationships between the limb constraint and the axes of limb joints. Then, limbs are divided into planar motion and spatial motion limbs in view of their motion characteristics, and some common limbs with constraint are listed. After that, based on the type synthesis method, a class of 2T1R planar PMs with common limbs is carried out. Meanwhile, some typical planar closed chains with two same limbs are obtained in the process of type synthesis. Finally, a 2T1R kinematically redundancy planar PM and two 2R1T spatial PMs are derived by making simple changes to the obtained mechanisms, and detailed derivations of three 5-DOF hybrid manipulators with the ability of processing spatial complex surface are given. Proved by the test parts, the accomplishment of deriving novel robot configurations with regard to expectant motion are quite valuable and practical.

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Kinematic Analysis of a Serial-Parallel Hybrid Mechanism and its Application to a Wheel-Legged Robot

Cited by 13 publications

References 32 publications

Evolution, Design, and Future Trajectories on Bipedal Wheel-legged Robot: A Comprehensive Review

Evolution, Design, and Future Trajectories on Bipedal Wheel-legged Robot: A Comprehensive Review

A New Robotic Application for COVID-19 Specimen Collection Process

Type Synthesis of 2T1R Planar Parallel Mechanisms and Their Moduling Development Applications

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