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International Journal of Mechanisms and Robotic Systems
Number of Followers: 2

Hybrid journal (It can contain Open Access articles)
ISSN (Print) 2047-7244 - ISSN (Online) 2047-7252
Published by Inderscience Publishers

[439 journals]

A new hybrid aerial and ground hoverbike: dynamics and control
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  Authors: Abdullah T. Elgammal, Manar Lashin
  Pages: 291 - 307
  Abstract: This paper presents the basic mathematical model of a new hybrid six-rotor hoverbike. The proposed hoverbike has two modes of operation: the hovering mode and the ground mode. The hovering mode will act as a hexacopter with an overlapping technique to reduce weight and floor area. While the 'on-earth' mode, will act as a traditional land vehicle that moves on wheels. The proposed system provides more power and more lift, which means more time to fly. However, increasing drone size and weight, as well as manufacturing costs, work against it. The dynamic simulation results are carried out using MSC-ADAMS® and MATLAB®/Simulink. The pure pursuit algorithm is applied to the proposed system in the on-earth mode. A small-scale prototype of the system is being developed to validate the conceptual design. The dynamic simulation results and the experimental tests show the effectiveness of the proposed system during the two modes.
  Keywords: hoverbike? aerial and ground vehicles? multicopter? dynamics? hexacopter? control
  Citation: International Journal of Mechanisms and Robotic Systems, Vol. 5, No. 4 (2023) pp. 291 - 307
  PubDate: 2024-03-19T23:20:50-05:00
  DOI: 10.1504/IJMRS.2023.137431
  Issue No: Vol. 5, No. 4 (2024)
On the mean and variance of planar displacements
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  Authors: Qiaode Jeffrey Ge, Zihan Yu, Mona Arbab, Mark P. Langer
  Pages: 308 - 325
  Abstract: This paper studies the problem of computing the mean (or the average displacement) and variance of a set of planar displacements. It presents three parametric representations of a planar displacement and studies how they influence the computations of means and variances. In particular, it advocates the use of the kinematic concept of relative displacements rather than simple difference in kinematic parameters in formulating the variance and for computing the mean of planar displacements. It is shown that the optimal average displacement is obtained by combining planar-quaternion representation with the concept of relative displacements. Examples are provided to illustrate the advantages of the latter approach.
  Keywords: averaging displacements; planar quaternions; mean and variance; radiation therapy
  Citation: International Journal of Mechanisms and Robotic Systems, Vol. 5, No. 4 (2023) pp. 308 - 325
  PubDate: 2024-03-19T23:20:50-05:00
  DOI: 10.1504/IJMRS.2023.137478
  Issue No: Vol. 5, No. 4 (2024)
Caterpillar type driving mechanism composed of vacuum pads for inclined
panel cleaning robot
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  Authors: Min Hyo Kim, Sang Hun Lee, Tae Nam Jung, Dong Hwan Kim
  Pages: 326 - 352
  Abstract: This work deals with the design of a robot's mechanism that can move and clean a panel up to a 40-degree slope autonomously. A caterpillar type wheel is adopted for the continuity of operation, and vacuum pads are attached to the caterpillars devote to prevent slipping that occurs in a typical caterpillar type robot. In order to overcome the load due to residual vacuum when the vacuum pad is detached from the panel, a mechanism for rapidly exposing the inside of the vacuum pad to atmospheric pressure is developed. In addition, by using the caterpillar wheel mechanism with vacuum pads attached, the folding problem of the vacuum pad is prevented through the flexible shape design of the caterpillar when the pad touches the bottom surface of the panel. Additionally, the robot is designed to cross the gap between panels by combining a two-degree-of-freedom robotic arm mechanism with each caterpillar wheel.
  Keywords: solar panel cleaning robot; vacuum pads; caterpillar typed wheel; gap overcoming structure; robot arm
  Citation: International Journal of Mechanisms and Robotic Systems, Vol. 5, No. 4 (2023) pp. 326 - 352
  PubDate: 2024-03-19T23:20:50-05:00
  DOI: 10.1504/IJMRS.2023.137476
  Issue No: Vol. 5, No. 4 (2024)
Exact placement of ground pivots using Watt I indirect cognates of a
four-bar mechanism
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  Authors: Min Hyo Kim, Sang Hun Lee, Tae Nam Jung, Dong Hwan Kim
  Pages: 353 - 367
  Abstract: A method of generating indirect Watt I cognates of a four-bar with specified ground pivots is presented. The method is based on angular velocity coloured mechanism graphs, which are described in detail. Exact equations are given for six different forms of the Watt I six-bar indirect cognate. The method is validated with examples in MATLAB.
  Keywords: coloured mechanism graphs; planar mechanisms
  Citation: International Journal of Mechanisms and Robotic Systems, Vol. 5, No. 4 (2023) pp. 353 - 367
  PubDate: 2024-03-19T23:20:50-05:00
  DOI: 10.1504/IJMRS.2023.137477
  Issue No: Vol. 5, No. 4 (2024)

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