Today, Robotic is an essential technology from the entertainment to the industry. Thousands of articles have been published on Robotic. There are various types of robots such as parallel robots, industrial robots, mobile robots, autonomous mobile robots, health-care robots, military robots, entertainment robots, nano robots and swarm robots. So, this variety brings a lot of problems in Robotic....

This paper presents the forward and inverse displacement analysis of a novel three-legged walking robot STriDER (Selfexcited Tripedal Dynamic Experimental Robot). STriDER utilizes the concept of passive dynamic locomotion to walk, but when all three feet of the robot are on the ground, the kinematic structure of the robot behaves like an in-parallel manipulator. To plan and control its change o...

This document introduces a new kinematic simulation of a wheeled mobile robot operating on uneven terrain. Our modeling method borrows concepts from dextrous manipulation. This allows for an accurate simulation of the way 3-dimensional wheels roll over a smooth ground surface. The purpose of the simulation is to validate a new concept for design of off-road wheel suspensions, called Passive Var...

Kinematic position analysis is the first step in creating a complete mathematical model of the new manipulator architecture. This analysis will begin by developing a general descriptive model that characterizes the kinematic geometry of the device. From this geometric model, a mathematical function relating the input-to-output position parameters will be formed. The goal of this function is to ...

This paper addresses modeling and kinematic analysis of a serial-parallel structure-variable field robot which based on double spirals. Although a few researchers have studied on spiral propulsion mechanism, it is observed in our previous work that the spiral can move forward between gaps of plants and damages to the plants are very little. It can be used to carry measurement devices on investi...

Abstract In this paper, a heuristic method based on Firefly Algorithm is proposed for inverse kinematics problems in articulated robotics, the proposal is called, IK-FA. Solving inverse kinematics, IK, consists in finding a set of jointpositions allowing a specific point of the system to achieve a target position. In IK-FA, the Fireflies positions are assumed to be a possible solution for joint...

in recent years, biodiesel has been considered as a good alternative of diesel fuels. density and viscosity are two important properties of these fuels. in this study, density and kinematic viscosity of biodiesel-diesel blends were estimated by using artificial neural network (ann). a three-layer feed forward neural network with levenberg-marquard (lm) algorithm was used for learning empirical ...

This paper presents a kinematic model of the human arm in which the workspace of the elbow is modeled as a triangular B ezier spline surface. It is also explained how this model is used for solving forward and inverse kinematics in computer animation systems. In order to solve inverse kinematics problems, it is necessary to nd a curve on the surface modeling the elbow workspace. This curve is o...

This paper describes the mechanical configuration of a quadruped robot firstly. Each of the four legs consists of three rotary joints. All joints of the robot are actuated by linear hydraulic servo cylinders. Then it deduces the forward and inverse kinematic equations for four legs with D-H transformation matrices. Furthermore, it gives a composite foot trajectory composed of cubic curve and st...