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Research Papers

Kinematic Locomotion Modes of Particle-Based Linear Chain Mechanisms

[+] Author and Article Information
Ahmad Alshorman

Mechanical Engineering Department,
Jordan University of Science and Technology,
Irbid 22110, Jordan
e-mail: amalshorman6@just.edu.jo

Yildirim Hurmuzlu

Professor
Fellow ASME
Mechanical Engineering Department,
Southern Methodist University,
Dallas, TX 75205
e-mail: hurmuzlu@lyle.smu.edu

1Corresponding author.

Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received February 6, 2016; final manuscript received August 15, 2017; published online October 6, 2017. Assoc. Editor: Manish Kumar.

J. Dyn. Sys., Meas., Control 140(2), 021010 (Oct 06, 2017) (8 pages) Paper No: DS-16-1080; doi: 10.1115/1.4037735 History: Received February 06, 2016; Revised August 15, 2017

Researchers often use mechanisms that consist of massless rods and concentrated masses in order to capture the dynamics of robotic locomotors. A kinematic prototyping tool that captures all possible locomotion modes of a given kinematic mechanism can be very useful in conceiving and designing such systems. Previously, we proposed a family of mechanisms that consist of two types of primitive building units: a single mass with a built-in revolute joint and a massless connection rod. This family starts from a single bouncing mass and progressively evolves into more complex generations. In this paper, we present a prototyping tool that generates all possible locomotion cycles of particle-based linear chain mechanisms. A new skip impact concept is introduced to describe the relative motion of the moving masses and the masses on the ground. Also, the paper represents a graphical user interface (GUI) that facilitates data input and the visualization of the locomotion modes.

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References

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Figures

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Fig. 1

Types of motion of a two-mass system

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Fig. 2

Reduction of a three-mass system

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Fig. 3

General linear chain mechanism

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Fig. 4

Open and closed branches

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Fig. 6

Crawling motion of the three-mass system

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Fig. 7

Animation example of a four-mass system

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Fig. 8

Switching of the biped robot locomotion

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