First,screw theory,product of exponential formulas and Jacobian matrix are introduced.Then definitions are given about active force wrench,inertial force wrench,partial velocity twist,generalized active force,and gene...First,screw theory,product of exponential formulas and Jacobian matrix are introduced.Then definitions are given about active force wrench,inertial force wrench,partial velocity twist,generalized active force,and generalized inertial force according to screw theory.After that Kane dynamic equations based on screw theory for open-chain manipulators have been derived. Later on how to compute the partial velocity twist by geometrical method is illustrated. Finally the correctness of conclusions is verified by example.展开更多
In this paper, the kinematics and dynamics of an underwater quadruped walking robot were derived based on Kane dynamic equations. This methodology allows construction of the dynamic model simply and incrementally. The...In this paper, the kinematics and dynamics of an underwater quadruped walking robot were derived based on Kane dynamic equations. This methodology allows construction of the dynamic model simply and incrementally. The velocity and angular velocity components of an underwater quadruped walking robot were served as the generalized velocities. The forces which contribute to dynamics of an underwater quadruped walking robot were determined by Kane's approach. The equations of hydrodynamic forces of an underwater quadruped walking robot were deduced. Hydrodynamic coefficients were determined by experiments. The dynamic model was established by obtaining the generalized active forces and the generalized inertia forces. Numerical simulations of the walking behavior on underwater flat ground were implemented to verify the dynamic model of an underwater quadruped walking robot. Simulation results show that the dynamic model is correct.展开更多
In this paper, a dynamic model for an underwater snake-like robot is developed based on Kane's dynamic equations. This methodology allows construction of the dynamic model simply and incrementally. The partial vel...In this paper, a dynamic model for an underwater snake-like robot is developed based on Kane's dynamic equations. This methodology allows construction of the dynamic model simply and incrementally. The partial velocity is deduced. The forces which contribute to dynamics are determined by Kane's approach. The generalized active forces and the generalized inertia forces are deduced. The model developed in this paper includes inertia force, inertia moment, gravity, control torques, and three major hydrodynamic forces: added mass, profile drag and buoyancy. The equations of hydrodynamic forces are deduced. Kane's method provides a direct approach for incorporating external environmental forces into the model. The dynamic model developed in this paper is obtained in a closed form which is well suited for control purposes. It is also computationally efficient and has physical insight into what forces really influence the system dynamics. The simulation result shows that the proposed method is feasible.展开更多
文摘First,screw theory,product of exponential formulas and Jacobian matrix are introduced.Then definitions are given about active force wrench,inertial force wrench,partial velocity twist,generalized active force,and generalized inertial force according to screw theory.After that Kane dynamic equations based on screw theory for open-chain manipulators have been derived. Later on how to compute the partial velocity twist by geometrical method is illustrated. Finally the correctness of conclusions is verified by example.
基金the National Nature Science Foundation of China(No.51009091)the Special ResearchFund for the Doctoral Program of Higher Education(No.20100073120016)
文摘In this paper, the kinematics and dynamics of an underwater quadruped walking robot were derived based on Kane dynamic equations. This methodology allows construction of the dynamic model simply and incrementally. The velocity and angular velocity components of an underwater quadruped walking robot were served as the generalized velocities. The forces which contribute to dynamics of an underwater quadruped walking robot were determined by Kane's approach. The equations of hydrodynamic forces of an underwater quadruped walking robot were deduced. Hydrodynamic coefficients were determined by experiments. The dynamic model was established by obtaining the generalized active forces and the generalized inertia forces. Numerical simulations of the walking behavior on underwater flat ground were implemented to verify the dynamic model of an underwater quadruped walking robot. Simulation results show that the dynamic model is correct.
基金the National Natural Science Foundation of China(No.51009091)the Special ResearchFund for the Doctoral Program of Higher Education ofChina(No.20100073120016)
文摘In this paper, a dynamic model for an underwater snake-like robot is developed based on Kane's dynamic equations. This methodology allows construction of the dynamic model simply and incrementally. The partial velocity is deduced. The forces which contribute to dynamics are determined by Kane's approach. The generalized active forces and the generalized inertia forces are deduced. The model developed in this paper includes inertia force, inertia moment, gravity, control torques, and three major hydrodynamic forces: added mass, profile drag and buoyancy. The equations of hydrodynamic forces are deduced. Kane's method provides a direct approach for incorporating external environmental forces into the model. The dynamic model developed in this paper is obtained in a closed form which is well suited for control purposes. It is also computationally efficient and has physical insight into what forces really influence the system dynamics. The simulation result shows that the proposed method is feasible.
