Self-crossing Motion Analysis of a Novel Inpipe Parallel Robot with Two Foldable Platforms

Ding, Wan; Yao, Yan‐an

doi:10.1007/978-3-319-17067-1_23

Cited by 6 publications

(3 citation statements)

References 10 publications

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“…There is a special spherical sub-chain consisting of link 9, link 10 and component 11 and connected by two arc prismatic pairs, limits the revolute axes OB2, OB5 and OB8 on a plane, which is defined as the mid-plane of the mechanism. And the spherical 3R sub-chains B7B8B9 and component 11 forming a symmetric double arc slider-rocker mechanism aims at keeping the mid-plane always coplanar with the angular bisector of spherical angle ∠B1B2B3 [30] , ensuring the base and the end effector are symmetric with respect to the mid-plane during the movement of the mechanism. The DOF of the mechanism can be calculated by using the G-K formula:…”

Section: Mobility Analysismentioning

confidence: 99%

Motion Characteristics Analysis of a Novel Spherical Two-degree-of-freedom Parallel Mechanism

Chen¹,

Chen²,

Gao³

et al. 2021

Preprint

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In this paper, a novel two-degree-of-freedom (2DOF) spherical parallel mechanism(SPM) with symmetrical structure is proposed and analyzed. First, the models of forward kinematics and inverse kinematics are established based on D-H parameters, and the Jacobian matrix of the mechanism is obtained and verified. Second, the workspace of the mechanism is obtained according to inverse kinematics and link interference conditions. Next, rotational characteristics analysis shows that the end effector can achieve continuous rotation about an axis located in the mid-plane and passing through the rotation center of the mechanism. Moreover, the rotational characteristics of the mechanism are proved and motion planning is carried out. A numerical example is given to verify the kinematics analysis and motion planning. Finally, some variant mechanisms can be synthesized. This work lays the foundation for the motion control and practical application of this 2DOF SPM.

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Section: Mobility Analysismentioning

confidence: 99%

Motion Characteristics Analysis of a Novel Spherical Two-degree-of-freedom Parallel Mechanism

Chen¹,

Chen²,

Gao³

et al. 2021

Preprint

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“…9 A parallel robot with excellent deformation and folding capabilities in narrow and restricted motion spaces was proposed. 10 Metamorphic robots are also an important development direction. Since Dai and Jones proposed the theory of metamorphic mechanisms inspired by origami, some metamorphic mobile robots have been proposed.…”

Section: Introductionmentioning

confidence: 99%

Design and analysis of a multi-configuration wheel-leg hybrid drive robot machine

Hou

Yuan

et al. 2023

International Journal of Advanced Robotic Systems

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The use of robots to perform tasks in extreme environments instead of humans has gradually become important. For wider applications, robots should be able to adapt to complex environments, such as typical height/width-restricted motion spaces, raised obstacles, and ravines. The structure is the foundation of robot to move and perform tasks. In this study, a variable-attitude robot mechanism is designed and analyzed. With the link leg drive and Mecanum wheel drive, the robot has various configurations and omnidirectional motion capabilities. First, the design and analysis of the wheel drive system are performed, and the mapping relationship between the velocity of the robot and the velocity of the Mecanum wheel is clarified. Second, kinematics of the linkage drive system is analyzed, including the motion space, trajectory characteristics, and the effect of variable axle spacing on the robot motion performance. Subsequently, a simulation is used to verify the rationality of the three motion modes of the robot: walking, wheel drive, and hybrid drive. Finally, a motion simulation of several typical configuration changes in the robot is observed, and the feasibility of the robot mechanism to adapt to a complex environment is verified. This study contributes to the development and application of special advanced robots.

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“…Shang developed a deployable robot that can move in a space with limited height and width through structural deformations, such as unfolding and folding [17]. Ding presented a parallel robot that possesses large deformation capabilities (adapted to different pipe sizes), and foldable and expandable capabilities (folding into flat or prism shapes) [18].…”

Section: Introductionmentioning

confidence: 99%

Mechanism Design of a Transformable Crawling Robot and Feasibility Analysis for the Unstructured Environment

et al. 2022

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The better application of crawl robots depends on their ability to adapt to unstructured environments with significant variations in their structural shape and size. This paper presents the design and analysis of a novel robot with different locomotion configurations to move through varying environments. The leg of the robot, inspired by insects, was designed as a multi-link structure, including the Hoekens linkage and multiple parallel four-link mechanisms. The end trajectory was a symmetrical closed curve composed of an approximate straight line and a shell curve with a downward opening. The special trajectory allowed the robot to share drives and components to achieve structural deformation and locomotion. The structural characteristics of the crawl robot on the inner and outer arcs were obtained based on the working space. The constraint relationship between the structure size, the radius of the arc, and the coefficient of static friction with which the robot could crawl on the arc were established. The feasible support posture and support position of the robot under different arc radii were obtained. The simulation tested the locomotion of the robot on the plane, arc, and restricted space. The robot can be used for detection, search, and rescue missions in unstructured environments.

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Self-crossing Motion Analysis of a Novel Inpipe Parallel Robot with Two Foldable Platforms

Cited by 6 publications

References 10 publications

Motion Characteristics Analysis of a Novel Spherical Two-degree-of-freedom Parallel Mechanism

Motion Characteristics Analysis of a Novel Spherical Two-degree-of-freedom Parallel Mechanism

Design and analysis of a multi-configuration wheel-leg hybrid drive robot machine

Mechanism Design of a Transformable Crawling Robot and Feasibility Analysis for the Unstructured Environment

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