Kinetostatic optimization for an adjustable four-bar based articulated leg-wheel subsystem

Alamdari, Aliakbar; Sovizi, Javad; Jun, Seung Kook; Krovi, Venkat

doi:10.1109/iros.2014.6942955

Cited by 7 publications

(9 citation statements)

References 14 publications

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“…(6), at least three independent measurements with different sensitivity vectors are required. In our approach, and to minimize experimental errors, 24,26 optical phase maps are obtained with four sensitivity vectors to form an over determined system of equations that is solved in Matlab with the least-squares error minimization method with…”

Section: Methods Of Multiple Illumination Directionsmentioning

confidence: 99%

Three-dimensional vibrometry of the human eardrum with stroboscopic lensless digital holography

et al. 2015

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Section: Methods Of Multiple Illumination Directionsmentioning

confidence: 99%

Three-dimensional vibrometry of the human eardrum with stroboscopic lensless digital holography

et al. 2015

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“…Two broad variants of four-bar based articulated leg-wheel systems are examined in Fig. 2: (i) Fixed-length and (ii) Variable-length systems [26]. Further, each of these broad categories are studied with (i) torsional/linear spring assists; and (ii) no spring assist in the leg-wheel subsystem.…”

Section: Design Process Of Leg-wheel Subsystemmentioning

confidence: 99%

“…The loop-closure equation of the leg-wheel subsystem with a four-bar based mechanism and variable-length crank link [26] (semi-active crank link), depicted in Fig. 3(a), is written as follows:…”

Section: Differential Kinematics Of the Variable-length Crank Linkmentioning

confidence: 99%

“…+ Z 6 (e iβ 2 − 1) = P 2 − P 1(26) Z 2 (e iα 3 − 1) + Z 6 (e iβ 3 − 1) = P 3 − P 1 at the wheel axle for semi−active ground link Time (sec) Motor torque with torsion spring assist (N.m) Kinetostatic synthesis of semi-active leg-wheel subsystem with variable ground link: (a) Ground link-length and crank link angle variation, (b) Torque at the wheel-axle torque at the wheel axle for semi−active rocker link Time (sec) Motor torque with torsion spring assist (N.m) Kinetostatic synthesis of semi-active leg-wheel subsystem with variable rocker link: (a) Rocker link-length and angle variation, (b) Torque at the wheel-axle…”

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confidence: 99%

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Design of articulated leg–wheel subsystem by kinetostatic optimization

Alamdari

Krovi

2016

Mechanism and Machine Theory

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High mobility, maneuverability and obstacle-surmounting capabilities are highly desirable features for rough-terrain locomotion systems. In this paper, we explore the use of various candidate articulated leg-wheel subsystem designs (based on the four-bar mechanism) to enhance locomotion capabilities of land-based vehicles. Multiple leg-wheel design parameters, such as kinematic link lengths and static spring stiffnesses and preloads, influence the overall locomotion performance. Appropriate selection can not only enhance the robot climbing performance but also reduce the wheel slip as well as the overall energy consumption. In particular, we aim to: (i) achieve the greatest motion-ranges between wheel-axle and chassis; as well as to (ii) reduce the overall actuation requirements by spring assist. Hence, we explore the use of systematic kinetostatic design approaches coupled with optimization to determine the parameters for alternate leg-wheel subsystem designs. Further, we also examine enhancement of uneven-terrain locomotion by varying subsystem parameters during the terrain traversal via a semi-active leg-wheel subsystem. Extensive simulation is then employed to evaluate the capabilities of these alternate articulated leg-wheel designs to surmount a predetermined/sensed terrain traversal profile while reducing actuation requirements.

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“…In our own past work, we developed a symbolic yet algorithmic approach to study locomotion-systems within an overall matrix Lie-Group/Lie-Algebra framework [17][18][19]. The analyticformulation permitted us to systematically examine the reconfiguration capabilities of a spatial Articulated Wheeled Vehicle to achieve internal shape regulation, and trajectory-following task.…”

Section: Literaturementioning

confidence: 99%

Active Reconfiguration for Performance Enhancement in Articulated Wheeled Vehicles

Alamdari

Krovi

2014

Volume 2: Dynamic Modeling and Diagnostics in Biomedical Systems; Dynamics and Control of Wind Energy Systems; Vehicle Energy M

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Leg-wheel architectures for locomotion systems offer many advantages, not the least of which is reconfigurability of wheel-axle with respect to the chassis. Thus, locomotion systems with multiple leg-wheels now permit enormous reconfigurability of the chassis frame with respect to the ground frame. We seek to systematically exploit this ability to reconfigure within this highly-redundant system to enhance contact kinematics i.e., reducing the slippage and improving traction forces at wheel-ground interfaces. In addition, reconfiguration can also be used to mitigate undesirable system-level effects (such as judder) and lead to greatly improved estimation for navigation. In this paper, we examine a systematic analytical approach to the modeling, analysis and reconfiguration of articulated leg-wheel systems, to enhance both traction as well as stability-margin, while navigating over rough-terrains. The derivations will also be specialized to a particular example of an ultra-mobile actively-articulated vehicle to illustrate the developed procedure.

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Kinetostatic optimization for an adjustable four-bar based articulated leg-wheel subsystem

Cited by 7 publications

References 14 publications

Three-dimensional vibrometry of the human eardrum with stroboscopic lensless digital holography

Three-dimensional vibrometry of the human eardrum with stroboscopic lensless digital holography

Design of articulated leg–wheel subsystem by kinetostatic optimization

Active Reconfiguration for Performance Enhancement in Articulated Wheeled Vehicles

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