Optimal Inverse Models for Bi-Mobile Mechanisms of Walking Robot Legs

Comanescu, Adriana; Comanescu, Dinu; Dugaesescu, Ileana; Ungureanu, Liviu Marian

doi:10.2507/daaam.scibook.2013.21

Cited by 12 publications

(11 citation statements)

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“…This class of mechanisms is applied in robotics for robot-arms or legs-pedipulators for walking or stepping robots. The inverse structural models are based on the passive groups [1,2] obtained from structures named Baranov trusses with zero degrees of mobility. The theoretical approach implies the numerical analysis generally made on planar linkages and especially on Baranov trusses and the generation of some new passive groups similar to those mentioned in the literature.…”

Section: Resultsmentioning

confidence: 99%

“…2. By applying to all linkages from Table 1 the method for the structural design of bi-mobile mechanisms [2] the Baranov truss BT 17 is involved in five new passive modular groups with eight links.…”

Section: New Passive Modular Groups For the Inverse Structural Modelsmentioning

confidence: 99%

“…From structural point of view this situation is equivalent to have for the robot arm or pedipulator mechanical system an instantaneous degree of mobility equal to zero. In the case of the bi-mobile systems [2] the mobility instantaneously becomes zero due to the placing a connection between the basis and the extremity of the effectors and this connection being equivalent to a lower pair with two constrains and a single mobility [2].…”

Section: Introductionmentioning

confidence: 99%

“…may have an inverse model constituted by the following passive modular groups formed by: 2+2+2+2, 2+4+2, 2+2+4, 4+2+2, 4+4, 2+6, 6+2 or 8 elements[2].…”

mentioning

confidence: 99%

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Passive Modular Groups for Inverse Structural Modelling of Bimobile Systems

Comanescu

Dugaesescu

et al. 2015

Procedia Engineering

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The passive modular groups mentioned in the classical theory of mechanisms are the basis modules in the construction of planar mechanisms with one degree of mobility corresponding to their linkages with four degrees of freedom. Even if thirteen solutions are presented [3,4,5,6] only some of them are found in practice and apparently there are groups never met in the mechanisms structure.The effectors extremity of bi mobile mechanisms describes any curve in an adequate domain. When the bi mobile mechanisms become main mechanical structures for robot arms and legs for mobile platforms two new notions are put into evidence -the inverse and the direct modelling. The inverse structure modelling of bi mobile mechanisms is based on the passive modular groups. By using the numerical operators such new structures with zero degree of mobility obtained from Baranov trusses may be obtained. In the paper there are also presented such new groups and their applying for the design of optimal bi mobile mechanisms. The paper is the result of intensive research to obtain new solutions applied and designed for various branches of robotics. The bi mobile systems thus obtained are patentable.

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Section: Resultsmentioning

confidence: 99%

Section: New Passive Modular Groups For the Inverse Structural Modelsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

“…may have an inverse model constituted by the following passive modular groups formed by: 2+2+2+2, 2+4+2, 2+2+4, 4+2+2, 4+4, 2+6, 6+2 or 8 elements[2].…”

mentioning

confidence: 99%

See 2 more Smart Citations

Passive Modular Groups for Inverse Structural Modelling of Bimobile Systems

Comanescu

Dugaesescu

et al. 2015

Procedia Engineering

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show abstract

“…The structural model of the stepping mechanism includes an active initial modular group (O,1) and two passive modular groups RTR and RRR (4, 5) serially connected (Comanescu et al 2010). The micro robot structure has two parallel mechanisms actuated by the same micro motor and having a diphase of 180 .…”

Section: Introductionmentioning

confidence: 99%