1,721,369 research outputs found
Dynamic Analysis of a Compliant, Parallel and Three-Dimensional Meso-Manipulator Generated from a Planar Structure
No full textAbstract. The dynamic study of a parallel meso-manipulator, characterized by flexure hinge joints and by an original planar structure, is addressed in this paper under small displacements. This work has to be considered as the continuation of a previous paper, developing the kinematic study and the workspace analysis of the same structure[1].
The present paper deals with the dynamic analysis of the meso-manipulator: as first outcome, a dynamic response strictly related to the implemented motion profile emerges from the simulations results. A noise contribute has been thereafter introduced into the symmetric trapezoidal profile to simulate a real-world behaviour, and also the compliance performances of the robot are evaluated with this noise force.
[1] Amici, C., Borboni, A., Magnani, P.L., Pomi, D. (2008) Kinematic Analysis of a Compliant Parallel and Three-Dimensional Meso-Manipulator Generated from a Planar Structure. 2nd European Conference on Mechanism Science EUCOMES2008, Cassino, Ital
Dynamics of Heel Strike in Bipedal Systems with Circular Feet
No full textEnergetic efficiency is a fundamental subject of research in bipedal robot
locomotion. In such systems, the collision of the foot with the ground at heel strike is
the main cause of energy loss during the gait. In this work, a Lagrangian framework
to study the impulsive dynamics of collisions is presented. Based on the inert constraints of this event, a decomposition of the dynamics to the spaces of constrained
and admissible motions is introduced. It is used to analyze the energy redistribution
at heel strike in circular-feet bipeds. We present results that show the effect of the
foot radius and the impact configuration on the energetic cost of walking.Peer Reviewe
On the Control of Flexible Link Manipulators: Results of Two Numerical Investigations - Part I: Mathematical Model and Test Cases
No full textDynamics of Heel Strike in Bipedal Systems with Circular Feet
No full textEnergetic efficiency is a fundamental subject of research in bipedal robot
locomotion. In such systems, the collision of the foot with the ground at heel strike is
the main cause of energy loss during the gait. In this work, a Lagrangian framework
to study the impulsive dynamics of collisions is presented. Based on the inert constraints of this event, a decomposition of the dynamics to the spaces of constrained
and admissible motions is introduced. It is used to analyze the energy redistribution
at heel strike in circular-feet bipeds. We present results that show the effect of the
foot radius and the impact configuration on the energetic cost of walking.Peer ReviewedPostprint (published version
Dynamics of Heel Strike in Bipedal Systems with Circular Feet
No full textEnergetic efficiency is a fundamental subject of research in bipedal robot
locomotion. In such systems, the collision of the foot with the ground at heel strike is
the main cause of energy loss during the gait. In this work, a Lagrangian framework
to study the impulsive dynamics of collisions is presented. Based on the inert constraints of this event, a decomposition of the dynamics to the spaces of constrained
and admissible motions is introduced. It is used to analyze the energy redistribution
at heel strike in circular-feet bipeds. We present results that show the effect of the
foot radius and the impact configuration on the energetic cost of walking.Peer ReviewedPostprint (published version
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