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Kinematic Analysis of Mobile Robot with Klann Walking Mechanism
2021 3rd International Congress on Human-Computer Interaction, Optimization and Robotic Applications (HORA), 2021There have been important developments in the field of robotics until today. Since the areas where the leg touch the ground in legged mobile robots are small, the usage area is quite wide. They can adapt to all kinds of terrain conditions and can be used in places unsuitable for human health.
Koray Kavlak, Ibrahim Ali Kartal
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Walking mechanism and kinematic analysis of humanoid robot
Proceedings of the 2013 International Conference on Advanced Mechatronic Systems, 2013This paper presents the self-developed walking mechanism of humanoid robot. Its configuration and structure characteristics are introduced. Each leg has 6 DOF and imitating the structure of ACL, PCL (anterior and posterior cruciate ligaments) and meniscus of human's knee joint, a energy-saving and vibration damping structure was designed for robot's ...
Bing Chen +3 more
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Structural and Kinematic Particularities of the Micro-Robot Mechanisms
Applied Mechanics and Materials, 2015Due to their dimensions the micro-robots generally have a mono-mobile mechanical structure. This includes mechanisms acted by a single motor and consequently one input and multiple outputs. Such micro-robots have a fixed displacement strategy. The paper deals with the structural and kinematic characteristics of a robot complex mechanism with gears, cam
Ileana Dugaesescu +2 more
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Mechanism, Design and Kinematics for a Transmission Line Inspection Robot
2021 2nd International Conference for Emerging Technology (INCET), 2021This paper describes an inspection bot which is used to inspect the faults in the transmission line, if it is present then the information can be provided to clear it before it affects the system performance. Robot is robust in construction, flexible in tracing the line and efficient in inspecting certain faults in the line.
null Sumanth +4 more
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Kinematic Design of a Tripod Parallel Mechanism for Robotic Legs
2017In this paper a parallel manipulator with tripod architecture is proposed with the closed-form formulation of its functioning. The mechanism is 3-Degrees-of-Freedom manipulator that can be used as robotic leg for mobile walking robots with two or more legs.
Russo M., Ceccarelli M.
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Design of an Ankle Rehab Robot With a Compliant Parallel Kinematic Mechanism
Journal of Mechanisms and Robotics, 2020Abstract In this article, we present the design of a novel ankle rehabilitation robot (ARR), called the Flex-ARR, that employs a compliant parallel kinematic mechanism (PKM) with decoupled degrees-of-freedom. While multiple ARRs have been developed and commercialized, their clinical adoption has been limited primarily because they do not
Nishant Jalgaonkar +2 more
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Structural Properties in Kinematics of Robots, Articulated Mechanisms and Prosthetic Arms
IFAC Postprint Volumes IPPV / International Federation of Automatic Control, 1984Abstract Kinematics of spatial manipulating systems can be deeply understood and effectively solved introducing structural considerations. The concept of kinematic equation of motion and its canonical form, introduced by the authors, is further developed using moving coordinates and the components of the ‘absolute’ and generalized coordinates vectors
S.P. Patarinski +3 more
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Mechanical Design and Kinematic Control of a Humanoid Robot Face
2019Faces are very important for human social activities. However, most of the current humanoid robots only have a stiff face. This paper aims at developing a humanoid robot face system can express facial expressions. Bio-inspired by the anatomy of a human head, mechanical structures, including eyebrows, eyes, and mouth, are designed.
Yu Qiu +5 more
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Kinematics of a class of hybrid robotic mechanisms with parallel and series modules
Proceedings of the 1994 IEEE International Conference on Robotics and Automation, 2002The position and velocity kinematics for a class of 6 d.o.f. hybrid robotic mechanisms is studied. The specific class of hybrid manipulators features a 3 d.o.f. in-series actuated module mounted on a moving platform of another 3 d.o.f. in-parallel actuated manipulator.
Ming Z. Huang, Shou-Hung Ling
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Kinematic optimization of a spherical mechanism for a minimally invasive surgical robot
IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004, 2004Advances in surgical technology allow physicians to more effectively provide care to their patients. Minimally invasive surgery (MIS) has revolutionized the way a significant number of procedures are performed. Advances in technology have led to the fusion of MIS techniques and robotic devices; however, such systems are currently large and cumbersome ...
Mitchell J. H. Lum +3 more
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