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  • ASME International  (3)
  • 1990-1994  (3)
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  • ASME International  (3)
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  • 1990-1994  (3)
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  • 1
    Online Resource
    Online Resource
    Body Vibration of a Legged Walking Machine
    ASME International ; 1993
    In:  Journal of Mechanical Design Vol. 115, No. 4 ( 1993-12-01), p. 856-862
    Details
    In: Journal of Mechanical Design, ASME International, Vol. 115, No. 4 ( 1993-12-01), p. 856-862
    Abstract: Unlike wheeled vehicles, compliance in walking machine systems changes due to the variation of leg geometry, as its body proceeds. This variation in compliance will cause vibration, even if external loads remain constant. A theory is thus developed to predict the body vibrations of a walking machine during walking. On the other hand, dynamic foot forces under body vibrations can be computed by application of the existing numerical methods. As an example, the body vibrations of a quadrupedal walking chair under different walking conditions are simulated in terms of the developed theory. The results show that the influence of body vibrations on the foot force distribution is essential and, in some cases, the walking chair may lose its stability due to its body vibrations, even though it is identified to be stable in a quasistatic analysis. The developed theory can also be extended to other similar multilimbed robotic systems, such as multifingered robot hands.
    Type of Medium: Online Resource
    ISSN: 1050-0472 , 1528-9001
    URL: Article
    DOI: 10.1115/1.2919279
    Language: English
    Publisher: ASME International
    Publication Date: 1993
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    Online Resource
  • 2
    Online Resource
    Online Resource
    A Generalized Stiffness Matrix Method for Force Distribution of Robotic Systems with Indeterminancy
    ASME International ; 1993
    In:  Journal of Mechanical Design Vol. 115, No. 3 ( 1993-09-01), p. 585-591
    Details
    In: Journal of Mechanical Design, ASME International, Vol. 115, No. 3 ( 1993-09-01), p. 585-591
    Abstract: Foot forces in walking machines and finger forces in multi-fingered grippers are usually indeterminate due to the multi-closed-chain geometry of the systems. While many methods were proposed to solve the force distribution of such systems, a method called stiffness matrix method [2] was developed based on the concept that the force must satisfy the equations of material deformations. However, only leg compliances were considered in the stiffness matrix method. In this paper, the stiffness matrix method is generalized to include all the major system compliances, i.e., those of legs (fingers), actuators and terrain (object to be grasped). Based on the developed generalized stiffness matrix method, an example of foot force analysis of a quadruped is presented to demonstrate the effects of different system compliances on the foot forces.
    Type of Medium: Online Resource
    ISSN: 1050-0472 , 1528-9001
    URL: Article
    DOI: 10.1115/1.2919230
    Language: English
    Publisher: ASME International
    Publication Date: 1993
    Location Call Number Limitation Availability
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    Online Resource
  • 3
    Online Resource
    Online Resource
    The Mobility Equation and the Solvability of Joint Forces/Torques in Dynamic Analysis
    ASME International ; 1992
    In:  Journal of Mechanical Design Vol. 114, No. 2 ( 1992-06-01), p. 257-262
    Details
    In: Journal of Mechanical Design, ASME International, Vol. 114, No. 2 ( 1992-06-01), p. 257-262
    Abstract: The mobility equation has been applied to predict the indeterminacy of unknown joint forces/torques in static analysis. In this paper, the mobility equation is modified to investigate the solvability of joint forces/torques of spatial mechanisms in dynamic analysis. Each factor which may contribute to indeterminacy is discussed and is explicitly expressed in the equation. With the modifications, the mobility equation can be applied to a system with or without redundant actuators. Together with the concept of subspaces and a few simple rules, the mobility equation can be used to identify the solvability of every joint unknown, as well as the equations which are required for the solutions, under the assumption of rigid bodies. This method can be used as a guidance of dynamic analysis in dealing with complicated systems such as walking machines and multi-fingered grippers.
    Type of Medium: Online Resource
    ISSN: 1050-0472 , 1528-9001
    URL: Article
    DOI: 10.1115/1.2916940
    Language: English
    Publisher: ASME International
    Publication Date: 1992
    Location Call Number Limitation Availability
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    Online Resource
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