Research on Modeling and Motion Optimization for an Underactuated Bionic Scorpion Robot Arm
Flexible screen possessing a high-contrast ratio to accomplish high-definition display can be attributed to the accuracy of polarizer assembly. Different from the existing polarizer attached onto a flexible screen, resulting in low-accuracy and nonalignment attaching behaviors, a unique approach of...
Saved in:
| Main Authors: | , , , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
Wiley
2024-01-01
|
| Series: | Applied Bionics and Biomechanics |
| Online Access: | http://dx.doi.org/10.1155/2024/9439878 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1832546205893132288 |
|---|---|
| author | Ning Cao Jinsheng Liu Feiling Shen Xuming Pei Yupu Liu Hengyu Li |
| author_facet | Ning Cao Jinsheng Liu Feiling Shen Xuming Pei Yupu Liu Hengyu Li |
| author_sort | Ning Cao |
| collection | DOAJ |
| description | Flexible screen possessing a high-contrast ratio to accomplish high-definition display can be attributed to the accuracy of polarizer assembly. Different from the existing polarizer attached onto a flexible screen, resulting in low-accuracy and nonalignment attaching behaviors, a unique approach of underactuated bionic scorpion robot arms can be developed to explore the stable capture and accurate alignment motion operations. Overall structure design and D–H kinematic simulation of bionic scorpion robot arm can be conducted to analyze virtual three-key typical motions. Motion optimization of structural parameters and corresponding motion workspaces verification can be adopted to evaluate motion range and ability. Experiments can be utilized to verify the rationality of theoretical modeling and optimization simulation of bionic scorpion robot arm. Experimental results illustrate that it is evident to demonstrate that the motion behaviors of bionic scorpion robot arm can be verified to be consistent with three key states of virtual theoretical motions. The key joints possessing minor errors may also be utilized to illustrate the relatively excellent dynamic motions existing in bionic scorpion robot arm. Further, advancing the stable motion behaviors of bionic scorpion robot arm may solve the problems of low-accuracy and misalignment polarizer attachments. |
| format | Article |
| id | doaj-art-7eee86a5c87740f6b010419019e79310 |
| institution | Kabale University |
| issn | 1754-2103 |
| language | English |
| publishDate | 2024-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Applied Bionics and Biomechanics |
| spelling | doaj-art-7eee86a5c87740f6b010419019e793102025-02-03T07:23:39ZengWileyApplied Bionics and Biomechanics1754-21032024-01-01202410.1155/2024/9439878Research on Modeling and Motion Optimization for an Underactuated Bionic Scorpion Robot ArmNing Cao0Jinsheng Liu1Feiling Shen2Xuming Pei3Yupu Liu4Hengyu Li5College of Mechanical and Electrical EngineeringCollege of Mechanical and Electrical EngineeringSchool of Electrical and Information EngineeringCollege of Mechanical and Electrical EngineeringCollege of Mechanical and Electrical EngineeringSchool of Mechatronic Engineering and AutomationFlexible screen possessing a high-contrast ratio to accomplish high-definition display can be attributed to the accuracy of polarizer assembly. Different from the existing polarizer attached onto a flexible screen, resulting in low-accuracy and nonalignment attaching behaviors, a unique approach of underactuated bionic scorpion robot arms can be developed to explore the stable capture and accurate alignment motion operations. Overall structure design and D–H kinematic simulation of bionic scorpion robot arm can be conducted to analyze virtual three-key typical motions. Motion optimization of structural parameters and corresponding motion workspaces verification can be adopted to evaluate motion range and ability. Experiments can be utilized to verify the rationality of theoretical modeling and optimization simulation of bionic scorpion robot arm. Experimental results illustrate that it is evident to demonstrate that the motion behaviors of bionic scorpion robot arm can be verified to be consistent with three key states of virtual theoretical motions. The key joints possessing minor errors may also be utilized to illustrate the relatively excellent dynamic motions existing in bionic scorpion robot arm. Further, advancing the stable motion behaviors of bionic scorpion robot arm may solve the problems of low-accuracy and misalignment polarizer attachments.http://dx.doi.org/10.1155/2024/9439878 |
| spellingShingle | Ning Cao Jinsheng Liu Feiling Shen Xuming Pei Yupu Liu Hengyu Li Research on Modeling and Motion Optimization for an Underactuated Bionic Scorpion Robot Arm Applied Bionics and Biomechanics |
| title | Research on Modeling and Motion Optimization for an Underactuated Bionic Scorpion Robot Arm |
| title_full | Research on Modeling and Motion Optimization for an Underactuated Bionic Scorpion Robot Arm |
| title_fullStr | Research on Modeling and Motion Optimization for an Underactuated Bionic Scorpion Robot Arm |
| title_full_unstemmed | Research on Modeling and Motion Optimization for an Underactuated Bionic Scorpion Robot Arm |
| title_short | Research on Modeling and Motion Optimization for an Underactuated Bionic Scorpion Robot Arm |
| title_sort | research on modeling and motion optimization for an underactuated bionic scorpion robot arm |
| url | http://dx.doi.org/10.1155/2024/9439878 |
| work_keys_str_mv | AT ningcao researchonmodelingandmotionoptimizationforanunderactuatedbionicscorpionrobotarm AT jinshengliu researchonmodelingandmotionoptimizationforanunderactuatedbionicscorpionrobotarm AT feilingshen researchonmodelingandmotionoptimizationforanunderactuatedbionicscorpionrobotarm AT xumingpei researchonmodelingandmotionoptimizationforanunderactuatedbionicscorpionrobotarm AT yupuliu researchonmodelingandmotionoptimizationforanunderactuatedbionicscorpionrobotarm AT hengyuli researchonmodelingandmotionoptimizationforanunderactuatedbionicscorpionrobotarm |