• Title/Summary/Keyword: articulated

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A study on the design and control of an articulated hand (다관절 손 기구의 설계 및 제어에 관한 연구)

  • Kim, Cheol-Woo;Gweon, Dae-Gab
    • Journal of the Korean Society for Precision Engineering
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    • v.10 no.4
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    • pp.200-205
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    • 1993

  • In many applications, the typical parallel-jaw end-effector of a robot arm has been remarkably satisfactory. But, it is not adequate for the applications such as complicated manipulation. In the study, a finger with 4 joints (so, having redundancy) was consturcted to investigate the characteristics of an articulated hand. Each joint was driven by one actuator, and the motor torque was transmited to each joint through a tendon-pulley system. In the context, major considerations for hardware design and the method to solve the inverse kinematics of a redundant manipulator were presented. Finally, the basic capabilities of an articulated hand were presented through experiments.

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Turning Gait Planning of a Quadruped Walking Robot with an Articulated Spine

  • Park, Se-Hoon;Lee, Yun-Jung
    • 제어로봇시스템학회:학술대회논문집
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    • 2004.08a
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    • pp.1926-1930
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    • 2004

  • We suggest a turning gait planning of a quadruped walking robot with an articulated spine. Robot developer has tried to implement a gait more similar to that of natural animals with high stability margin. Therefore, so many types of walking robot with reasonable gait have been developed. But there is a big difference with a natural animal walking motion. A key point is the fact that natural animals use their waist-oint(articulated spine) to walk. For example, a crocodile which has short legs relative to a long body uses their waist to walk more quickly and to turn more effectively. The other animals such as tiger, dog and so forth, also use their waist. Therefore, this paper proposes discontinuous turning gait planning for a newly modeled quadruped walking robot with an articulated spine which connects the front and rear parts of the body. Turning gait is very important as same as straight gait. All animals need a turning gait to avoid obstacle or to change walking direction. Turning gait has mainly two types of gaits; circular gait and spinning gait. We apply articulated spine to above two gaits, which shows the majority of an articulated spine more effectively. Firstly, we describe a kinematic relation of a waist-joint, the hip, and the center of gravity of body, and then apply a spinning gait. Next, we apply a waist-joint to a circular gait. We compare a gait stability margin with that of a conventional single rigid body walking robot. Finally, we show the validity of a proposed gait with simulation.

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Design of Articulated Mobile Robot to Overcome Vertical Passages in Narrow Space (수직통로를 극복하기 위한 협소구역 이동용 다관절 로봇 설계)

  • Lee J.S.;Kim S.H.;Yang H.S.;Park N.C.
    • Proceedings of the Korean Society of Precision Engineering Conference
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    • 2005.06a
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    • pp.806-811
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    • 2005

  • The robot to search and rescue is used in narrow space where human cannot approach. In case of this robot, it can overcome obstacles such as wrecks or stairs etc. Also, this robot can do various locomotion for each object. In this reason, an articulated robot has advantages comparing with one module robot. However, the existing articulated robot has limits to overcome vertical passages. For expanding contacted territory of robot, a novel mechanism is demanded. In this paper, the novel mechanism of articulated mobile robot is designed for moving level ground and vertical passages. This paper proposes to change wheel alignment. The robot needs two important motions for passing vertical passages like pipe. One is a motion to press wheels at wall for not falling into gravity direction. The other is a motion that wheels contact a vertical direction of wall's tangential direction for reducing loss of force. The mechanism of the robot focused that two motions can be acted to use just one motor. Length of each link of robot is optimized that wheels contact a vertical direction of wall's tangential direction through kinematic modeling of each link. The force of pressing wall of robot is calculated through dynamic modeling. This robot composes four modules. This mechanism is confirmed by dynamic simulation using ADAMS program. The articulated mobile robot is elaborated based on the results of kinematic modeling and dynamic simulation.

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Development and Verification of the Steering Algorithm for Articulated Vehicles (굴절차량에 대한 조향알고리즘 개발 및 검증)

  • Moon, Kyeong-Ho;Lee, Soo-Ho;Mok, Jai-Kyun;Park, Tae-Won
    • Journal of the Korean Society for Railway
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    • v.11 no.3
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    • pp.225-232
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    • 2008

  • AWS (all wheel steering) is applied to improve the stability and the turning performance. Most automotive cars are mainly controlled by FWS (front wheel steering) system except some cars which are made to improve their stability by using AWS. Articulated vehicles with a pivoting joint for easy turn are difficult to make a sharp turn because of the long body and long wheelbase. Therefore applying AWS to the articulated vehicles is effective to reduce the turning radius. The AWS control method for the articulated vehicles is currently applied to only Phileas vehicles which were developed by APTS. The paper on the design of a controller to guide an articulated vehicle along the path was published but control algorithm for manual driving has not been reported. In the present paper, steering, characteristics of the Phileas vehicles have been analyzed and then new algorithm has been proposed. To verify the AWS algorithm, Commercial S/W, ADAMS was used for validity of the dynamic model and algorithm.

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Torque Distribution Algorithm of Independent Drive Articulated Vehicle for Small Radius Turning Performance (독립 구동 굴절차량의 회전반경 감소를 위한 토크분배 알고리즘)

  • Lee, Kibeom;Hwang, Karam;Tak, Junyoung;Suh, In-Soo
    • Journal of the Korean Society for Railway
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    • v.17 no.5
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    • pp.336-341
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    • 2014

  • The articulated structures seen in train or tram applications are being applied in road transportation systems, for use in mass passenger transit. When articulated vehicles are driven on public roads, they no longer follow a guided track. Therefore, there are a lot of control elements that need to be considered, such as turning radius, swept path width, off-tracking, and swing-out. Some of the currently available articulated vehicles on roads are equipped with an independent drive system; a system that has one motor at each wheel. Through this drive system, each wheel can be independently controlled, making precise and quick dynamic stability control possible. In this paper, we propose a torque distribution algorithm that can reduce the overall turning radius of the articulated vehicle, which has been verified through dynamic simulation.

  • https://doi.org/10.7782/JKSR.2014.17.5.336 인용 PDF KSCI