Modeling and Simulation Research of Kane Dynamics Method for the 5-DOF Modular Industrial Robot

Li, Xiao; Liao, Linjing; Song, Jingzhou

doi:10.1109/isai.2016.0035

Cited by 6 publications

(4 citation statements)

References 7 publications

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“…Li [8] et al established the Kane dynamics model and Adams solid model of the five-DOF modular industrial robot. The kinetic model equation is derived by using the actual input parameters of the joint and the Kane dynamic method.…”

Section: Kane Methodsmentioning

confidence: 99%

Modeling on flexible variable topology mechanism based on the Kane method

Liu

Fan

Geng

2023

J. Phys.: Conf. Ser.

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In recent years, with the development of space science and technology and the deepening of space exploration, a new type of institution with variable topology, variable topology, with its flexibility to adapt to the environment and diversity of tasks, has become an important development direction of multi-purpose and highly integrated complex space institutions in our country. Therefore, it is very important to study the dynamic problems of this kind of flexible variable topology mechanism and explore the methods and means to improve the dynamic performance, which meets the major requirements of the development of Chinese space science and technology. In this paper, a rigid-flexible coupling manipulator system that can realize the conversion of single and two degrees of freedom is studied. The full-structure nonlinear dynamics model of the manipulator is established by using the Kane method.

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Section: Kane Methodsmentioning

confidence: 99%

Modeling on flexible variable topology mechanism based on the Kane method

Liu

Fan

Geng

2023

J. Phys.: Conf. Ser.

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“…20 The commonly used dynamics modeling methods include Lagrange method, Newton-Euler method, Kane method, etc. 21 In this paper, the Lagrange method is adopted to establish the robot dynamics model without material elasticity and other issues.…”

Section: Minimum Demand Momentmentioning

confidence: 99%

Dynamic simulation analysis and experimental verification of transmission tower climbing robot

Wei

Zhang

Yuan

et al. 2023

Proceedings of the Institution of Mechanical Engineers, Part C:

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In order to replace the climbing work of the first climbers of the transmission tower without safety ropes, a transmission tower climbing robot is designed in this paper. First of all, this paper designs the structure of the robot by imitating the silkworm crawling on the branches through the principle of bionics. On this basis, through the inverse kinetics solution method, under the premise of planning the gait of the robot first, the dynamic simulation analysis of the robot is carried out according to the gait, so as to obtain the torque required for each joint motion. At the same time, according to the simulation results, the experimental test of the robot is carried out. Experiments have shown that the robot can climb to the top of a 50 m high transmission tower in 70 min with a load of 10 kg. The research results show that the transmission tower robot can replace the manual climbing operation of the transmission tower, and the mechanization and intelligence of the high-altitude operation of the transmission tower is highly feasible.

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“…At the 10th step, the return of the limbs to their original position occurs in the intervals [7,8] and [14,15], which is expressed by the curves of the change in the angle of rotation of the robot and the magnitude of the error. As a result, the robot turns to the required angle within 14 seconds from the start of movement [53]- [60].…”

Section: Rotating the Spider-robot In Placementioning

confidence: 99%

Comparison of Spider-Robot Information Models

Kravchenko,

Efremov,

Zhilenkov

et al. 2023

Journal of Robotics and Control

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The paper deduces a mathematical model of a spider-robot with six three-link limbs. Many limbs with a multi-link structure greatly complicate the process of synthesizing a model, since in total the robot has twenty-four degrees of freedom, i.e., three coordinates of the center of mass of the body in space, three angles of rotation of the body relative to its center of mass and three degrees of freedom for each limb, to describe the position of the links. The derived mathematical model is based on the Lagrange equations with a further transformation of the equations to the Cauchy normal form in a matrix form. To test the resulting model in a SimInTech environment, an information model is synthesized and two simple experiments ar carried out to simulate the behavior of real spiders: moving forward in a straight line and turning in place at a given angle. The experimental results demonstrate that the synthesized information model can well cope with the tasks and the mathematical model underlying it can be used for further research.

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Modeling and Simulation Research of Kane Dynamics Method for the 5-DOF Modular Industrial Robot

Cited by 6 publications

References 7 publications

Modeling on flexible variable topology mechanism based on the Kane method

Modeling on flexible variable topology mechanism based on the Kane method

Dynamic simulation analysis and experimental verification of transmission tower climbing robot

Comparison of Spider-Robot Information Models

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