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RISBody Vibration of a Legged Walking Machine
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Unlike wheeled vehicles, compliance in walking machine systems changes due to the variation of leg geometry, as its body proceeds. This variation in compliance will cause vibration, even if ...
The Mobility Equation and the Solvability of Joint Forces/Torques in Dynamic Analysis
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: The mobility equation has been applied to predict the indeterminacy of unknown joint forces/torques in static analysis. In this paper, the mobility equation is modified to investigate the ...
A Strategy of Wave Gait for a Walking Machine Traversing a Rough Planar Terrain
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: The performance of a legged system is closely related to the adopted gait. Among the many available gaits, the wave gait possesses the optimum stability [1–3] and has been applied to walking ...
Geometric Design of a Walking Machine for Optimal Mobility
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: The design of the geometry of a walking machine depends to a considerable extent on the applications for which the machine is intended. Nevertheless, there are some very general principles and ...
Direct Position Analysis of the 4–6 Stewart Platforms
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Although Stewart platforms have been applied in the design of aircraft and vehicle simulators and parallel robots for many years, the closed-form solution of direct (forward) position analysis ...
Forward Position Analysis of Nearly General Stewart Platforms
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper presents the closed-form solution of the forward position analysis of the nearly general Stewart platform, which consists of a base and a moving planar platform connected by six ...
Geometric Work of Manipulators and Path Planning Based on Minimum Energy Consumption
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: The energy efficiency of the robots of today’s generation is in general very poor due to the existence of “geometric work.” The geometric work is geometry dependent and can be eliminate by ...
Antisaturation Attitude and Orbit-Coupled Control for Spacecraft Final Safe Approach Based on Fast Nonsingular Terminal Sliding Mode
Publisher: American Society of Civil Engineers
Abstract: The problem of spacecraft final approach subject to input saturation and a safe constraint is studied in this paper. First, an attitude and orbit-coupling model with input saturation was established for spacecraft final ...
Tracking Control of Hypersonic Vehicle Considering Input Constraint
Publisher: American Society of Civil Engineers
Abstract: This paper studies the tracking control problem of hypersonic vehicles under the circumstances of external disturbance, coupling response, and input constraint. First, on the basis of the input-output linearization model ...
The End-Effector Angle and Manipulator Dexterous Workspaces
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: The end-effector angle is defined as the angle between the end-effector axial axis and the hand axis (an axis from the wrist center to the end-effector reference point). Most industrial ...