Skip to main content
SpringerLink
Log in

Characteristic Analysis of Bioinspired Pod Structure Robotic Configurations

  • Published:
Cognitive Computation Aims and scope Submit manuscript

Abstract

The paper explains the utility of pod-like parallel structures in locomotion of bioinspired robots and motion platforms. Parallel robots are characterized by few performance measures which include workspace size, dexterity, orientation space limits and existence of singular regions. Conventionally, the parallel robots are six-legged, hexapods, but other configurations of parallel robots involve variation in the number of limbs and type of joints. The computation of performance measures of different geometries using a single algorithm is a challenging task. In this attempt, an algorithm is developed for the analysis of some of the performance measures like workspace, orientation space and dexterity of selected manipulators. The results show that the dexterous workspace found is always a subspace within the total workspace envelope. Moreover, the computational test for the task space mobility search is found to be a useful tool for parallel robot designing.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Fig. 1
Fig. 2
Fig. 3
Fig. 4
Fig. 5
Fig. 6
Fig. 7
Fig. 8
Fig. 9
Fig. 10

Similar content being viewed by others

References

  1. Tsai LW. Robot analysis: the mechanics of serial and parallel manipulators. New York: John Wiley and Sons; 1999.

    Google Scholar 

  2. http://www-robotics.jpl.nasa.gov/systems. Accessed 30th Jan 2012.

  3. Ziemke T, Lowe R. On the role of emotion in embodied cognitive architectures: from organisms to robots. Cognit Comput. 2009;1(1):104–17.

    Article  Google Scholar 

  4. Taylor JG. Cognitive computation. Cognit Comput. 2009;1(1):4–16.

    Article  Google Scholar 

  5. Kuremoto T, Obayashi M, Kobayashi K, Feng LB. An improved internal model of autonomous robots by a psychological approach. Cognit Comput. 2011;3(4):501–9.

    Article  Google Scholar 

  6. Müller VC. Autonomous cognitive systems in real-world environments: less control, more flexibility and better interaction. Cognit Comput. 2012;. doi:10.1007/s12559-012-9129-4.

    Google Scholar 

  7. Luo Q, Zhang H, Han B, Zaho X. Research on biologically inspired hexapod robot’s gait and path planning. International Conference on Information and Automation, ICIA ‘09, Zhuhai Macau: 2009. p. 1546–1550.

  8. Bonev I. The true origins of parallel robots. In: Parallemic Reviews. 2003. http://www.parallemic.org/Reviews/Review007.html. Accessed 10th Jun 2010.

  9. Zhang B. Design and implementation of a 6 DOF parallel manipulator with passive force control. Ph.D Thesis: University of Florida; 2005.

  10. Khalid A, Mekid S. Design of precision desktop machine tools for meso-machining. Proceedings of the 2nd International Conference on Intelligent Production Machines and Systems, IPROMS. 2006. p. 165–170.

  11. Bai S, Teo MY. Kinematic calibration and pose measurement of a medical parallel manipulator by optical positionsensors. J Robot Syst. 2003;20:201–9.

    Article  Google Scholar 

  12. Wohlhart K. Degrees of shakiness. Mech Mach Theory. 1999;34(7):1103–26.

    Article  Google Scholar 

  13. Zhuang H, Yan J, Masory O. Calibration of Stewart platforms and other parallel manipulators by minimizing inverse kinematic residuals. J Robot Sys. 1998;15(7):395–405.

    Article  Google Scholar 

  14. Daney D. Kinematic calibration of the Gough platform. Robotica. 2003;21(6):677–90.

    Article  Google Scholar 

  15. Pond G, Carretero JA. Formulating Jacobian matrices for the dexterity analysis of parallel manipulators. Mech Mach Theory. 2006;41(12):1505–19.

    Article  Google Scholar 

  16. Rao ABK, Rao PVM, Saha SK. Workspace and dexterity analysis of hexaslide machine tools. IEEE International Conference on Robotics & Automation. Taipei, Taiwan: 2003. p. 4104–9.

  17. Pittens KH, Podhorodeski RP. A Family of Stewart platforms with optimal dexterity. J Robot syst. 1993;10(4):463–79.

    Article  Google Scholar 

  18. Gogu G. Mobility of mechanisms: a critical review. Mech Mach Theory. 2005;40(9):1068–97.

    Article  Google Scholar 

  19. Bagci C. Degrees of freedom of motion in mechanisms. ASME J Eng Industry. 1971;93(B):140–148.

    Google Scholar 

  20. Hunt KH. Kinematic geometry of mechanisms. Oxford: Oxford Science Publications; 1978.

    Google Scholar 

  21. Dobrovolski VV. Theory of mechanisms (in Russian). Moscow:1951.

  22. Yang DC, Xiong J, Yang XD. A simple method to calculate mobility with Jacobian. Mech Mach Theory. 2008;43(9):1175–85.

    Article  Google Scholar 

  23. Carretero JA, Podhorodeski RP, Nahon MA, Gosselin CM. Kinematic analysis and optimization of a new three degree-of-freedom spatial parallel manipulator. J Mech Des, Trans ASME. 2000;122(1):17–24.

    Article  Google Scholar 

  24. Chakraborty N, Ghosal A. Kinematics of wheeled mobile robots on uneven terrain. Mech Mach Theory. 2004;39(12):1273–87.

    Article  Google Scholar 

  25. Bagci C. Determining general and overclosing constraints in mechanism mobility using structural finite element joint freedoms. J Mech Des, Trans ASME. 1992;114(3):376–83.

    Article  Google Scholar 

  26. Davies TH. Mechanical networks-2: formulae for degrees of mobility and redundancy. Mech Mach Theory. 1983;18:103–6.

    Article  Google Scholar 

  27. Waldron KJ. The constraint analysis of mechanisms. J Mech. 1966;1:101–14.

    Article  Google Scholar 

  28. Zhao JS, Zhou K, Feng ZJ. A theory of degrees of freedom for mechanisms. Mech Mach Theory. 2004;39:621–43.

    Article  Google Scholar 

  29. Davies TH. Mechanical networks-1: passivity and redundancy. Mech Mach Theory. 1983;18:95–101.

    Article  Google Scholar 

  30. Davies TH. Mechanical Networks-3: wrenches on circuit screws. Mech Mach Theory. 1983;18:107–12.

    Article  Google Scholar 

  31. Huang Z, Li QC. Type synthesis of symmetrical lower-mobility parallel mechanisms using the constraint-synthesis method. Int J Robot Res. 2003;22(1):59–79.

    Google Scholar 

  32. Dai JS, Li D, Zhang Q, Jin G. Mobility analysis of a complex structured ball based on mechanism decomposition and equivalent screw system analysis. Mech Mach Theory. 2004;39(4):445–58.

    Article  Google Scholar 

  33. Carretero JA, Pond GT. Kinematic analysis and workspace determination of the inclined PRS parallel manipulator. 15th CISM-IFToMM Symposium on Robot Design, Dynamics and Control. Saint-Hubert (Montreal), Quebec, Canada: 2004.

  34. Gosselin C, Angeles J. Singularity analysis of closed-loop kinematic chains. IEEE Trans Rob Autom. 1990;6(3):281–90.

    Article  Google Scholar 

  35. Tucker M, Perreira ND. Generalized inverses for robotic manipulators. Mech Mach Theory. 1987;22(6):507–14.

    Article  Google Scholar 

  36. Merlet JP. Jacobian, manipulability, condition number and accuracy of parallel robots. ASME J Mech Des. 2006;128(1):199–206.

    Article  Google Scholar 

  37. Golub GH, Loan V. Matrix computations. Baltimore, MD: Johns Hopkins, 3rd ed; 1996.

  38. Horn RA, Johnson. Matrix analysis. Cambridge, England: Cambridge University Press; 1990.

  39. Yoshikawa T. Manipulability of Robotic Mechanisms. Int J Robot Res. 1985;4(2):3–9.

    Article  Google Scholar 

  40. Xi F. Dynamic balancing of hexapods for high-speed applications. Robotica. 1999;17(3):335–42.

    Article  Google Scholar 

Download references

Author information

Authors and Affiliations

  1. School of Mechanical, Aerospace and Civil Engineering, The University of Manchester, Manchester, M60 1QD, UK

    Azfar Khalid

  2. Mechanical Engineering Department, King Fahad University of Petroleum and Minerals, Dhahran, 31261, Saudi Arabia

    Samir Mekid

  3. Department of Electrical Engineering, College of EME, National University of Science and Tech., Islamabad, Pakistan

    Aamir Hussain

Authors
  1. Azfar Khalid
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Samir Mekid
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Aamir Hussain
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Azfar Khalid.

Rights and permissions

Reprints and permissions

About this article

Cite this article

Khalid, A., Mekid, S. & Hussain, A. Characteristic Analysis of Bioinspired Pod Structure Robotic Configurations. Cogn Comput 6, 89–100 (2014). https://doi.org/10.1007/s12559-013-9210-7

Download citation

  • Received:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s12559-013-9210-7

Keywords

Search

Navigation