Kinematic Modeling of Scissor-Mechanism-Based Curvilinear Actuator

Sun, You Su; Pancheri, Felix; Lueth, Tim C.

doi:10.1109/iecon49645.2022.9968802

Cited by 4 publications

(4 citation statements)

References 21 publications

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“…The structure of the proposed medication delivery robot consists of a 3-DOF robot manipulator, a scissor lift platform [14][15][16], a cleaning mechanism, and four storage compartments. The three-dimensional mechanism is shown in Fig.…”

Section: Three-dimensional Model Of the Medication Delivery Robotmentioning

confidence: 99%

Kinematics analysis of a medication delivery robot based on a 3-DOF manipulator

Huang

2023

MATEC Web Conf.

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Medication delivery robots, as a type of service robots, are becoming increasingly important in the field of helping the elderly and disabled. Conventional drug delivery robots focus on mobility and often lack the ability to pick and place drugs independently. Based on this phenomenon, a new medication delivery robot structure based on a 3-DOF robot manipulator is designed in this paper. According to the motion process, the 3-DOF manipulator is modeled and simulated. Meanwhile, the influence of different trajectory planning methods on the drug taking and discharging process are compared, which provides theoretical and technical support for the research of robots in related fields.

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Section: Three-dimensional Model Of the Medication Delivery Robotmentioning

confidence: 99%

Kinematics analysis of a medication delivery robot based on a 3-DOF manipulator

Huang

2023

MATEC Web Conf.

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“…To solve the problems of a large extent and inconsistent slope of the south roof of CSGs, a structure that can telescope along the front roof of the greenhouse must be designed. The shear structure has a large systolic ratio and has the ability to work in curved areas, and its range of motion can be explained using a mathematics model [18,19]. Researchers have designed foldable shear-type robotic arms to grip heavy objects [20].…”

Section: Introductionmentioning

confidence: 99%

Scissor Arm for Cambered Snow: Mechanical Theory

Gang,

Gong,

et al. 2024

Machines

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In this study, a novel cambered snow removal device is designed to achieve automatic snow removal in large curved areas, such as the south roof of a Chinese solar greenhouse. The theory of structural parameters and shear force is ambiguous. People are not based on the greenhouse structure parameters for the selection of snow removal devices. Therefore, the quantitative relationship between the structure of the greenhouse span and the number of scissor arm-length knots is analysed, and the relationship between the material strength and application distance is determined. This study’s objectives are (1) to establish a theoretical model of scissor arm motion and (2) to analyse the force distribution of the scissor arm using multi-body dynamics. The results show that the scissor arm of a round-arch greenhouse has fewer sections but a larger arm length, whereas the scissor arm of a traditional solar greenhouse has more sections but a smaller arm length. Based on the shear force of the scissor structure, the optimised wall thickness reduces the force of the node by 17%.

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“…Wang et al [12] proposed two novel Sarrus reconfigurable large-scale folding mechanisms by adding rotating pairs to each branch of the Sarrus-extended mechasim. Based on the driving mode of scissors unit, Sun et al [13] proposed a kinematics modeling framework for calculating the trajectory of curve driver based on scissors unit. Then Liu et al [14] put forward and analyzed a new type of reconfigurable spatial large-scale folding 8R mechanism, which is connected by four bending scissors units by rotating pairs, and analyzed the kinematics and dynamics of the mechanism under two basic planar symmetry modes, gave the configurations of the mechanism under five evolution modes, and explained the switching scheme of the mechanism between the seven modes.…”

Section: Introductionmentioning

confidence: 99%

Research on the design method of Bricard-like mechanism based on scissors units

Sun

2023

Second International Conference on Advanced Manufacturing Technology and Manufacturing Systems (ICAMTMS 2023)

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According to the characteristics of loop-connection mechanism based on three quadrilateral elements and scissors elements, a construction method of Bricard-like mechanism based on scissors units and loop-connection mechanism is proposed. First of all, based on the analysis of the motion characteristics of the loop-connection mechanism of three quadrilateral units, a preliminary scheme of adding scissors units is put forward. Secondly, the folding and unfolding characteristics of scissors units are analysed, and different requirements of bars length is put forward according to different characteristics. Finally, the three-dimensional models of Bricard-like mechanism based on scissors units and loop-connection mechanism is established, and its motion modes are analyzed. The proposed construction method can improve the folding ratio of the mechanism and provide some ideas for the design of large-scale folding mechanism.

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Kinematic Modeling of Scissor-Mechanism-Based Curvilinear Actuator

Cited by 4 publications

References 21 publications

Kinematics analysis of a medication delivery robot based on a 3-DOF manipulator

Kinematics analysis of a medication delivery robot based on a 3-DOF manipulator

Scissor Arm for Cambered Snow: Mechanical Theory

Research on the design method of Bricard-like mechanism based on scissors units

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