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.
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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
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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
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