Singularity-Free Kinematically Redundant Planar Parallel Mechanism
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- Опубликовано: 22 авг 2024
- SINGULARITY-FREE KINEMATICALLY REDUNDANT PLANAR PARALLEL MECHANISMS WITH UNLIMITED ROTATIONAL CAPABALITY
This video introduces a novel family of singularityfree kinematically redundant planar parallel mechanisms that have unlimited rotational capabilities. The proposed mechanisms are akin to conventional three-degree-of-freedom planar parallel mechanisms. By introducing a novel kinematically redundant arrangement, four-degree-of-freedom parallel mechanisms are obtained that can completely alleviate singularities and provide unlimited rotational capabilities. It is shown that the singularities of this type of mechanism are governed by the orientation of a passive link connecting the redundant leg to the platform and that the latter orientation is easily controlled using the kinematic redundancy, thereby alleviating all direct kinematic singularities.
Pour l'article scientifique,
For the scientific article,
ieeexplore.ieee...
not sure why youtube thought i needed to see this simple robot grab a lego but i'm glad i did
spoilers
LOL
You do not seem to understand the implications here.
@@ShawnHodgins can you elaborate?
I wonder if this is somehow related to that PID controller video
1:37 SUCH UNNECESSARY FLAIR
that's called showing off >
is not if what it's doing is mixing chemicals in a container while safely transporting it.
@@billyzhong1991 yes, showing off their impressive algorithms and dynamic system in such a static application, talking about it is one thing but as you can see showing off did this company good, how has your comments improve your life or career?
It couldn't be any more French unless it sported a Mustache.
@@arletpaz8010 Showing off is absolutely not a bad word for scientists while you are overreacting impolitely. Don't quite understand how could your rebuttal possible help your career or your life though
boy im glad i learned how to use sin and cos on a calculator.
just what we needed
How does a Wintergatan comment have no replies!?
@@kuartz. How did the first comment take almost a year to get its first like?
HOW DOES THIS ONLY HAVE 12 LIKES?
don't you get any funny ideas man
灌水！
I don't know what it is, but it is interesting
That was sexy smooth.
Аж привстал :-)
1:37 gets points for style
1:34 he's just flexing
weird flex but ok
Hentai is becoming more and more inscrutable these days.
I fapp'd anyway...
I've studied a lot of kinematics in my time and this kind of stuff still is mind boggling.
Easily the most satisfying gripper I’ve seen
Just wait until they program the Dutch Rudder in there.
Im not surprised by the smoothness considering its just a few degrees of freedom. Really really cool and it blew my mind when it grabbed the object, again with just those few degrees of freedom sliding on those wires. So few parts but so many capabilities, this is great design
1:37 - 1:53 why do I feel like I just got styled on by by four moving legs and a chomper??
Can't imagine it being totally singularity free
Finally a singularity-free kinematically redundant planar parallel mechanism for memes!
Incredible design. Sharing with our audience.
I found myself yelling "yeah, do it!" and "loop the loop!" at the screen.
It went ‘bip’ when it moved and ‘bop’ When it stopped and ‘whir’ when it stood still.
I never knew quite what it was
and I guess I never will.
A wonder, to behold it is, with just one color bright, but as soon as I laid eyes on it it became my heart's delight.
Looks like a machine straight out of Half-Life
Felype Rennan #TylerWasRight
Fuck yeah
Oh fuck off your onky saying that because tmof that shit Alyx game coming out. Honestly i didnt think the worst game series of all time could get any worse, i was sad to hear it was continuing. Half life literally contributed nothing to the advancement of videos games, did nothing new, pushed no boundries, it was shit. The story was shit too. Honestly if youre going to put the money, effort, and people effort and hard work into making a video game you shoukd at least try and do something new, or attempt to do something new or finding new ways to use existing tech to do more and better things. But instead of doing their part to advance gaming what does valve do? Make a serious of the most boring bland fps there has ever been. The shrek video games honestly have probably done mkre for gaming than half life has or ever will.
Kidding of course, half life is far from a disappointment to gaming. A disappointment would be a huge step up from what it currently is. I would love to only be disappointed by half life, rather than being thrown into a suicidal/homicidal rage/depression that started me on a heroin addiction, because the only time the ptsd-like flashbacks of that horribke experience playong half life go away is when im dangerously close to overdose, unconsious and drooling on myself while hardly breathing. Thanks halflife, you were so bad that i need huge doses of smack just to momentarily forget abkut you.
Anyone planning on buying that alyx game shoukd do the world a favor and nail the windows and doors of their house shut before lighting it on fire while the whole family is asleep. But make social media posts about how half life made you do it, so that series can finally get the reputation it truly deserves
It was a single player story based first person shooter, in 1998
If that's not revolutionary, enjoy AAA games with bare bones plot, and shitty facial animations
@@pauldeddens5349 hey buddy you ok?
Fantastic demonstration. I wish more research videos were as straightforward as this one.
Now make it three axis with similar design and some joint modifications..
Would be interesting..
very good point!
That would be the logical progression.
Yes.. One progress after another.. If that's what you mean..
the kinematic translational planar redundancy of the coincident rotationally parallel non statically determinate mechanism is absolute lunacy !
1:36 when my girlfriend's dad asked me to serve salt
@Michael Scott He does. She's cute, intelligent and her dad is military.
Strangely that looks like my Grandson explaining why he doesn't go outside......
OK boomer
Ok boomer
This is a legit funny comment. Too bad these virgins had to try their old af meme on you
@@marshallgibson7817 ok :^)))
Guise!!! Funni ok boomer meme!!! Reddit chungus keanu wholesome breathtaking 100 pupper doggo!!!!!!!!
There's just a whole world us normal mortals don't see.
Such a tease on those first few *almost* spins.
Really give it to me, Mr. Singularity-Free Kinematically Redundant Planar Parallel Mechanism!!
i love when it starts hot-doggin it at the end, doin flips.
Very interesting but it hardly informs me of exactly when my sexbot will be arriving via fedex. Let's tighten up and focus a bit, shall we?
Great recommendation, thanks youtube!
I thought the robotic dancer was amazing and i wish them great success in their future endeavours and auditions.
Ah sooo much effort and time distilled into a circa 2min video, and sooo damn satisfying...
I'm glad RUclips recommended this to me, even if I don't know why.
This looks like alien mechanics. Something that Stanislaw Lem would write.
...and Asimov stipulate laws for.
That is a very graceful animal.
That lego grab was smooth as fuck
Interesting. I better bookmark this video because If I ever need this kinematic mechanism I have no idea how to search for it.
Singularity free is nice and all, but you have to be so careful with redundant dofs. A serial mechanism does this job pretty well and for lighter loads, performs well compared to the this mechanism
Great work! Very nice presentation as well.
Oh finally I understand modern dance. It was simply singularity free kinematically redundant planar parallell mechanism - all along!
It's cool and I don't understand so I like it, nice RUclips
Neat! :D
Want to see more, whatever, just more :D
If they started releasing videos of it dancing to music, that would be cool.
I dont not why i am here. But this video is something. Not shure what . So i let my comment here in case just in case
Purely Beautiful, elegant motions
Cool mechanism, hope it is applied in the real world
One of the most beautiful things ive seen
What does "singularity free" mean in this instance?
Very good question..
Can't give an answer, but still a very good question..
On the two sides of the pole for the same generalized input vector there are two different output vectors that work (are consistent with the input). So there is a fork in the output over input plot. (Non injective surjective function.)
At 0:29 when the left hinge (of the two "floating" ones) passes the staightened out state (plus minus epsilon->0 in normal direction) then an infitesimally small coordinated motion from the inputs in a certain "bad" generalized "direction" leads to a in ratio to the infinitesimal input divergent amount of (still infinitesimal) output. I think it's:
abs(d outvector of critical hinge) divided by
abs(d generalized inputvector) goes to +-infinity.
(Plus or minus depending from which side the limit is taken.) That is theoretical though.
Practically with friction the linkage stalls the motors.
Or worse the motors break the linkage.
@Derek Burlingame Ahhhh okay thanks! That makes sense. English isn't my first language so I've never heard of the word used in this context.
It means there are no black holes contained
I'm in that weird part of RUclips again
I don't know what this thing is, but I like its moves.
A good start.
Nice robot, amazing what you can do with gears, ropes, levers and pulleys. With the proper program.
That's one funky moving guy
Very nice. I kinda see why RUclips thought I woud like to see it but some explanation of the things happening in the video would be appreciated.
Fine RUclips I will watch it
Thanks youtube for recommending that I watch this.
Don't know what the fuck this is but I support it 100%
Exactly what I was looking for
If you like this, look up inverse kinematic
ruclips.net/video/T0fo-2nNwrg/видео.html
No matter who you vote for in 2020, remember that we can all find common ground in our appreciation for a good singularity-free kinematically redundant planar parallel mechanism
I know what I'm watching, but I don't know why I'm watching or who should be watching
I'm always amazed how RUclips knows exactly what I want to watch.
Someone remind me WTF this instrument is used for please......
Kinematic redundancy... why didn’t I think of that!!!
When my dog goes ice skating
I didn't understand the caption on the thumbnail
I didn't understand the video title
I DEFINITELY don't understand the channel name
Thanks RUclips for making me feel dumb.
sometimes you gotta click on a video just to fuck with the algorithm
This would make for a fun pirate-space-ship ride at an amusement park
This is fantastic! But I wonder how much force and strength it can withhold as opposed to other designs.
Parallel robots can be both stronger and faster than their serial counterparts, because the motors, which don't move around with the common, can be as big and strong as you need
Doesn't the gripper mode create a new singularity if you open it too far?
Nice catch. Singularity free refers to the model right up until 1:22. After that, you're adding a 4th dof to the end effector, meaning you "lose" the singularity-free feature. You're still singularity-free within the intended 3 dofs demonstrated before (vertical, horizontal and rotational movement).
The gripper looks to be locked out when fully open. All movement is predictable and controllable it looks at that point in the video.
I waited my entire life to watch this 1:30 . It's mind blowing hahahaha
so great !!
Well done fox !!
1:35 It flexed on me
ULTRA COMBO FINISH
Thank you, LURL.
Very cool.
Title is insane, great mechanism though
They titled this video the same thing as their paper on the device, and as a rule research papers always need obnoxiously long titles with as many buzzwords thrown in as humanly possible. They're like scientific clickbait.
This is what RUclips was invented for.
C'est fou woaw je suis admiratif devant ça
so youtube just decided to recommend this to everyone?
Factories and astronauts will love it. Can handle hot objects like asteroids :-)
Really good.....but where's the cup holder?
This video taught me how to dance like a weirdo.... just kidding, I still can't dance.
Amazing!
That's pretty cool
0:30 kinda like a "gimbal lock"-situation, no?
essentially yeah :D
Beautiful
I like my parallel mechanisms singularity-free
I tried explaining the singularities of motion elsewhere in the comments but if you pay attention around 0:23 to the jerk in motion when cross bar angles in line with a leg, you'll see the issue. When the extra leg is added, it makes it impossible for the cross-bar/claw to be in line with both legs pointing in either direction thereby eliminating the singularity.
Does that make sense? I work for a Fanuc integrator and am familiar with how much pain the perfect alignment of joints can cause in a robot.
Isn't it just the analog version of a computer glitch? An alignment of factors that causes undocumented and/or undesired behavior. In this case a specific joint alignment.
@@Yodah97Not a computer glitch. It is more like gimbal lock, except recoverable. It is an alignment of axes, they become parallel at the singularity, but should be independent. This is like redundant dimensions in a matrix or equation system.
i have one question : WHY?
Very interesting. Imagine four of these in a nano-machine.
Imagien you go through a factory and there is just this thing sitting womewhere moving boxes and doing loopings with them
Élégant !
Why those thumbs down, I do not understand, puzzled to see those, if someone do not understand should just skip.
Block movers of the World: "Robots are taking are jobs!"
Every part should be moved with such flair...
i am guessing that this didn't solve the worlds energy crisis in 2015
. thanks yt
RUclips: Hey, I think you will really like watching this video about a Singularity-Free Kinematically Redundant Planar Parallel Mechanism
Me: Well this is gonna be a difficult fap.
It's got some moves
Thats the fanciest name ever for that wiggle wiggle thing.
It does have a singularity though because its limited to 2 axis and there is no 3 axis rotational capability
Beautiful.
Singularity-free? I SURE HOPE SO!
I could imagine this in an amusement park
Can’t help but wonder how the 4-dof fixed jaw would behave if it had symmetrical linkages on both sides.