Abstract— In this paper, new swing-up controller for a threelink underactuated robot using a technique of horizontal bar gymnast is proposed. This controller is designed based on an equivalent center of mass(ECM) of the gymnast and the robot. The ECM of the gymnasts(ECMG) derived by analyzing a video data and a proposed controller is designed in order to realize that the ECM of the robot imitat...

Geared Five-bar motion generation is used to synthesize a mechanism which passes through or approximate prescribed rigid-body positions. This work will discuss the motion generation of geared five-bar mechanism with position tolerance variations due to gear fabrication. The tolerance variations study will be based on the standards of American Gear Manufacturing Association (AGMA) and American N...

This paper describes the ongoing development of a sensory data visualization module which is conceived to be integrated into the user interface of a manipulatorequipped service robot for assistance tasks. The purpose of the visualization module is to display to the user meaningful shape approximations of the scene starting from the data provided by proximity sensors available on the tip of the ...

In this paper, a four-bar mechanism with two flexible links is proposed to be used in a micromechanical flying insect robot wing thorax design for stroke amplification. PZT5H and PZN-PT based unimorph actuators are utilized at the input link of the four-bar. The kinematics and dynamics of the proposed wing strcuture with two parallel four-bar mechanisms are analyzed, and DC forces generated at ...

In order to solve the limitation of cylindrical geared linkage in trajectory realization, this paper make the non-circular gear pair and double crank hinge five-bar as closed combination, and to probe the feasibility and method of designing non-circular gear based on the given position points in five-bar linkage trajectory region. The discrete rotation angle sequences of non-circular gear pair ...

This paper introduces a new approach to the control of robot manipulators in a way that is safe for humans in the robot's workspace. Conceptually the robot is viewed as a tool with limited autonomy. The limited perception capabilities of automatic systems prohibits the construction of failsafe robots with the capabilities of people. Instead, the goal of our control scheme is to make the interac...

A practical architecture, using a four-bar-linkage, is considered for the University of Minnesota direct drive rotot1. This statically-balanced direct drive robot has been constructed for stability analysis of the robot in constrained maneuvers.2-6 As a result of the elimination of the gravity forces (without any counter weights), smaller actuators and consequently smaller amplifiers were chose...

The absolute accuracy of a robot depends to a large extent on the accuracy with which its kinematic parameters are known. Many methods have been explored for inferring the kinematic parameters of a robot from measurements taken as it moves. Some require an external global positioning system, usually optical or sonic. We have used instead a simple radial-distance linear transducer (LVDT) which m...

Besides the difficulties in control and gait generation, designing a full-sized (taller than 1.3m) bipedal humanoid robot that can walk with two legs is a very challenging task, mainly due to the large torque requirements at the joints combined with the need for the actuators' size and weight to be small. Most of the handful of successful humanoid robots in this size class that exist today util...

In this paper, the dynamic analysis of a translating five-bar linkage mechanism is presented. The model developed with applied force to crank arm resolved into two principal planes, that is, x- and y- directions resulting reaction forces moments at pin joints determined various acceleration 0, 10, 20, 30 40 m/s2 in direction as well opposite rotation. It was observed horizontal were decreasing ...