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Kinematic analysis of flexible bipedal robotic systems

Applied Mathematics and Mechanics(English Edition) 2024年第5期45卷 795-818页

作者： R.FAZEL A.M.SHAFEI S.R.NEKOO Department of Mechanical Engineering Shahid Bahonar University of KermanKerman ***Iran Departamento de Ingenieria de Sistemas y Automatica Escuela Técnica Superior de IngenieriaUniversidad de SevillaSeville 41092Spain

In spite of its intrinsic complexities,the passive gait of bipedal robots on a sloping ramp is a subject of interest for numerous *** distinguishes the present research from similar works is the consideration of flexibility in the constituent links of this type of robotic *** is not a far-fetched assumption because in the transient(impact)phase,due to the impulsive forces which are applied to the system,the likelihood of exciting the vibration modes increases ***,the human leg bones that are involved in walking are supported by viscoelastic muscles and ***,for achieving more exact results,it is essential to model the robot links with viscoelastic *** this end,the Gibbs-Appell formulation and Newton's kinematic impact law are used to derive the most general form of the system's dynamic equations in the swing and transient phases of *** most important issue in the passive walking motion of bipedal robots is the determination of the initial robot configuration with which the system could accomplish a periodic and stable gait solely under the effect of gravitational *** extremely unstable nature of the system studied in this paper and the vibrations caused by the impulsive forces induced by the impact of robot feet with the inclined surface are some of the very serious challenges encountered for achieving the above-mentioned *** overcome such challenges,an innovative method that uses a combination of the linearized equations of motion in the swing phase and the algebraic motion equations in the transition phase is presented in this paper to obtain an eigenvalue *** solving this problem,the suitable initial conditions that are necessary for the passive gait of this bipedal robot on a sloping surface are *** effects of the characteristic parameters of elastic links including the modulus of elasticity and the Kelvin-Voigt coefficient on the walking stability of this type of

关键词： bipedal robot flexible link swing phase transient phase eigenvalue problem Kelvin-Voigt coefficient

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ON THE DYNAMIC MODELING AND CONTROL OF 2-DOF PLANAR PARALLEL MECHANISM WITH flexible linkS

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Chinese Journal of Mechanical Engineering 2005年第1期18卷 112-117页

作者： LuoLei WangShigang MoJinqiu CaiJianguo SchoolofMechanicalEngineenng ShanghaiJiaotongUniversityShanghai200030China

The object of study is about dynamic modeling and control for a 2degree-of-freedom (DOF) planar parallel mechanism (PM) with flexible links. The kinematic anddynamic equations are established according to the characteristics of mixed rigid and flexiblestructure. By using the singular perturbation approach (SPA), the model of the mechanism can beseparated into slow and fast subsystems. Based on the feedback linearization theory and inputshaping technique, the large scale rigid motion controller and the flexible link vibrationcontroller can be designed separately to achieve fast and accurate positioning of the PM.

关键词： Parallel mechanism flexible link Dynamic modeling Singular perturbation Input shaping

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Dynamic analysis of multi-link spatial flexible manipulator arms with dynamic stiffening effects

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Theoretical & Applied Mechanics Letters 2012年第6期2卷 25-30页

作者： Sijia Chen Dingguo Zhang Jun Liu Ningbo Institute of Technology Zhejiang UniversityNingbo 315100China School of Sciences Nanjing University of Science and TechnologyNanjing 210094China

The dynamics for multi-link spatial flexible manipulator arms is investigated. The system considered here is an N-flexible-link manipulator driven by N DC-motors through N revolute flexiblejoints. The flexibility of each flexible joint is modeled as a linearly elastic torsional spring, and the mass of the joint is also considered. For the flexibility of the link, all of the stretching deformation, bending deformation and the torsional deformation are included. The complete governing equations of motion of the system are derived via the Lagrange equations. The nonlinear description of the deformation field of the flexible link is adopted in the dynamic modeling, and thus the dynamic stiffening effects are captured. Based on this model, a general-purpose software package for dynamic simulation of multi-link spatial flexible manipulator arms is developed. Several illustrative examples are given to validate the algorithm presented in this paper and to indicate that not only dynamic stiffening effects but also the flexibility of the structure has significant influence on the dynamic performance of the manipulator.

关键词： flexible manipulator arm multi-link flexible joint flexible link dynamic stiffening

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VIBRATION CONTROLLABILITY OF UNDERACTUATED ROBOTS WITH flexible linkS

VIBRATION CONTROLLABILITY OF UNDERACTUATED ROBOTS WITH FLEXI...

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2006年中国机械工程学会年会暨中国工程院机械与运载工...

作者： CHEN Wei*, YU Yueqing*, ZHANG Xuping*, SU Liying* *The College of Mechanical Engineering & Applied Electronics Technology, Beijng University of Technology, Beijing 100022, China School of Mechanical Engineering, Tianjin University of Technology, Tianjin 300191, China

The controllability analysis of underactuated robots with flexible links is the important preparatory step to efficiently control the system. In this paper, based on the dynamic model using the assume

关键词： Underactuated robot flexible link vibration controllability.

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Application of Adaptive Neural Network Based Interval Type-2 Fuzzy Logic Control on A Nonlinear System

Application of Adaptive Neural Network Based Interval Type-2...

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2011 3rd International Conference on Computer Research and Development(ICCRD 2011)

作者： mit NEN Mustafa TINKIR Mete KALYONCU Fatih Mehmet BOTSALI Department of Mechanical Engineering Faculty of Eng. and Arch. University of Seluk Konya TURKEY

In this study, four adaptive neural network based fuzzy logic controllers （ANNFL） are designed and used as two controllers in terms of interval type-2 fuzzy logic control. The new controllers are called as adaptive neural network based interval type-2 fuzzy logic controller （ANNIT2FL） and applied to a rigid-flexible robot manipulator. Initially dynamic model of the manipulator is obtained by using Lagrange equations and assumed modes method. ANNFL controllers are used for tracking and vibration control of system. The training and testing data of ANNFLs are obtained from the conventional PD control of the manipulator system. The performances of four ANFLCs are tested for different type and different number of membership functions and combined to create two ANNIT2FL controllers. Finally simulation results are obtained according to rotation and vibration control performances of ANNIT2FL controllers. Results demonstrate the remarkable performance of the proposed control technique.

关键词： Neural network, fuzzy logic control interval type-2, robot manipulator flexible link tracking control vibration control

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