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This version of the kinematic diagram has proven effective in enumerating kinematic structures in the process of machine design. [2] An important consideration in this design process is the degree of freedom of the system of links and joints, which is determined using the Chebychev–Grübler–Kutzbach criterion.
Line representations in robotics are used for the following: They model joint axes: a revolute joint makes any connected rigid body rotate about the line of its axis; a prismatic joint makes the connected rigid body translate along its axis line. They model edges of the polyhedral objects used in many task planners or sensor processing modules.
The robot Jacobian results in a set of linear equations that relate the joint rates to the six-vector formed from the angular and linear velocity of the end-effector, known as a twist. Specifying the joint rates yields the end-effector twist directly. The inverse velocity problem seeks the joint rates that provide a specified end-effector twist.
These leg mechanisms have applications in mobile robotics and in gait analysis. [3] [4] The central 'crank' link moves in circles as it is actuated by a rotary actuator such as an electric motor. All other links and pin joints are unactuated and move because of the motion imparted by the
Soft robotics is a subfield of robotics that concerns the design, control, and fabrication of robots composed of compliant materials, instead of rigid links. [ 1 ] [ 2 ] In contrast to rigid-bodied robots built from metals, ceramics and hard plastics, the compliance of soft robots can improve their safety when working in close contact with humans.
Underwater walking robot, using Klann leg linkages in laser-cut and anodised aluminium. [1] The Klann linkage is a planar mechanism designed to simulate the gait of legged animal and function as a wheel replacement, a leg mechanism. The linkage consists of the frame, a crank, two grounded rockers, and two couplers all connected by pivot joints.
A process flow diagram (PFD) is a diagram commonly used in chemical and process engineering to indicate the general flow of plant processes and equipment. The PFD displays the relationship between major equipment of a plant facility and does not show minor details such as piping details and designations.
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