Results 11 to 20 of about 12,512 (217)
Scientific Reports, 2023 This study takes the slider-crank mechanism with revolute joint and translational joint as the research object and studies the contact force model of the clearance joint and the influence of the hybrid clearance joints on the nonlinear dynamic behavior ...
Haiyan Tan +6 more
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Chinese Journal of Mechanical Engineering, 2023 The existence of the relative radial and axial movements of a revolute joint’s journal and bearing is widely known. The three-dimensional (3D) revolute joint model considers relative radial and axial clearances; therefore, the freedoms of motion and ...
Li Zhang +3 more
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Quasi Optimal Gait of a Biped Robot with a Rolling Knee Kinematic [PDF]
, 2011 In this paper, we address the problem of optimization of trajectories for a new class of biped robot. The knees of this biped are similar as the anthropomorphic one and have a rolling contact between the femur and the tibia.
ABBA, Gabriel +2 more
core +5 more sources
Dynamic Parameter Identification of a Pointing Mechanism Considering the Joint Clearance
Robotics, 2021 The clearance of the revolute joint influences the accuracy of dynamic parameter identification. In order to address this problem, a method for dynamic parameter identification of an X–Y pointing mechanism while considering the clearance of the revolute ...
Jing Sun, Xueyan Han, Tong Li, Shihua Li
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Pose, posture, formation and contortion in kinematic systems [PDF]
, 2002 The concepts of pose, posture, formation and contortion are defined for serial, parallel and hybrid kinematic systems. Workspace and jointspace structure is examined in terms of these concepts.
CM Gosselin +9 more
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Journal of Advanced Mechanical Design, Systems, and Manufacturing, 2015 This paper proposes a normalized-constrained approach for the joint clearance design of deployable overconstrained Myard 5R mechanism. Firstly, the overconstrained mobility characteristic of Myard 5R mechanism is analyzed, we show that the dimensional ...
Hao SHEN, Hailin HUANG, Tie JI
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Quasi optimal sagittal gait of a biped robot with a new structure of knee joint [PDF]
, 2013 The design of humanoid robots has been a tricky challenge for several years. Due to the kinematic complexity of human joints, their movements are notoriously difficult to be reproduced by a mechanism. The human knees allow movements including rolling and
ABBA, Gabriel +2 more
core +6 more sources
Kinematic Analysis of a Serial-Parallel Hybrid Mechanism and its Application to a Wheel-Legged Robot
IEEE Access, 2020 A three-DOF (degree-of-freedom) serial-parallel hybrid mechanism is proposed that consists of a 2-UPS+U component (UPS: universal-/prismatic-/spherical-joint chain and U: universal joint) and an R+RPS component (R: revolute joint and RPS: revolute ...
Jianye Niu +6 more
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Proposed Shaft Coupling Based on RPRRR Mechanism: Positional Analysis and Consequences
Axioms, 2023 This study proposes a solution for the transmission of rotation motion between two shafts with crossed directions. For constructive simplicity, the solutions including the planar pair were preferred and, from the two variants, namely structurally ...
Stelian Alaci +5 more
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Influence of frictions on gait optimization of a biped robot with an anthropomorphic knee [PDF]
, 2013 This paper presents the energy consumption of a biped robot with a new modelled structure of knees which is called rolling knee (RK). The dynamic model, the actuators and the friction coefficients of the gear box are known. The optimal energy consumption
ABBA, Gabriel +2 more
core +5 more sources