Dynamic Modelling and Link Mechanism Design of Four-legged Mobile Robot PDF Download

Author: Sung-Ho Park
Publisher:
ISBN:
Category : Robotics
Languages : en
Pages : 430

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Author: Sŏng-ho Pak
Publisher:
ISBN:
Category : Artificial legs
Languages : en
Pages : 215

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Author: Pablo González de Santos
Publisher: Springer Science & Business Media
ISBN: 1846283078
Category : Technology & Engineering
Languages : en
Pages : 272

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Book Description
Walking machines have advantages over traditional vehicles, and have already accomplished tasks that wheeled or tracked robots cannot handle. Nevertheless, their use in industry and services is currently limited in scope. This book brings together methods and techniques that have been developed to deal with obstacles to wider acceptance of legged robots. Part I provides an historical overview. Part II concentrates on control techniques, as applied to Four-legged robots.

Author:
Publisher:
ISBN:
Category : Aeronautics
Languages : en
Pages : 548

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Author: Alessandro Gasparetto
Publisher: Springer
ISBN: 3030003655
Category : Technology & Engineering
Languages : en
Pages : 468

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Book Description
This volume contains the Proceedings of the 4th IFToMM Symposium on Mechanism Design for Robotics, held in Udine, Italy, 11-13 September, 2018. It includes recent advances in the design of mechanisms and their robotic applications. It treats, among others, the following topics: mechanism design, mechanics of robots, parallel manipulators, actuators and their control, linkage and industrial manipulators, innovative mechanisms/robots and their applications. This book can be used by students, researchers and engineers in the relevant areas of mechanisms, machines and robotics.

Author: Abhijit Mahapatra
Publisher: Springer Nature
ISBN: 9811529531
Category : Computers
Languages : en
Pages : 203

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Book Description
This book describes the development of an integrated approach for generating the path and gait of realistic hexapod robotic systems. It discusses in detail locomation with straight-ahead, crab and turning motion capabilities in varying terrains, like sloping surfaces, staircases, and various user-defined rough terrains. It also presents computer simulations and validation using Virtual Prototyping (VP) tools and real-world experiments. The book also explores improving solutions by applying the developed nonlinear, constrained inverse dynamics model of the system formulated as a coupled dynamical problem based on the Newton–Euler (NE) approach and taking into account realistic environmental conditions. The approach is developed on the basis of rigid multi-body modelling and the concept that there is no change in the configuration of the system in the short time span of collisions.

Author: David J. Manko
Publisher: Springer
ISBN: 9781461365884
Category : Technology & Engineering
Languages : en
Pages : 116

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Book Description
Dynamic modeling is the fundamental building block for mechanism analysis, design, control and performance evaluation. One class of mechanism, legged machines, have multiple closed-chains established through intermittent ground contacts. Further, walking on natural terrain introduces nonlinear system compliance in the forms of foot sinkage and slippage. Closed-chains constrain the possible motions of a mechanism while compliances affect the redistribution of forces throughout the system. A General Model of Legged Locomotion on Natural Terrain develops a dynamic mechanism model that characterizes indeterminate interactions of a closed-chain robot with its environment. The approach is applicable to any closed-chain mechanism with sufficient contact compliance, although legged locomotion on natural terrain is chosen to illustrate the methodology. The modeling and solution procedures are general to all walking machine configurations, including bipeds, quadrupeds, beam-walkers and hopping machines. This work develops a functional model of legged locomotion that incorporates, for the first time, non-conservative foot-soil interactions in a nonlinear dynamic formulation. The model was applied to a prototype walking machine, and simulations generated significant insights into walking machine performance on natural terrain. The simulations are original and essential contributions to the design, evaluation and control of these complex robot systems. While posed in the context of walking machines, the approach has wider applicability to rolling locomotors, cooperating manipulators, multi-fingered hands, and prehensile agents.

Author:
Publisher:
ISBN:
Category : Aeronautics
Languages : en
Pages : 456

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Author: Xiang Sheng
Publisher:
ISBN:
Category :
Languages : en
Pages :

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Book Description
This thesis focuses on mechanical design and simulation studies of a quadruped robot motion control system, targeting at designing an autonomous legged robot. The designed quadruped robot with ``X"-configuration is developed for traversing rocky and sloped terrain with a static walking gait. The mechanical design of the quadruped robot is illustrated in Chapter 2, including the main body design, leg design and component selection. In the design process, appropriate mechanical structures are utilized to minimize the energy consumption. To improve energy efficiency, a set of principles is proposed. Corresponding implementations are also concretely introduced in this chapter. In addition, to simplify the mechanical structure of the quadruped robot, the mass is symmetrically distributed about the frontal and lateral planes. To improve the leg agility, the leg mass is minimized. On the one hand, the lightweight design is implemented by optimizing the mass distribution of the leg mechanism. On the other hand, the key components are assembled in the body part instead of the legs as many as possible. A sufficient leg length is also selected not only to allow the robot to step on or over obstacles, but also to avoid the leg getting caught by objects. Particularly, the leg structure is demonstrated, including the hip joint, thigh part, knee joint and limb part with a telescoping joint. When the robot sustains extensive payload, the deformed shape in joints may lead to structural failures, thereby influencing the quadrupedal locomotion. Finite element analysis (FEA) is performed when designing the structural components in reasonable structures. The design processes of the shoulder part and brass rod are demonstrated as examples. Based on the setup of loads and fixtures, the maximum deformed shape of these structural components are analyzed. From FEA simulation results, the yield strength is two orders of magnitude larger than the maximum of von Mises stress. Hence, these components are suitable to be incorporated in the quadruped robot. Based on the designed mechanical structure, simulation studies of the quadruped robot motion control system are analyzed in Chapter 3, including the modeling for a robotic leg and animated simulation. Since the quadrupedal locomotion is executed by manipulating the postures of four legs, the leg model is significant to the motion control system, thereby being analyzed mathematically. Two links kinematic conversion is implemented between the foot-end trajectory and joint angles. The dynamic model of the leg is also computed to discovery the relationship between the actuating torques and joint angles. To animate the quadrupedal locomotion, a CAD robot model is converted into MATLAB. Following the predefined footfall pattern, four legs move in sequence to execute the creeping gait. The segment of the desired trajectory of the foot-end fits a fifth order polynomial and does not include the set of singular configurations. Then, the PD control is utilized to adjust the leg posture to track the desired path. Furthermore, the actual joint angles are calculated in the MATLAB/SimMechanics quadruped robot by using Euler-Lagrange equations. Lastly, simulation results are presented to analyze the tracking performance in the joint angles and foot-ends. Finally, conclusions of the thesis are summarized, and future work is presented in Chapter 4.

Author: Gregor Klancar
Publisher: Butterworth-Heinemann
ISBN: 0128042389
Category : Technology & Engineering
Languages : en
Pages : 504

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Book Description
Wheeled Mobile Robotics: From Fundamentals Towards Autonomous Systemscovers the main topics from the wide area of mobile robotics, explaining all applied theory and application. The book gives the reader a good foundation, enabling them to continue to more advanced topics. Several examples are included for better understanding, many of them accompanied by short MATLAB® script code making it easy to reuse in practical work. The book includes several examples of discussed methods and projects for wheeled mobile robots and some advanced methods for their control and localization. It is an ideal resource for those seeking an understanding of robotics, mechanics, and control, and for engineers and researchers in industrial and other specialized research institutions in the field of wheeled mobile robotics. Beginners with basic math knowledge will benefit from the examples, and engineers with an understanding of basic system theory and control will find it easy to follow the more demanding fundamental parts and advanced methods explained. - Offers comprehensive coverage of the essentials of the field that are suitable for both academics and practitioners - Includes several examples of the application of algorithms in simulations and real laboratory projects - Presents foundation in mobile robotics theory before continuing with more advanced topics - Self-sufficient to beginner readers, covering all important topics in the mobile robotics field - Contains specific topics on modeling, control, sensing, path planning, localization, design architectures, and multi-agent systems