Robots with increased number of degree-of-freedom with single exciting force
| Autor: | Genadijus Kulvietis, Vytautas Jurenas, Ramutis Bansevicius, Asta Drukteiniene |
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| Rok vydání: | 2017 |
| Předmět: |
0209 industrial biotechnology
Engineering Floating point Computer simulation business.industry General Engineering Soft robotics 02 engineering and technology Kinematics Symbolic computation Computer Science::Robotics Sylvester's law of inertia 020303 mechanical engineering & transports 020901 industrial engineering & automation 0203 mechanical engineering Control theory Moment (physics) Robot business ComputingMethodologies_COMPUTERGRAPHICS |
| Zdroj: | Precision Engineering. 48:315-322 |
| ISSN: | 0141-6359 |
| Popis: | This paper presents the results of the development and investigation of a new class of novel multi-degree-of-freedom robots based on a new concept – the application of kinematic pairs with alternating degree-of-freedom (DOF) controlled by a single force or moment, changing its direction in space. The number of DOF of the kinematic pairs is controlled periodically from 0 to 3, exploiting the dependence of frictional forces on the oscillation in the contact zone of links. The advantages of this new class of robots include significant weight reduction, simple design and control, and specific applications in space robotics and soft robotic spines. In more complicated cases of trunk robots, elastic kinematic pairs are used with a number of DOF controlled by electro- or magneto-rheological fluids with viscosities that change as a result of applied electric or magnetic fields. Expressions for the generalized inertia matrix of the robots with a large number of joints have been derived using the computer algebra technique with the subsequent automatic program code generation. As shown in this paper, such an application could drastically reduce the number of floating point product operations for an efficient numerical simulation of robots. |
| Databáze: | OpenAIRE |
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