Walking Ro-Bot (French Edition)

Relkar, Anand S; Gadekar, Amit R; Solanki, Ram Kumar

ISBN 10: 6205598264 ISBN 13: 9786205598269

Published by Editions Notre Savoir, 2023

Language: French

Condition: New Soft cover

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Bibliographic Details

Title

Walking Ro-Bot (French Edition)

Publisher

Editions Notre Savoir

Publication Date

2023

Language

French

ISBN 10

6205598264

ISBN 13

9786205598269

Binding

Soft cover

Condition

New

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Synopsis

Sur un sol in�gal, les robots � pattes ont le potentiel d'�tre une machine � marcher. Le m�canisme de Theo Jansen, qui se compose de onze barres de liaison, reproduit un mouvement de marche r�gulier appel� "d�marche". Les mouvements parall�les sont couramment utilis�s dans les machines lourdes et ont r�cemment �t� mis en �vidence dans un mod�le de mouvement biologique. En raison du probl�me de singularit�, la connexion en boucle ferm�e ne donne que la trajectoire d'un effecteur con�u, qui est cens� �tre moins modifiable. La singularit� du m�canisme Theo Jansen modifi� a �t� abord�e dans cette �tude en introduisant l'orbite param�trique comme nouveau point de libert� au centre de l'articulation, et la dynamique multi-corps a �t� utilis�e pour examiner sa cin�matique et sa dynamique (MBD). Dans la simulation num�rique, l'extensibilit� du m�canisme en termes de flexibilit� de la trajectoire de marche a �t� clairement �tablie, donnant lieu � de nouvelles trajectoires de marche fonctionnelles contr�l�es par deux param�tres de contr�le qui modifient la forme de l'ovale param�trique au centre de l'articulation.

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