According to fractionation concept and whether containing a multiple-joint, planar kinematic chains (KCs) are primarily categorized as non-fractionated simple-joint kinematic chains (NFS-KCs), fractionated simple-joint kinematic chains (FS-KCs), non-fractionated multiple-joint kinematic chains (NFM-KCs), and fractionated multiple-joint kinematic chains (FM-KCs). Currently, there is a noticeable research gap on the enumeration of FM-KCs, whereas comprehensive investigations have been conducted on the enumeration of the other three types of KCs. Aiming at addressing this research gap, the present study develops a heuristic approach for enumerating all planar 2-DOF FM-KCs. To this end, the composition of 2-DOF FM-KCs is initially analyzed to acquire their basic two classifications. Then, utilizing the characteristic graph generation methods for NFM-KCs and NFS-KCs, the combined characteristic graph and its corresponding combined characteristic number string of a 2-DOF FM-KC are created for solving the isomorphic problem in enumeration procedure. Finally, all non-isomorphic 2-DOF FM-KCs with 9, 11, 13, 15 and 17 links are enumerated and the corresponding database is established.
{"title":"The database generation for planar 2-DOF fractionated multiple-joint kinematic chains","authors":"Peng Huang, Tingting Liu, Huafeng Ding, Yuqian Zhao","doi":"10.1115/1.4065321","DOIUrl":"https://doi.org/10.1115/1.4065321","url":null,"abstract":"\u0000 According to fractionation concept and whether containing a multiple-joint, planar kinematic chains (KCs) are primarily categorized as non-fractionated simple-joint kinematic chains (NFS-KCs), fractionated simple-joint kinematic chains (FS-KCs), non-fractionated multiple-joint kinematic chains (NFM-KCs), and fractionated multiple-joint kinematic chains (FM-KCs). Currently, there is a noticeable research gap on the enumeration of FM-KCs, whereas comprehensive investigations have been conducted on the enumeration of the other three types of KCs. Aiming at addressing this research gap, the present study develops a heuristic approach for enumerating all planar 2-DOF FM-KCs. To this end, the composition of 2-DOF FM-KCs is initially analyzed to acquire their basic two classifications. Then, utilizing the characteristic graph generation methods for NFM-KCs and NFS-KCs, the combined characteristic graph and its corresponding combined characteristic number string of a 2-DOF FM-KC are created for solving the isomorphic problem in enumeration procedure. Finally, all non-isomorphic 2-DOF FM-KCs with 9, 11, 13, 15 and 17 links are enumerated and the corresponding database is established.","PeriodicalId":508172,"journal":{"name":"Journal of Mechanisms and Robotics","volume":"310 9","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-04-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140703554","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
In this paper, two models were proposed to estimate the positioning error of a 3-translational prismatic-universal-universal parallel kinematic mechanism. The two models were a kinematic error model (KEM) and a backpropagation neural network (BPNN) model, respectively. The KEM was constructed by incorporating three translational joint errors into the ideal kinematic model to describe the errors that occur during machining or assembly. Additionally, a sensitivity analysis was presented for each error parameter. The BPNN model was constructed to establish the relationship between the position of the end effector, the posture of each link, and the positioning error of the end effector using a neural network approach. Moreover, a hybrid method was proposed to decrease the final estimated residual error. The average errors of the KEM and BPNN model were 35% and 15% of the original error, respectively. The hybrid model reduced the final average error to less than 10% of its original value.
{"title":"Positioning error estimation models for horizontal-distributed PUU parallel mechanism","authors":"J. Ke, Yu-Jen Wang, Jhy-Cherng Tsai","doi":"10.1115/1.4065320","DOIUrl":"https://doi.org/10.1115/1.4065320","url":null,"abstract":"\u0000 In this paper, two models were proposed to estimate the positioning error of a 3-translational prismatic-universal-universal parallel kinematic mechanism. The two models were a kinematic error model (KEM) and a backpropagation neural network (BPNN) model, respectively. The KEM was constructed by incorporating three translational joint errors into the ideal kinematic model to describe the errors that occur during machining or assembly. Additionally, a sensitivity analysis was presented for each error parameter. The BPNN model was constructed to establish the relationship between the position of the end effector, the posture of each link, and the positioning error of the end effector using a neural network approach. Moreover, a hybrid method was proposed to decrease the final estimated residual error. The average errors of the KEM and BPNN model were 35% and 15% of the original error, respectively. The hybrid model reduced the final average error to less than 10% of its original value.","PeriodicalId":508172,"journal":{"name":"Journal of Mechanisms and Robotics","volume":"61 10","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-04-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140700186","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Cable robots have been used as haptic interfaces for several decades now, with the most notable examples being the SPIDAR and its numerous iterations throughout the years, as well as the more recent IPAnema 3 Mini manufactured by Fraunhofer IPA. However, these robots still have drawbacks, particularly their high number of cables required to maintain a high workspace-to-installation-space ratio. Using a hybrid-structure cable robot (HSCR) could prevent some collisions that occur between the cables and the user's body. More specifically, some applications requiring multimodal feedback could benefit from the flexibility that a reduced number of cables offers. Therefore, this paper presents a novel SPIDAR-like VSCR and its sensor-less force control method based on motor current. The purpose of this work is to clarify the advantages that a variable structure can provide for haptic interaction. In this regard, experimental results regarding the device's workspace and its force feedback capabilities are presented. Additionally, since real-time high-frequency updates are required for haptic display, we provide additional data regarding the control algorithm's runtime. Lastly, another experiment was conducted to study changes in user performance when using both the variable and the usual cable configuration. The results showed that feedback accuracy is maintained, and there are no drawbacks to using hybrid configurations.
{"title":"A Cable-Based Haptic Interface with a Reconfigurable Structure","authors":"Bastien Poitrimol, Hiroshi Igarashi","doi":"10.1115/1.4065318","DOIUrl":"https://doi.org/10.1115/1.4065318","url":null,"abstract":"\u0000 Cable robots have been used as haptic interfaces for several decades now, with the most notable examples being the SPIDAR and its numerous iterations throughout the years, as well as the more recent IPAnema 3 Mini manufactured by Fraunhofer IPA. However, these robots still have drawbacks, particularly their high number of cables required to maintain a high workspace-to-installation-space ratio. Using a hybrid-structure cable robot (HSCR) could prevent some collisions that occur between the cables and the user's body. More specifically, some applications requiring multimodal feedback could benefit from the flexibility that a reduced number of cables offers. Therefore, this paper presents a novel SPIDAR-like VSCR and its sensor-less force control method based on motor current. The purpose of this work is to clarify the advantages that a variable structure can provide for haptic interaction. In this regard, experimental results regarding the device's workspace and its force feedback capabilities are presented. Additionally, since real-time high-frequency updates are required for haptic display, we provide additional data regarding the control algorithm's runtime. Lastly, another experiment was conducted to study changes in user performance when using both the variable and the usual cable configuration. The results showed that feedback accuracy is maintained, and there are no drawbacks to using hybrid configurations.","PeriodicalId":508172,"journal":{"name":"Journal of Mechanisms and Robotics","volume":"24 9","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-04-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140701995","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Developing a compliant mechanism that have potential in parasitism suppression and cross-axis decoupling is a major challenge to meet the requirement of spatial micro-/nano positioning. This work introduces a compliant tilt/tip stage design with a symmetric and overconstrained configuration that is equipped with four reverse-bridge-notch-flexure amplifiers(RBNFAs) and five revolute notch flexure hinges as multiaxis decoupled structures. A hybrid transmission ratio model is developed to describe the mechanical behavior of this stage using elastic beam and pseudo-rigid-body theories. Finite element analysis(FEA) confirmed the analytical model results. A comprehensive study is performed based on FEA model to validate the influence of a particular configuration on parasitic motion and decoupling effect. A prototype stage is 3D-printed and experimentally tested, which confirmed the predictions of the analytical hybrid model. Additionally, further analysis was conducted to examine the static mechanical characteristics and parasitic behavior of the stage.
要满足微米/纳米空间定位的要求，开发具有寄生抑制和跨轴去耦潜力的顺应式机构是一项重大挑战。这项工作介绍了一种具有对称和过约束配置的顺应倾斜/尖端平台设计，它配备了四个反向桥式缺口挠性放大器（RBNFA）和五个外旋缺口挠性铰链作为多轴解耦结构。利用弹性梁和假刚体理论建立了一个混合传动比模型来描述该平台的机械行为。有限元分析（FEA）证实了分析模型的结果。在有限元分析模型的基础上进行了综合研究，以验证特定配置对寄生运动和去耦效应的影响。对原型平台进行了 3D 打印和实验测试，证实了混合分析模型的预测结果。此外，还进行了进一步分析，以检查平台的静态机械特性和寄生行为。
{"title":"Design and analysis of a symmetric overconstrained compliant tilt/tip stage based on a hybrid transmission ratio model","authors":"Jian Yang, Peng Yan","doi":"10.1115/1.4065258","DOIUrl":"https://doi.org/10.1115/1.4065258","url":null,"abstract":"\u0000 Developing a compliant mechanism that have potential in parasitism suppression and cross-axis decoupling is a major challenge to meet the requirement of spatial micro-/nano positioning. This work introduces a compliant tilt/tip stage design with a symmetric and overconstrained configuration that is equipped with four reverse-bridge-notch-flexure amplifiers(RBNFAs) and five revolute notch flexure hinges as multiaxis decoupled structures. A hybrid transmission ratio model is developed to describe the mechanical behavior of this stage using elastic beam and pseudo-rigid-body theories. Finite element analysis(FEA) confirmed the analytical model results. A comprehensive study is performed based on FEA model to validate the influence of a particular configuration on parasitic motion and decoupling effect. A prototype stage is 3D-printed and experimentally tested, which confirmed the predictions of the analytical hybrid model. Additionally, further analysis was conducted to examine the static mechanical characteristics and parasitic behavior of the stage.","PeriodicalId":508172,"journal":{"name":"Journal of Mechanisms and Robotics","volume":"55 17","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-04-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140748559","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Vincenzo Di Paola, Alexandre Goldsztejn, Matteo Zoppi, Stéphane Caro
A redundant Cable-Driven Platform (CDP) is composed of m cables that exceed the Degree of Freedom (DOF) of the end-effector. The choice of tension along the cables admits infinite solutions. This paper proposes the use of the Analytic Centre to solve the tension distribution problem. Adopting this technique allows finding tensions far from the tension limits namely, textit{robust} as well as tension profiles continuous and differentiable in time. The continuity, differentiability and uniqueness of the solution is also proven. Moreover, the possibility of including non-linear constraints acting on the tensions (e.g. friction) is a further contribution. The computational time with the proposed approach is compared to the existing techniques to asses its real-time applicability. Finally, several simulations using several CDPRs' architectures are reported to demonstrate the method's capabilities.
{"title":"Analytic Centre Based Tension Distribution for Cable-Driven Platforms (CDPs)","authors":"Vincenzo Di Paola, Alexandre Goldsztejn, Matteo Zoppi, Stéphane Caro","doi":"10.1115/1.4065244","DOIUrl":"https://doi.org/10.1115/1.4065244","url":null,"abstract":"\u0000 A redundant Cable-Driven Platform (CDP) is composed of m cables that exceed the Degree of Freedom (DOF) of the end-effector. The choice of tension along the cables admits infinite solutions. This paper proposes the use of the Analytic Centre to solve the tension distribution problem. Adopting this technique allows finding tensions far from the tension limits namely, textit{robust} as well as tension profiles continuous and differentiable in time. The continuity, differentiability and uniqueness of the solution is also proven. Moreover, the possibility of including non-linear constraints acting on the tensions (e.g. friction) is a further contribution. The computational time with the proposed approach is compared to the existing techniques to asses its real-time applicability. Finally, several simulations using several CDPRs' architectures are reported to demonstrate the method's capabilities.","PeriodicalId":508172,"journal":{"name":"Journal of Mechanisms and Robotics","volume":"44 38","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-04-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140752104","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Redundant non-serial manipulators that encompass a broad spectrum of parallel and non-parallel heavy load bearing construction and material handling equipment are treated, using foundations of differential geometry. Kinematics of this category of manipulator are defined in configuration space by algebraic equations in input and output coordinates that cannot be explicitly solved for either set of coordinates as a function of the other. New sets called assembly components of manipulator configuration space are defined that partition the space into disjoint topological components whose assembled configurations cannot be connected by continuous trajectories. Forward and inverse kinematically singular configurations are characterized by criteria that partition each assembly component into singularity free assembly components in which equations of kinematics and dynamics are well behaved. Three typical applications and associated simplified model problems are studied throughout the paper to illustrate methods and results presented. Singularity free differentiable configuration space manifolds are parameterized by both input and operational coordinates, leading to well posed ordinary differential equations of manipulator dynamics in both input and operational coordinates. It is shown that generalized inverse velocity kinematic equations that are problematic for serial manipulators are likewise plagued with problems for non-serial implicit manipulators that can be avoided using the methods presented.
{"title":"Redundant Non-Serial Implicit Manipulator Kinematics and Dynamics","authors":"Edward J. Haug","doi":"10.1115/1.4065234","DOIUrl":"https://doi.org/10.1115/1.4065234","url":null,"abstract":"\u0000 Redundant non-serial manipulators that encompass a broad spectrum of parallel and non-parallel heavy load bearing construction and material handling equipment are treated, using foundations of differential geometry. Kinematics of this category of manipulator are defined in configuration space by algebraic equations in input and output coordinates that cannot be explicitly solved for either set of coordinates as a function of the other. New sets called assembly components of manipulator configuration space are defined that partition the space into disjoint topological components whose assembled configurations cannot be connected by continuous trajectories. Forward and inverse kinematically singular configurations are characterized by criteria that partition each assembly component into singularity free assembly components in which equations of kinematics and dynamics are well behaved. Three typical applications and associated simplified model problems are studied throughout the paper to illustrate methods and results presented. Singularity free differentiable configuration space manifolds are parameterized by both input and operational coordinates, leading to well posed ordinary differential equations of manipulator dynamics in both input and operational coordinates. It is shown that generalized inverse velocity kinematic equations that are problematic for serial manipulators are likewise plagued with problems for non-serial implicit manipulators that can be avoided using the methods presented.","PeriodicalId":508172,"journal":{"name":"Journal of Mechanisms and Robotics","volume":"46 5","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-04-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140755453","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Ryan Caverly, Sze Kwan Cheah, Keegan R. Bunker, Samir Patel, Niko Sexton, Vinh L. Nguyen
This paper presents an algorithm to perform self-calibration of cable-driven parallel robots (CDPRs), where the CDPR's end-effector pose is estimated in conjunction with the calibration of biases in the CDPR's measurements. Two new metrics, known as the position dilution of precision (PDOP) and orientation dilution of precision (ODOP) are introduced as a means to quantify the quality of data collected with regards to self-calibration. These metrics are based on a covariance matrix that is computed online as part of the proposed self-calibration algorithm, which results in the PDOP and ODOP directly corresponding to the standard deviation of the position and orientation errors, respectively. These metrics are used to intuitively select which data points contribute to improved calibration, resulting in a computationally-efficient algorithm requiring few data points to maintain accurate calibration. Additionally, the PDOP and ODOP provide a means to assess when sufficient calibration data has been collected. Numerical results involving an inverse kinematic simulation with rigid cables and a dynamic simulation with flexible cables indicate that the proposed algorithm is capable of performing self-calibration in a computationally-efficient manner. Moreover, the simulation results indicate that the proposed PDOP and ODOP metrics result in smaller position and orientation errors when used to prune the data set compared to the observability indices found in the literature. Accuracy of the proposed algorithm is also confirmed through experiments when compared to ground-truth pose data.
{"title":"Online Self-Calibration of Cable-Driven Parallel Robots Using Covariance-Based Data Quality Assessment Metrics","authors":"Ryan Caverly, Sze Kwan Cheah, Keegan R. Bunker, Samir Patel, Niko Sexton, Vinh L. Nguyen","doi":"10.1115/1.4065236","DOIUrl":"https://doi.org/10.1115/1.4065236","url":null,"abstract":"\u0000 This paper presents an algorithm to perform self-calibration of cable-driven parallel robots (CDPRs), where the CDPR's end-effector pose is estimated in conjunction with the calibration of biases in the CDPR's measurements. Two new metrics, known as the position dilution of precision (PDOP) and orientation dilution of precision (ODOP) are introduced as a means to quantify the quality of data collected with regards to self-calibration. These metrics are based on a covariance matrix that is computed online as part of the proposed self-calibration algorithm, which results in the PDOP and ODOP directly corresponding to the standard deviation of the position and orientation errors, respectively. These metrics are used to intuitively select which data points contribute to improved calibration, resulting in a computationally-efficient algorithm requiring few data points to maintain accurate calibration. Additionally, the PDOP and ODOP provide a means to assess when sufficient calibration data has been collected. Numerical results involving an inverse kinematic simulation with rigid cables and a dynamic simulation with flexible cables indicate that the proposed algorithm is capable of performing self-calibration in a computationally-efficient manner. Moreover, the simulation results indicate that the proposed PDOP and ODOP metrics result in smaller position and orientation errors when used to prune the data set compared to the observability indices found in the literature. Accuracy of the proposed algorithm is also confirmed through experiments when compared to ground-truth pose data.","PeriodicalId":508172,"journal":{"name":"Journal of Mechanisms and Robotics","volume":"17 10","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-04-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140754847","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Mohammad Z. Khan, Jian Liu, D. Myszka, Andrew P. Murray
For a single degree of freedom spatial mechanism, a reference frame attached to any of its links produces a continuous motion of this frame. Given the progression of this frame from the start through the end of the mechanism's motion, this paper seeks to identify specific points relative to this moving reference frame. The points of interest are those that can be coupled with a second point determined in the fixed frame to act as the end joint locations for a spherical-prismatic-spherical (SPS) driving chain. If the selection of the point pair is made such that the change in distance between them as the mechanism moves is strictly monotonic, then the SPS chain they define is potentially capable of driving the mechanism over the desired range of motion. This motion is referred to as locally P-drivable because a global solution is not ensured by the process proposed herein. This synthesis process can avoid singularities encountered by actuating the mechanism at one of its original joints. The proposed approach enables the dimensional synthesis of a single degree-of-freedom mechanism to focus on creating circuit-defect-free solutions without concern for potential singular positions. The actuating chain can then be determined as a separate step in the synthesis process. This paper also considers motions that are not P-drivable and the specialization to planar systems with the synthesis of a P-drivable RPR chain.
对于单自由度空间机构而言，连接到其任何一个环节的参照系都会产生连续的运动。考虑到该参照系从机构运动的开始到结束的过程，本文试图确定相对于该运动参照系的特定点。这些点可以与固定框架中确定的第二个点耦合，作为球面-棱镜-球面（SPS）驱动链的末端关节位置。如果选择的点对在机构运动时它们之间的距离变化是严格单调的，那么它们定义的 SPS 链就有可能在所需的运动范围内驱动机构。这种运动被称为局部 P 可驱动运动，因为本文提出的流程并不能确保获得全局解决方案。这种合成过程可以避免在机构的一个原始关节处驱动机构所遇到的奇异现象。所提出的方法可使单自由度机构的尺寸合成专注于创建无电路缺陷的解决方案，而无需考虑潜在的奇异位置。然后，执行链可作为合成过程中的一个单独步骤来确定。本文还考虑了不可 P 驱动的运动以及平面系统的特殊化，并合成了可 P 驱动的 RPR 链。
{"title":"A Kinematic Synthesis Methodology for P-Drivable Spatial Single Degree of Freedom Mechanisms to Avoid Singularities","authors":"Mohammad Z. Khan, Jian Liu, D. Myszka, Andrew P. Murray","doi":"10.1115/1.4065237","DOIUrl":"https://doi.org/10.1115/1.4065237","url":null,"abstract":"\u0000 For a single degree of freedom spatial mechanism, a reference frame attached to any of its links produces a continuous motion of this frame. Given the progression of this frame from the start through the end of the mechanism's motion, this paper seeks to identify specific points relative to this moving reference frame. The points of interest are those that can be coupled with a second point determined in the fixed frame to act as the end joint locations for a spherical-prismatic-spherical (SPS) driving chain. If the selection of the point pair is made such that the change in distance between them as the mechanism moves is strictly monotonic, then the SPS chain they define is potentially capable of driving the mechanism over the desired range of motion. This motion is referred to as locally P-drivable because a global solution is not ensured by the process proposed herein. This synthesis process can avoid singularities encountered by actuating the mechanism at one of its original joints. The proposed approach enables the dimensional synthesis of a single degree-of-freedom mechanism to focus on creating circuit-defect-free solutions without concern for potential singular positions. The actuating chain can then be determined as a separate step in the synthesis process. This paper also considers motions that are not P-drivable and the specialization to planar systems with the synthesis of a P-drivable RPR chain.","PeriodicalId":508172,"journal":{"name":"Journal of Mechanisms and Robotics","volume":"117 ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140760932","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Aerial vehicle missions require navigating trade-offs during design, such as the range, speed, maneuverability, and size. Multi-modal aerial vehicles enable this trade-off to be negotiated during flight. This paper presents a Bistable Aerial Transformer (BAT) robot, a novel morphing hybrid aerial vehicle (HAV) that switches between quadrotor and fixed- wing modes via rapid acceleration and without any additional actuation beyond those required for normal flight. The design features a compliant bistable mechanism made of thermoplastic polyurethane (TPU) that bears a large mass at the center of the robot's body. When accelerating, inertial forces transition the vehicle between its stable modes, and a four-bar linkage connected to the bistable mechanism folds the vehicle's wings in and out. The paper includes the full robot design and a comparison of the fabricated system to the elastodynamic simulation. Successful transitions between the two modes in mid-flight, as well as sustained flight in each mode indicate that the vehicle experiences higher agility in the quadrotor mode and higher flight efficiency in the fixed-wing mode, at an energy equivalent cost of only 2 s of flight time per pair of transitions. The vehicle demonstrates how compliant and bistable mechanisms can be integrated into future aerial vehicles for controllable self-reconfiguration for tasks such as surveillance and sampling that require a combination of maneuverability and long-distance flight.
{"title":"Bistable Aerial Transformer (BAT): A Quadrotor Fixed-Wing Hybrid that Morphs Dynamically via Passive Soft Mechanism","authors":"Jessica Weakly, Xuan Li, Tejas Agarwal, Minchen Li, Spencer Folk, Chenfanfu Jiang, Cynthia Sung","doi":"10.1115/1.4065159","DOIUrl":"https://doi.org/10.1115/1.4065159","url":null,"abstract":"\u0000 Aerial vehicle missions require navigating trade-offs during design, such as the range, speed, maneuverability, and size. Multi-modal aerial vehicles enable this trade-off to be negotiated during flight. This paper presents a Bistable Aerial Transformer (BAT) robot, a novel morphing hybrid aerial vehicle (HAV) that switches between quadrotor and fixed- wing modes via rapid acceleration and without any additional actuation beyond those required for normal flight. The design features a compliant bistable mechanism made of thermoplastic polyurethane (TPU) that bears a large mass at the center of the robot's body. When accelerating, inertial forces transition the vehicle between its stable modes, and a four-bar linkage connected to the bistable mechanism folds the vehicle's wings in and out. The paper includes the full robot design and a comparison of the fabricated system to the elastodynamic simulation. Successful transitions between the two modes in mid-flight, as well as sustained flight in each mode indicate that the vehicle experiences higher agility in the quadrotor mode and higher flight efficiency in the fixed-wing mode, at an energy equivalent cost of only 2 s of flight time per pair of transitions. The vehicle demonstrates how compliant and bistable mechanisms can be integrated into future aerial vehicles for controllable self-reconfiguration for tasks such as surveillance and sampling that require a combination of maneuverability and long-distance flight.","PeriodicalId":508172,"journal":{"name":"Journal of Mechanisms and Robotics","volume":" 887","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140383067","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
The fish-like propulsion robot is becoming a profound intelligent equipment due to its excellent swimming ability and good environmental adaptability. In this paper, we propose the oscillating fin based on the fish-swimming mechanism which compounded with the locomotion modes of sway and yaw. The kinematic and dynamic models are established to study the locomotion mechanism of the oscillating fin. The hydrodynamic performance of the underwater locomotion is investigated to analyze the velocity, the propulsive force, the pressure, the propulsive efficiency and the vortices property. Finally, the experimental measurements of the robot with oscillating fin propulsion are carried out to analyze the underwater propulsion of the oscillating fin and the unsteady fluid flow with Strouhal Number. The results illustrate that the propulsive force is fluctuating and the velocity is increasing to the maximum value. The underwater propulsion velocity could reach 1.2 m/s in the period time of 0.4s. Besides, the high and low pressure regions change alternatively and the fin deforming process which illustrate the vortices property and the locomotion mechanism analyses. The propulsive efficiency of the oscillating fin with compound waves is increased by 11% compared with that of the one without deformation. The experiments of the robot prototype verifies the numerical simulation and the propulsive velocity with the period of 0.4s is two times larger than that of the period of 0.8s. The Strouhal Number of each motion mode is obtained through theoretical and experimental analyses.
{"title":"Hydrodynamic performance research of underwater oscillating fin with the compound locomotion of two modes","authors":"Qian Yin, Ming-hai Xia, Wen-bin Zhang, Yuan Luo, Jianzhong Shang, Zirong Luo","doi":"10.1115/1.4065137","DOIUrl":"https://doi.org/10.1115/1.4065137","url":null,"abstract":"\u0000 The fish-like propulsion robot is becoming a profound intelligent equipment due to its excellent swimming ability and good environmental adaptability. In this paper, we propose the oscillating fin based on the fish-swimming mechanism which compounded with the locomotion modes of sway and yaw. The kinematic and dynamic models are established to study the locomotion mechanism of the oscillating fin. The hydrodynamic performance of the underwater locomotion is investigated to analyze the velocity, the propulsive force, the pressure, the propulsive efficiency and the vortices property. Finally, the experimental measurements of the robot with oscillating fin propulsion are carried out to analyze the underwater propulsion of the oscillating fin and the unsteady fluid flow with Strouhal Number. The results illustrate that the propulsive force is fluctuating and the velocity is increasing to the maximum value. The underwater propulsion velocity could reach 1.2 m/s in the period time of 0.4s. Besides, the high and low pressure regions change alternatively and the fin deforming process which illustrate the vortices property and the locomotion mechanism analyses. The propulsive efficiency of the oscillating fin with compound waves is increased by 11% compared with that of the one without deformation. The experiments of the robot prototype verifies the numerical simulation and the propulsive velocity with the period of 0.4s is two times larger than that of the period of 0.8s. The Strouhal Number of each motion mode is obtained through theoretical and experimental analyses.","PeriodicalId":508172,"journal":{"name":"Journal of Mechanisms and Robotics","volume":"55 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-03-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140228232","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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