The Force-Angle Measure of Tipover Stability Margin for Mobile ManipulatorsManipulators (MechanismStability (MechanicsMobile manipulators operating in field environments will be required to apply large forces, or manipulate large loads, and to perform such tasks on uneven terrain which may cause the ...
Stability marginContact force optimizationThis paper presents a novel method for optimizing the contact force of a hexapod robot to enhance its dynamic motion stability when one of its legs fails. The proposed approach aims to improve the Force Angle Stability Margin (FASM) and adapt the foot ...
This paper presents a novel method for optimizing the contact force of a hexapod robot to enhance its dynamic motion stability when one of its legs fails. The proposed approach aims to improve the Force Angle Stability Margin (FASM) and adapt the foot trajectory through contact force optimization...
1) Force-Angle stability measure 力-角稳定裕度法2) stable well off angle 承重稳定裕度角 1. Based on analyzing the knee joints of the four bar linkage, this paper presents the concepts of the stable well off angle, absolute and relative instantaneous distance. 对多轴膝关节进行了分析,提出...
Compromising this stability causes a number of hole quality problems. It also significantly reduces tool life, causing excessive drill corner or even margin wear. ▪ Many machines used for drilling have insufficient thrust capacity that limits any increase in the penetration rate with standard drills...
‘stability margin’ is referred to as the highest possible thermal perturbation per strand unit volume that does not cause an irreversible transition from the superconducting to the normal state. The charts were used for the conductor design optimisation, including the selection of strand diameter, ...
To enhance the stability of simulations, the second-layer computation of the Ewald summation was introduced. Unfortunately, this greatly increased the computational burden. To reduce this load while retaining accuracy, the boundary integral of qR in Eq. (11) is expanded in terms of moments72,73:...
(TITAN) that could stably climb up a set of stairs. A stability criterion, the Normalized Energy Stability Margin, was proposed to evaluate the stability of walking [3]. A walking gait with a large stability margin was also proposed [4]. Estremera and Santos proposed a free gait, which ...
Thus, the objective of the impact motion is to maximize (i) the impact force and (ii) the stability margin in the balance control. In the impact motion generation approach presented in [64], the initial and final positions were not explicitly specified as boundary conditions. Instead, the ...
15. The aircraft of claim 14 wherein the effective torque arm extends forwardly of the rotating control member when the elevators are in the neutral position, at an angle in the range of from about 30 degrees to about 40 degrees above the horizontal. ...