5
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What is torque bandwidth in actuated joints and how does it affect the control systems?
The torque bandwidth is typically referring to the maximum frequency of motion at which the actuator can provide that torque. So your actuator can provide a peak torque of 100 Nm, as in it can hold up ...
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How has the Mars Exploration Rover (MER) has been working for 11 years if it was designed for 90 Sol?
There are 2 main reasons why the MER is still operating long after it's 90 Sol planned lifetime.
The first is political, strategic, and can be summarized as 'Under promise, over deliver'. When a PI (...
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4
votes
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4
votes
Lifting robotic leg with only one servo
Going forward, a Klann linkage has a near-vertical leg drop action. (See the legs at left in the wikipedia animated GIF.)
It has a near-vertical leg lift action if running in reverse. (See the legs ...
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votes
Name of the linkage (or carriage) in video
The video shows 2 linear actuators driving a universal joint through ball and socket joints.
Ben♦
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votes
How can this mobile robot rotate so perfectly?
If I understand correctly, you are referring to when the robot spins and the rack remains stationary (dynamic motions involving the rack mass seem to be slow as you would expect with such a high COM).
...
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3
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What's the name of a robot manipulator construction with multiple thin arms joined together?
They are parallel manipulators.
You may find chapters on parallel manipulators in robotics textbooks, for example, A Mathematical Introduction to
Robotic Manipulation, useful. There are also a number ...
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Different methods to determine DOF: Chebychev-Kutzbach-Grubler method vs. Screw method
I will try not to skip too many steps. Assuming a Global coordinate frame at the base and the arm is fully extended along the Y-axis of the base frame.
Since SCARA has four joints, we will create ...
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High power jumping mechanism in small robots
Looks like it uses a propane powered ram to launch itself into the air.
The end of the piston is visible in the back of the vehicle.
This webpage states that source of power is battery and propane
...
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3
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Robot mechanism parts names
This is called a Stewart platform. You can use any linear actuator type, hydraulic, pneumatic or electric.
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What is meant by the phrase "movement positional jitter"?
We can think of "jitter" as a fairly quick, fairly small perturbation upon the intended controlled behavior. A semi-quantitative design guideline (like "within 5%") needs a ...
- 1,271
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Wires or columns which contract on passing electricity
It sounds like you are looking for an artificial muscle.
I see you've already looked at one type of
shape-memory alloy; also called memory metal, memory alloy, muscle wire, Nitinol
Have you looked ...
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2
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What are hardware components to build a modular robot which consists of several 5x5x5cm modules?
Its very difficult to answer this question because you haven't asked specific enough questions. Its very difficult for you to ask specific questions because you don't know the answers to the ...
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votes
Attaching a M5 screw shaft to a cog wheel
A full answer depends on what plastic and what the load will be. Having a depth of 30 mm does give you a lot of options.
You can drill and tap ABS just fine, and I've had success drilling and ...
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2
votes
Orienting rectangular plastic bricks
Its a bit difficult to give you an exact answer because its quite an open question.
You are sorting the bricks based on an optical characteristics so I can't see any way of doing it other than by ...
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Is this supposed to be a bearing?
A shaft stopper like that is made to let you assemble the device more precisely. The bearings look like they are in the "Tail Gear Case Plate" subassemblies. By using a shaft stopper you can insert ...
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Lifting robotic leg with only one servo
The linkages suggested by jwpat7 are great, and I would probably prefer to use something like that. But, if you want something really simple, then you might be able to get away with a four-bar linkage ...
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Any books or web resources for robotics mechanical design?
You could look at three books.
A Mathematical Introduction to Robotic Manipulation - S.Sastry, X.Li and R.Murray provides a theoretical foundation to the kinematics, dynamics and control aspects of ...
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2
votes
Double/Triple inverted pendulum always on a cart?
There's no reason why you couldn't do it with a servo on the first pendulum, but the problem is very different. Instead of motion constrained on a line (cart), motion is constrained along an arc. The ...
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How to seal a threaded rod so I won't lose oil?
Have you considered putting the motor inside the same oil-filled box as the part that needs to move?
Many electric motors -- such as the coolant motor in practically all household refrigerators -- ...
- 4,525
2
votes
I need the scheme of iRobot Create 2
The schematic for the main board on the iRobot Create 2 is currently not available. It is advised to remove the plastic top cover before drilling into the electronics below. (This is good practice for ...
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I need help figuring out what motor is used in this design
This looks to me like a linear pneumatic actuator.
Pneumatic cylinders can be very fast acting, depending on the air pressure on hand, but they can be hard to control at any position other than their ...
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Sliding system basic question
This is a great problem to hone mechanism design skills on.
There is a set of dimensions for which this mechanism works fine.
The condition for this is that the contact of each rod & hole, ...
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2
votes
Can somebody explain how these forward kinematics matrix equations were formulaed?
It looks (to me) like there's a typo in that answer. The approach is to recognize that you have to wind up at the same point, whether you get there via the left arm (d->e->blue dot) or the right arm (...
- 16k
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What is the front mechanism of this robot's track called?
They seem to be called 'flippers' in most of the literature.
This review of the iRobot 310 SUGV on Army Technology notes that:
The 310 SUGV has an overall length of 76.1cm and width (flippers on) ...
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How can I attach an arm to a double-flat drive stepper motor?
You can use a D or Double D shaped shaft collar/coupler. Or obtain a Double D shaped punch, depending on the design of the piece you are attaching to the shaft.
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2
votes
Design a robot that can apply hot glue to paper
The problem I see is that after a while of holding the trigger, you have to let go of the trigger and then squeeze again. This is because the trigger has advanced the stick of glue as far as the ...
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Controlling Actuated Robot Hand in Underactuated Manner
I don’t think underactuated is the proper term. You are trying to control multiple actuators with a single DOF. That is redundancy resolution. I have used the Simplex Method to compute stable ...
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How does this end effector work?
The actuator has two raceways cut into it.
One is a screw thread, and engages with a rotary screw nut that is turned by a motor. Turning the nut moves the actuator linearly.
The other is a spline ...
- 518
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votes
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Wall-E Legs mechanism
This is an appropriate question over at movies SE, but even here its probably interesting. Wall-Es character is definitely an interesting one, very dynamic, anthropomorphic, and modelled quite ...
- 543
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