Control of A Four-Steering, Planar Five-Bar Linkage-Walker
نویسندگان
چکیده
منابع مشابه
Dynamic 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 کاملAnalysis of an Underactuated Compliant Five-bar Linkage
Deepak Behera and Dr.J.Srinivas, Department of Mechanical Engineering, NIT-Rourkela 769 008 email: [email protected] Abstract: This paper presents the kinetostatic analysis and design of a two degree-offreedom five-bar underactuated compliant mechanism using a pseudo-rigid body modeling. Two of the joints in the linkage are flexible and actuation is provided to the crank. The slider connected ...
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Robot trajectory tracking has been the core functioning unit in the modern industrial environment wherein the accuracy in the motion control of robotic manipulators is the main area of research. Based on the fact that the working of these automatic robotic machines is highly influenced by the disturbances, this paper constitutes various conventional controllers for the motion control of five ba...
متن کاملThe description of the human knee as four-bar linkage.
PURPOSE We investigate the dependence of the kinematics of the human knee on its anatomy. The idea of describing the kinematics of the knee in the sagittal plane using four-bar linkage is almost as old as kinematics as an independent discipline. We start with a comparison of known four-bar linkage constructions. We then focus on the model by H. Nägerl which is applicable under form closure. M...
متن کاملReal Inflections of Hinged Planar Four-bar Coupler Curves
Plücker’s and Klein’s equations provide an upper bound on the number of real inflections on the coupler curve of a hinged planar four-bar mechanism. Generally, for any configuration of the four-bar, the coupler points whose trajectories exhibit inflections lie on a circle. The coupler plane is partitioned by the envelope of the inflection circles into connected regions within which every couple...
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ژورنال
عنوان ژورنال: Transactions of the Society of Instrument and Control Engineers
سال: 2006
ISSN: 0453-4654
DOI: 10.9746/sicetr1965.42.1107