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.
Skip Nav Destination
Article navigation
February 2018
Research-Article
Kinematic Locomotion Modes of Particle-Based Linear Chain Mechanisms
Ahmad Alshorman,
Ahmad Alshorman
Mechanical Engineering Department,
Jordan University of Science and Technology,
Irbid 22110, Jordan
e-mail: amalshorman6@just.edu.jo
Jordan University of Science and Technology,
Irbid 22110, Jordan
e-mail: amalshorman6@just.edu.jo
Search for other works by this author on:
Yildirim Hurmuzlu
Yildirim Hurmuzlu
Professor
Fellow ASME
Mechanical Engineering Department,
Southern Methodist University,
Dallas, TX 75205
e-mail: hurmuzlu@lyle.smu.edu
Fellow ASME
Mechanical Engineering Department,
Southern Methodist University,
Dallas, TX 75205
e-mail: hurmuzlu@lyle.smu.edu
Search for other works by this author on:
Ahmad Alshorman
Mechanical Engineering Department,
Jordan University of Science and Technology,
Irbid 22110, Jordan
e-mail: amalshorman6@just.edu.jo
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
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. Feb 2018, 140(2): 021010 (8 pages)
Published Online: October 6, 2017
Article history
Received:
February 6, 2016
Revised:
August 15, 2017
Citation
Alshorman, A., and Hurmuzlu, Y. (October 6, 2017). "Kinematic Locomotion Modes of Particle-Based Linear Chain Mechanisms." ASME. J. Dyn. Sys., Meas., Control. February 2018; 140(2): 021010. https://doi.org/10.1115/1.4037735
Download citation file:
Get Email Alerts
Cited By
Offset-Free Koopman Model Predictive Control of Thermal Comfort Regulation for A VRF-DOAS Combined System
J. Dyn. Sys., Meas., Control
Rejection of Sinusoidal Disturbances With Unknown Slowly Time-Varying Frequencies for Linear Time-Varying Systems
J. Dyn. Sys., Meas., Control (July 2024)
Using Control Barrier Functions to Incorporate Observability: Application to Range-Based Target Tracking
J. Dyn. Sys., Meas., Control (July 2024)
Gas Path Fault Diagnosis of Turboshaft Engine Based on Novel Transfer Learning Methods
J. Dyn. Sys., Meas., Control (May 2024)
Related Articles
Dynamic Modeling and Simulation of a Yaw-Angle Quadruped Maneuvering With a Planar Robotic Tail
J. Dyn. Sys., Meas., Control (August,2016)
Path Following and Shape Morphing With a Continuous Slender Mechanism
J. Dyn. Sys., Meas., Control (October,2015)
A New Model-Based Control Structure for Position Tracking in an Electro-Hydraulic Servo System With Acceleration Constraint
J. Dyn. Sys., Meas., Control (December,2017)
Motion Generation of Planar Six- and Eight-Bar Slider Mechanisms as Constrained Robotic Systems
J. Mechanisms Robotics (August,2015)
Related Proceedings Papers
Related Chapters
Feedback-Aided Minimum Joint Motion
Robot Manipulator Redundancy Resolution
Manipulability-Maximizing SMP Scheme
Robot Manipulator Redundancy Resolution
Kinematics of Particles
Dynamics of Particles and Rigid Bodies: A Self-Learning Approach