A5080574654- Robotic Mechanisms and Dynamics
- Mechanical Engineering and Vibrations Research
- Piezoelectric Actuators and Control
- Soil Mechanics and Vehicle Dynamics
- Geometric Analysis and Curvature Flows
- Mathematical Dynamics and Fractals
- Vehicle Dynamics and Control Systems
- Robotic Path Planning Algorithms
- Nonlinear Partial Differential Equations
- Dynamics and Control of Mechanical Systems
- Robot Manipulation and Learning
- Soft Robotics and Applications
- Advanced Surface Polishing Techniques
Shanghai Jiao Tong University
2024
University of Salford
1992-1997
Summary This paper addresses the kinematic workspaces of a walking machine and their graphical representation. The for machines are denned methods investigating various presented; workspace constraints established; displacement is analysed; an algorithm investigation position orientation analysed graphically represented example design.
For three dimensional complete Riemannian manifolds with scalar curvature no less than one, we obtain the sharp upper bound of stable minimal surfaces' diameter.
The effects of body geometry on walking machine performance have been investigated, and a design procedure proposed. relationships between static workspace, body-geometry installed joint torques derived. A that uses this data is then described, two examples discussed. results in which minimises the torques, hence weight, for desired workspace area.
Abstract This paper describes a mechanism which generates straight-line motion segments and is especially appropriate for use as the basis walking wheel in various kinds of vehicles. The capability, with multiple legs wheel, exploited to ensure that height centre above ground maintained constant. Thus, can be used on hard surfaces well soft surfaces, suitable foot attached leg an level pressure maintained.