A new six-parallel-legged walking robot for drilling holes on the fuselage

Pan, Yang; Gao, Feng

doi:10.1177/0954406213489068

Cited by 48 publications

(24 citation statements)

References 16 publications

(14 reference statements)

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“…3(b). Meanwhile, some up-to-date walking PKMs [39,40] are developed to contribute more flexibility to the machining process, and their operating positions also affect the gravity-induced errors. Therefore, the reconfigurability brings the PKMs great challenge of the complex gravitational effects on the machining accuracy, but the relevant studies are still in infancy.…”

Section: Gravity-induced Errorsmentioning

confidence: 99%

“…Thus, both of these make the PKM more susceptible to thermal loads, even besides the non-uniform temperature distributions. Although some studies in thermal error modeling [43], compensation [40] and cooling structure components [19,35] have been conducted to decrease thermal errors of PKMs, it is far beyond the high accuracy expectation even compared with TNCMs. And co-thermal effects within the closed-loop structure could be attractive aspects in increasing the accuracy.…”

Section: Thermal Errorsmentioning

confidence: 99%

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Recent Advances in Intelligent Manufacturing

Wang

Price²,

Lim

et al. 2018

Communications in Computer and Information Science

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Machining technology is developed with increasing flexibility to adapt to the rapid changes of the market. Parallel kinematic machines (PKMs) have demonstrated great flexibility to suit the demands, but it is still not possible to achieve as high accuracy as the traditional NC machines (TNCMs). This paper presents a general review on the structure-based errors of PKMs in comparison with TNCMs to reveal physical causes and the relevance to the final uncertainty. The geometric/kinematic, gravitational, and thermal aspects in both TNCMs and PKMs are identified as structure-based error sources. Errors in each aspect are comparatively analyzed between PKMs and TNCMs, and inherent differences are found to bring new challenges to the final uncertainty of PKMs. Finally, perspectives in each aspect are highlighted for accuracy improvement of PKMs.

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Section: Gravity-induced Errorsmentioning

confidence: 99%

Section: Thermal Errorsmentioning

confidence: 99%

Recent Advances in Intelligent Manufacturing

Wang

Price²,

Lim

et al. 2018

Communications in Computer and Information Science

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“…The legged robot is called “Octopus” [ 30 , 31 ], which has a hexagonal body with six identical legs arranged in a diagonally symmetrical way around its body as shown in Figure 1 . The robot is a six DOFS moving platform that integrates walking and manipulating.…”

Section: System Descriptionmentioning

confidence: 99%

A Novel Identification Methodology for the Coordinate Relationship between a 3D Vision System and a Legged Robot

Chai

Gao

Pan

et al. 2015

Sensors

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Coordinate identification between vision systems and robots is quite a challenging issue in the field of intelligent robotic applications, involving steps such as perceiving the immediate environment, building the terrain map and planning the locomotion automatically. It is now well established that current identification methods have non-negligible limitations such as a difficult feature matching, the requirement of external tools and the intervention of multiple people. In this paper, we propose a novel methodology to identify the geometric parameters of 3D vision systems mounted on robots without involving other people or additional equipment. In particular, our method focuses on legged robots which have complex body structures and excellent locomotion ability compared to their wheeled/tracked counterparts. The parameters can be identified only by moving robots on a relatively flat ground. Concretely, an estimation approach is provided to calculate the ground plane. In addition, the relationship between the robot and the ground is modeled. The parameters are obtained by formulating the identification problem as an optimization problem. The methodology is integrated on a legged robot called “Octopus”, which can traverse through rough terrains with high stability after obtaining the identification parameters of its mounted vision system using the proposed method. Diverse experiments in different environments demonstrate our novel method is accurate and robust.

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“…Walking robots become the hot spots recently at the leading edge of robot research. Various robot prototypes were tested with specific tasks, including BigDog [1,2], FROG-I [3,4], B-elepht [5,6], Hector [7], Crabster [8][9][10][11], PPHex [12][13][14] and many other biomechanics [15,16]. Legs are the key parts of the walking robot structure.…”

Section: Introductionmentioning

confidence: 99%

Type Synthesis of Walking Robot Legs

Gao

2018

Chin. J. Mech. Eng.

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Walking robots use leg structures to overcome obstacles or move on complicated terrains. Most robots of current researches are equipped with legs of simple structure. The specific design method of walking robot legs is seldom studied. Based on the generalized-function (GF) set theory, a systematic type synthesis process of designing robot legs is introduced. The specific mobility of robot legs is analyzed to obtain two main leg types as the goal of design. Number synthesis problem is decomposed into two stages, actuation and constraint synthesis by name, corresponding to the combinatorics results of linear Diophantine equations. Additional restrictions are discussed to narrow the search range to propose practical limb expressions and kinematic-pair designs. Finally, all the fifty-one leg structures of four subtypes are carried out, some of which are chosen to make up robot prototypes, demonstrating the validity of the method. This paper proposed a novel type synthesis methodology, which could be used to systematically design various practical robot legs and the derived robots. which permits unrestricted use, distribution, and reproduction in any medium, provided you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license, and indicate if changes were made.

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A new six-parallel-legged walking robot for drilling holes on the fuselage

Cited by 48 publications

References 16 publications

Recent Advances in Intelligent Manufacturing

Recent Advances in Intelligent Manufacturing

A Novel Identification Methodology for the Coordinate Relationship between a 3D Vision System and a Legged Robot

Type Synthesis of Walking Robot Legs

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