Kinematic Locomotion Modes of Particle Based, Linear Chain Mechanisms

[+] Author and Article Information
Ahmad Alshorman

Assistant Professor, Mechanical Engineering Department, Jordan University of Science and Technology, Irbid, Jordan 22110

Yildirim Hurmuzlu

Professor, Fellow of the ASME, Mechanical Engineering Department, Systems Lab, Southern Methodist University

1Corresponding author.

ASME 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 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.

Copyright (c) 2017 by ASME
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