Alternative Constraint Handling Technique for Four-Bar Linkage Motion Generation
نویسندگان
چکیده
منابع مشابه
Human like trajectory generation for a biped robot with a four-bar linkage for the knees
The design of a knee joint is a key issue in robotics to improve the locomotion and the performances of the bipedal robots. We study a design for the knee joints of a planar bipedal robot, based on a four-bar linkage. We design walking reference trajectories composed of double support phases, single support phases and impacts. The single support phases are divided in two sub-phases. During the ...
متن کاملOptimal Four-Bar Linkage for the Stability and the Motion of the Human Knee Prostheses
The optimal design of human lower limb prostheses, in particular of knee devices, is fundamental in order to restore the lost functionality and aesthetic aspect of the amputee’s locomotion. Among all knee devices, the four-bar linkage is still the most widespread mechanism, since, despite its simplicity, it allows the prosthesis to be sufficiently stable and, at the same time, to replicate the ...
متن کاملDynamic Behavior Analysis of a Planar Four-bar Linkage with Multiple Clearances Joint
In practice, clearances in the joints are inevitable due to tolerances, and defects arising from design and manufacturing. In the presence of clearance at a joint, a mechanism gains some additional, uncontrollable degrees of freedom which are the source of error. Moreover, joints undergo wear and backlashes and so cannot be used in precision mechanisms. In this study, the dynamic behaviour of ...
متن کاملOptimal Synthesis of Four‐bar Linkage Path Generation through Evolutionary Computation
2 Sustainable and Infrastructure Research and Development Center, Department of Mechanical Engineering, Faculty of Engineering, KhonKaen University, KhonKaen City, Thailand ABSTRACT: This paper presents the optimization of path generating of four-bar linkages using evolution algorithms (EAs). The design problem is assigned to minimize the error between desired and obtained coupler curves. Such ...
متن کاملSynthesis of Planar, Compliant Four-Bar Mechanisms for Compliant-Segment Motion Generation
Compliant four-bar mechanisms treated in previous works consisted of at least one rigid moving link, and such mechanisms synthesized for motion generation tasks have always comprised a rigid coupler link, bearing with the conventional definition of motion generation for rigid-link mechanisms. This paper introduces a new task called compliantsegment motion generation where the coupler is a flexi...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: IOP Conference Series: Materials Science and Engineering
سال: 2019
ISSN: 1757-899X
DOI: 10.1088/1757-899x/501/1/012042