Wyniki wyszukiwania - BazTech

1

Mathematical Modelling and Feasibility Study ofthe Biomimetic Undulating Fin of a Knife Fish Robot

Meera A. A., Sudheer A. P.

Journal of Automation Mobile Robotics and Intelligent Systems

|

2016

|

Vol. 10, No. 1

17--25

EN

Bio-mimetic underwater robotics is an emerging area of research, which has the potential to substitute the conventional energy inefficient mode of underwater propulsion using thrusters. In this paper, the mathematical modelling of the undulating fin is done and the effect of various parameters of the mechanism design on the available workspace is studied. The mathematical beauty is revealed, for the curves representing the mechanical constraint and the family of undulating waves. The feasibility of a wave to be generated by the mechanism was analyzed.

2

Design Optimization of the Biomimetic Undulating Fin of a Knife Fish Robot

Meera A. A., Sudheer A. P.

Journal of Automation Mobile Robotics and Intelligent Systems

|

2016

|

Vol. 10, No. 1

26--33

EN

Median Paired Fin Propulsion used by fishes like knife fish, has the potential to replace current energy inefficient underwater propulsion systems. This paper quantizes the efficiency of a fin mechanism based on its ability to incorporate a large number of undulations. Characteristic ellipses of a mechanism were defined, based on which two algorithms were defined to measure the capabilities of the mechanism. The available workspace of the mechanism was optimized to accommodate the undulation requirements of the robot based on the formulations. Further, the distortion effect on the waveform was identified and the optimization was redefined to obviate its possibility while in operation.

3

Stable gait synthesis and analysis of a 12 - degree of freedom eiped robot in sagittal and frontal planes

Sudheer A. P., Vijayakumar R., Mohandas K. P.

Journal of Automation Mobile Robotics and Intelligent Systems

|

2012

|

Vol. 6, No. 4

36-44

EN

Legged machines have not been offered biologically realistic movement patterns and behaviours due to the limitations in kinematic, dynamics and control technique. When the degrees of freedom (DOF) increases, the robot becomes complex and it affects the postural stability. A loss of postural stability of biped may have potentially serious consequences and this demands thorough analysis for the better prediction and elimination of the possibility of fall. This work presents the modelling and simulation of twelve degrees of freedom (DOF) biped robot, walking along a pre-defined trajectory after considering the stability in sagittal and frontal planes based upon zero moment point (ZMP) criterion. Kinematic modelling and dynamic modelling of the robot are done using Denavit-Hartenberg (DH) parameters and Newton-Euler algorithm respectively. This paper also proposes Levenberg- Marquardt method for finding inverse kinematic solutions and determines the size of the foot based on ZMP for the stable motion of biped. Biped robot locomotion is simulated, kinematic and dynamic parameters are plotted using MATLAB. Cycloidal gait trajectory is experimentally validated for a particular step length of the biped.