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Journals / Bilgisayar Bilimleri / 2022 / Cilt: IDAP-2022 : International Artificial Intelligence and Data Processing Symposium

Design of a Toolbox for Kinematic Analysis of Jansen's Linkage

Jansen Bağlantısının Kinematik Analizi için Araç Kutusu Tasarımı

Semir SÜNKÜN
Berke Oğulcan PARLAK
Alper YILDIRIM
Hüseyin Ayhan YAVAŞOĞLU
Pages
112–119
Publication Date
2022-10-10
DOI
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AI Summary & Key Takeaways

AI Insight
⚡ TL;DR(Too Long; Didn't Read)

In this way, the study contributes significantly to the design phase of legged robots and reduces the amount of time required.

📌 3 Key Takeaways

🎯
Objective & Hypothesis:Utilizing industrial robots is an efficient method for addressing the labor crisis and advancing industrial technologies.
📊
Key Findings & Data:Additionally, the widespread use of industrial robots will increase the interest in robot propulsion mechanisms.
💡
Conclusion & Impact:In this way, the study contributes significantly to the design phase of legged robots and reduces the amount of time required.
🔬Design:Research Article
📍Scope:Comprehensive Sample
⚙️Variables:Araç Kutusu · Kinematik Analiz · Jansen Bağlantısı

Abstract

Utilizing industrial robots is an efficient method for addressing the labor crisis and advancing industrial technologies. As a result, industrial robots are becoming increasingly popular. Additionally, the widespread use of industrial robots will increase the interest in robot propulsion mechanisms. Legged robots should be primarily investigated because of their potential advantages. Among leg mechanisms, Jansen's linkage (JL) has gained popularity due to its organic walking motion, scalable design, and simple drive by rotary input. However, the highly nonlinear nature of JL makes its analysis challenging. The research provides a user-friendly toolbox design that visualizes the toe trajectory and simultaneously calculates the step height by performing a kinematic analysis of the JL using the user-supplied link lengths. In this way, the study contributes significantly to the design phase of legged robots and reduces the amount of time required.

Özet

Endüstriyel robotları kullanmak, işgücü krizini ele almak ve endüstriyel teknolojileri ilerletmek için etkili bir yöntemdir. Sonuç olarak, endüstriyel robotlar giderek daha popüler hale geliyor. Ayrıca endüstriyel robotların yaygınlaşması robot tahrik mekanizmalarına olan ilgiyi artıracaktır. Bacaklı robotlar, potansiyel avantajları nedeniyle öncelikle araştırılmalıdır. Bacak mekanizmaları arasında, Jansen'in bağlantısı (JL), organik yürüme hareketi, ölçeklenebilir tasarımı ve döner girdi ile basit sürüşü nedeniyle popülerlik kazanmıştır. Bununla birlikte, JL'nin oldukça doğrusal olmayan doğası, analizini zorlaştırmaktadır. Araştırma, ayak yörüngesini görselleştiren ve kullanıcı tarafından sağlanan bağlantı uzunluklarını kullanarak JL'nin kinematik analizini gerçekleştirerek adım yüksekliğini aynı anda hesaplayan kullanıcı dostu bir araç kutusu tasarımı sağlar. Bu sayede çalışma, bacaklı robotların tasarım aşamasına önemli ölçüde katkı sağlamakta ve gereken süreyi azaltmaktadır.

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Cite This Article

SÜNKÜN, S., PARLAK, B. O., YILDIRIM, A., YAVAŞOĞLU, H. A. (2022). Design of a Toolbox for Kinematic Analysis of Jansen's Linkage. Bilgisayar Bilimleri, Cilt: IDAP-2022 : International Artificial Intelligence and Data Processing Symposium, 112–119. https://ajindex.com/articles/743116

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