On the dynamics of multi-closed-chain robotic mechanisms

Zahedi, A.; Shafei, A. M.; Shamsi, M.

doi:10.1016/j.ijnonlinmec.2022.104241

Cited by 15 publications

(4 citation statements)

References 49 publications

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“…However, because the partial Lagrangian uses the linear independence of each DoF to split its computation, the split may not work well if its assumptions change. Several recent studies have shown that recursive algorithmic solutions are also effective in parallellinked systems [27,28]. Therefore, our future work will include applications to systems other than the serial link manipulators treated in this study, such as closed-link systems and parallel-link systems.…”

Section: Discussionmentioning

confidence: 99%

“…Recursive algorithms, such as an algorithm applying the Gibbs-Appel equation [27] and the harmony search algorithm [28], are also known to be very effective for complex systems, such as parallel robots. Our approach differs from recursive algorithms in that it exploits the linear independence of the Lagrangian for partitioning and reuse of computed results.…”

Section: Introductionmentioning

confidence: 99%

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Partial Lagrangian for Efficient Extension and Reconstruction of Multi-DoF Systems and Efficient Analysis Using Automatic Differentiation

Kusaka¹,

Tanaka

2022

Robotics

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In the fields of control engineering and robotics, either the Lagrange or Newton–Euler method is generally used to analyze and design systems using equations of motion. Although the Lagrange method can obtain analytical solutions, it is difficult to handle in multi-degree-of-freedom systems because the computational complexity increases explosively as the number of degrees of freedom increases. Conversely, the Newton–Euler method requires less computation even for multi-degree-of-freedom systems, but it cannot obtain an analytical solution. Therefore, we propose a partial Lagrange method that can handle the Lagrange equation efficiently even for multi-degree-of-freedom systems by using a divide-and-conquer approach. The proposed method can easily handle system extensions and system reconstructions, such as changes to intermediate links, for multi-degree-of-freedom serial link manipulators. In addition, the proposed method facilitates the derivation of the equations of motion-by-hand calculations, and when combined with an analysis algorithm using automatic differentiation, it can easily realize motion analysis and control the simulation of multi-degree-of-freedom models. Using multiple pendulums as examples, we confirm the effectiveness of system expansion and system reconstruction with the partial Lagrangians. The derivation of their equations of motion and the results of motion analysis by simulation and motion control experiments are presented. The system extensions and reconstructions proposed herein can be used simultaneously with conventional analytical methods, allowing manual derivations of equations of motion and numerical computer simulations to be performed more efficiently.

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Section: Discussionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Partial Lagrangian for Efficient Extension and Reconstruction of Multi-DoF Systems and Efficient Analysis Using Automatic Differentiation

Kusaka¹,

Tanaka

2022

Robotics

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“…The model of 3-Dof robot manipulator used in this scenario with coordinate arm link parameters as shown in Table 1. There are various method that can be used to model the dynamics of robot manipulator, such as Gibbs-Apell(GA) and Newton formula [31] and Kane's Formula [32]. In this study, the Lagrange-Euler method was chosen because of the simplicity of the algorithms to model robot manipulators in multi-DoF and mostly used in control system.…”

Section: Methodology a 3-dof Robot Manipulatormentioning

confidence: 99%

Enhanced Equation Discovery of 3-DoF Robotic Manipulator Dynamics Using LASSO Model Selection Criteria With Variable Segregation Algorithm

Istiqphara,

Wahyunggoro,

Cahyadi

2024

IEEE Access

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The challenge in controlling a manipulator robot is to model the system to obtain an efficient control system design. One approach that can be used to model the dynamics of a manipulator robot is data-driven modeling. However, in its implementation, data-driven modeling is highly sensitive to sensor noise, which significantly affects the accuracy of the system identification. In addition, the existing approach yields only a generalized form of the differential equation for each joint, which has not been divided into inertial, Coriolis, and gravitational variables that can be used for other purposes. In this study, a LASSO model selection criteria with a variable segregation algorithm (LMSCVS) is proposed to derive the dynamic equation of a 3-DoF manipulator robot, segregating the generalized form variables into Coriolis and centrifugal, inertia, and gravitational variables. Additionally, a Dynamic Expression Nonlinearization(DEx-N) algorithm is introduced to generate nonlinear candidates more efficiently to express the dynamics of the robot manipulator. The experimental results on the ROB3 hardware demonstrate that the proposed method successfully discovers mathematical equations, resulting in higher accuracy and sparsity compared to the previous method. The processing time of the proposed method is also significantly faster. Based on these results, the proposed method has a better performance in identifying real systems that usually have noise in the sensor data and in discovering the equation of robot manipulator dynamics for broader purposes.

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“…In the present study, we focus on the Coleoptera beetle species Coccinella septempunctata in Figure 1a, among various flying insects, as it is one of the heaviest of the smaller-size insects and has a pair of thick elytra among the biological flyers that meet the weight and size requirements of MAV [19][20][21][22]. Meanwhile, there have been few investigators who have studied the flight mechanism of the Coleopteran beetle [23][24][25][26][27].…”

Section: Introductionmentioning

confidence: 99%

Clap-and-Fling Mechanism of Climbing-Flight Coccinella Septempunctata

Yang,

Deng,

et al. 2024

Biomimetics

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Previous studies on the clap–fling mechanism have predominantly focused on the initial downward and forward phases of flight in miniature insects, either during hovering or forward flight. However, this study presents the first comprehensive kinematic data of Coccinella septempunctata during climbing flight. It reveals, for the first time, that a clap-and-fling mechanism occurs during the initial upward and backward phase of the hind wings’ motion. This discovery addresses the previously limited understanding of the clap-and-fling mechanism by demonstrating that, during the clap motion, the leading edges of beetle’s wings come into proximity to form a figure-eight shape before rotating around their trailing edge to open into a “V” shape. By employing numerical solutions to solve Navier–Stokes (N-S) equations, we simulated both single hind wings’ and double hind wings’ aerodynamic conditions. Our findings demonstrate that this fling mechanism not only significantly enhances the lift coefficient by approximately 9.65% but also reduces the drag coefficient by about 1.7%, indicating an extension of the applicability range of this clap-and-fling mechanism beyond minute insect flight. Consequently, these insights into insect flight mechanics deepen our understanding of their biological characteristics and inspire advancements in robotics and biomimetics.

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On the dynamics of multi-closed-chain robotic mechanisms

Cited by 15 publications

References 49 publications

Partial Lagrangian for Efficient Extension and Reconstruction of Multi-DoF Systems and Efficient Analysis Using Automatic Differentiation

Partial Lagrangian for Efficient Extension and Reconstruction of Multi-DoF Systems and Efficient Analysis Using Automatic Differentiation

Enhanced Equation Discovery of 3-DoF Robotic Manipulator Dynamics Using LASSO Model Selection Criteria With Variable Segregation Algorithm

Clap-and-Fling Mechanism of Climbing-Flight Coccinella Septempunctata

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