Design of a 3 DOFs parallel actuated mechanism for a biped hip joint

Proceedings of the 2002 IEEE International Conference on Robotics & Automation, Washington, DC, May 200

General Method for Kinematic Synthesis of Manipulators with Task Specifications

This paper deals with the kinematic synthesis of manipulator. A new method based on distributed solving is used to determine the dimensional parameters of a general manipulator which is able to reach a set of given tasks speciøed by orientation and position. First, a general Distributed Solving Method (DSM) is presented in three steps : the problem statement, the objective functions formulations and the minimum parameters values determination. Then, this method is applied to solve the synthesis of Denavit and Hartenberg set of parameters of a manipulator with a given kinematic structure. In this case, the kind and the number of joints are speciøed and a set of constraints are included such as joint limits, range of dimensional parameters and geometrical obstacles avoidance. We show that if the Denavit and Hartenberg parameters (DH) are known, the synthesis problem is reduced to an inverse kinematic problem. We show also how the problem of robot base placement can be solved by the same ..

Ouezdou, “Dynamic Simulation of a Humanoid Robot with Four DOFs Torso

Abstract-In this paper, we present the 3D dynamic simulation of walking gait of biped Robian I1 virtual manikin (25 kg weight, 1.10 m height). The biped has 16 degrees of freedom (dofs). Initially, a bio-mimetic approach is used t o model a humanoid biped having 25 dofs based on common European male (75 kg, 1.78 m). Using, human being motion recording, footjground contact model and inverse kinematics, a 3D dynamic simulation of this humanoid is carried out. Scale factorization is used in order t o reach Robian I1 weight and height. A 3D dynamic simulation of t h e Robian size humanoid gives t h e effort wrench exerted by t h e torso on t h e lower limbs. An analysis of t h e six components of this wrench shows t h e existence of two coupling relations. A study of four dofs mechanisms based on General State Equation (GSE) formalism leads us t o a n interesting result. Indeed, four dofs a r e necessary and sufficient t o emulate t h e dynamic effects. An R P P P mechanism is presented in order t o replace Robian upper part. Results of 3 D simulation of t h e 16 dofs resulting biped a r e presented. Z M P control algotithm is used t o ensure dynamic stability of t h e biped during walking gait

Distributed Method For Inverse Kinematics Of All Serial Manipulators

This paper deals with a new numerical method to solve the inverse kinematics of all serial, special or general, manipulators. This method uses new concept from Distributed Artificial Intelligence, multi-agent systems, which allows to distribute the resolution of this problem. This concept is used with a new formulation of the problem associated to each local frame. This iterative and distributed algorithm is able to find all solutions of the inverse kinematics for all kinds of manipulators (6R, 5R1P, 4R2P, 3R3P). Moreover, we'll show that this method can be applied to redundant manipulators

Synthèse géométrique de manipulateurs sous contraintes cin'ematiques Geometric synthesis of manipulators under kinematic constraints

In this paper the amelioration of a preliminary conception process based on an iterative and interactive synthesis is proposed. The problem concerns the determination of dimentionnal parameters of a manipulator able to manage a set of elementary tasks defined by position and orientation under kinematic performance constraints. The integration of a kinematic constraints (requested velocity at end-effector level) as a penality function modifies the solution obtained from geometrical stynthesis and allows to take into account actuator capabilities (maximal joint velocity). The approach is validated with a planar robot manipulator with three pivot joints. 1 Introduction L'augmentation de la puissance de calcul des moyens informatiques permet l'automatisation, pour le moins partielle, du processus it'eratif de conception de syst`emes robotiques. La d'efinition d'outils fonctionnels, robustes et interactifs pour l'aide `a la conception pr'eliminaire est un domaine d'investigation vaste et..

Kinematic Design of Manipulators

In this paper the improvement of a preliminary design process based on an iterative and interactive synthesis is proposed. The problem concerns the determination of dimentionnal parameters of a manipulator able to follow a trajectory defined by a parametric curve under kinematic performances (requested velocity at end-effector level in a clutured environment). A two level optimization process allows us to take into account global and local criteria. An exemple is given to illustrate the validity of the approach. 1 Introduction In this paper, we introduce an extension of classic a manipulator synthesis, in order to take into account kinematic effects during this stage. The synthesis process may be seen as a search for the best manipulator which is able to manage a set of desired tasks while respecting a set of constraints. An objective function is build to measure the fitness of a robot capabilities to carry out the required tasks. An optimization process is then run to determine the ..