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research-article

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
amalshorman6@just.edu.jo

Yildirim Hurmuzlu

Professor, Fellow of the ASME, Mechanical Engineering Department, Systems Lab, Southern Methodist University
hurmuzlu@lyle.smu.edu

1Corresponding author.

ASME doi:10.1115/1.4037735 History: Received February 06, 2016; Revised August 15, 2017

Abstract

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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