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Kinematic Locomotion Modes of Particle-Based Linear Chain Mechanisms.
- Source :
-
Journal of Dynamic Systems, Measurement, & Control . Feb2018, Vol. 140 Issue 2, p1-8. 8p. - Publication Year :
- 2018
-
Abstract
- Researchers often use mechanisms that consist of massless rods and concentrated masses in order to capture the dynamics of robotic locomotors. A kinematic prototyping tool that captures all possible locomotion modes of a given kinematic mechanism can be very useful in conceiving and designing such systems. Previously, we proposed a family of mechanisms that consist of two types of primitive building units: a single mass with a built-in revolute joint and a massless connection rod. This family starts from a single bouncing mass and progressively evolves into more complex generations. In this paper, we present a prototyping tool that generates all possible locomotion cycles of particle-based linear chain mechanisms. A new skip impact concept is introduced to describe the relative motion of the moving masses and the masses on the ground. Also, the paper represents a graphical user interface (GUI) that facilitates data input and the visualization of the locomotion modes. [ABSTRACT FROM AUTHOR]
- Subjects :
- *GRAPHICAL user interfaces
*KINEMATICS
*RAPID prototyping
Subjects
Details
- Language :
- English
- ISSN :
- 00220434
- Volume :
- 140
- Issue :
- 2
- Database :
- Academic Search Index
- Journal :
- Journal of Dynamic Systems, Measurement, & Control
- Publication Type :
- Academic Journal
- Accession number :
- 126855732
- Full Text :
- https://doi.org/10.1115/1.4037735