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Relevant bibliographies by topics / Degree of Freedom (DoF)

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Academic literature on the topic 'Degree of Freedom (DoF)'

Author: Grafiati

Published: 25 May 2024

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Journal articles on the topic "Degree of Freedom (DoF)"

1

Akinin, K. P., V. G. Kireyev, І. S. Petukhov, and A. A. Filomenko. "THREE-DEGREE-OF-FREEDOM ELECTRIC MACHINE AND ITS OPERATION MODES." Praci Institutu elektrodinamiki Nacionalanoi akademii nauk Ukraini 2023, no. 66 (December 4, 2023): 132–43. http://dx.doi.org/10.15407/publishing2023.66.132.

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This paper deals with the operating modes of a 3-degree-of-freedom (3-DOF) electric machine. The design of such a machine allows the rotor axis to rotate along two angular coordinates in a limited range of angles. This is necessary for the machine to operate as part of a small-sized, high-speed precision target detection and tracking system. Based on the 3-DOF machine dynamics model, a block diagram of a servo system has been developed for controlling the rotor motion trajectory at two coordinates. Examples are given of the implementation of rotor motion trajectories with linearly increasing Examples are given of the implementation of rotor motion trajectories with linearly increasing, as well as described by an Archimedes spiral reference signals described by an Archimedes spiral reference signals. Dependencies of the modules of the relative accuracy of rotor movement along given trajectories on the system tunings were obtained. Ref. 12, fig. 9, table. Keywords: control system, motion trajectories, three-degree-of-freedom electric machine.

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Akinin, K. P., and V. G. Kireyev. "TWO- DEGREE-OF-FREEDOM ELECTRIC MACHINE AND ITS OPERATION MODES." Praci Institutu elektrodinamiki Nacionalanoi akademii nauk Ukraini 2023, no. 65 (August 28, 2023): 145–54. http://dx.doi.org/10.15407/publishing2023.65.145.

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This paper is devoted to the problems of developing an electric machine with two-degrees-of-freedom (2-DOF) of rotor movement and its control system. The structure of the machine with the possibility of rotation of the rotor along two angular coordinates in a limited range of rotation angles is considered. The machine is designed to control the position of the axis of the optical beam along the line and frame trajectories. Based on the electrodynamic state model of the 2-DOF electric machine, a block diagram of the servo system was developed to control the trajectory of the rotor in two coordinates. Relationships between the time constant of the angle controller and the time constants of the high-frequency part of the amplitude-frequency characteristic of an open-loop system are determined. The dependences of the effective values of the currents in the control windings on the frequency of the frames and the duration of the linear part of the triangular signal are obtained. The dependences of the modules of relative accuracy of the rotor movement along a given trajectories on the system tunings are obtained. Ref. 12, fig. 8. Key words: two-degree-of-freedom electric machine, control system, scanning device, line trajectory, frame trajectory.

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Reddy, B. Nithin. "Mechanical Design and Analysis of Six-Degree-of-Freedom (6-DOF) SCARA Robot for Industrial Applications." International Journal for Research in Applied Science and Engineering Technology 12, no. 4 (April 30, 2024): 6080–87. http://dx.doi.org/10.22214/ijraset.2024.59008.

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Abstract: A six-degree-of-freedom (6-DOF) SCARA robot is an advanced robotic system capable of moving and manipulating objects in a three-dimensional space with a high degree of precision and flexibility. The term "SCARA" stands for "Selective Compliance Articulated Robot Arm," indicating its design that allows a combination of rigidity and compliance along specific axes. This unique combination of features makes 6-DOF SCARA robots highly versatile and suitable for a wide range of industrial applications. Unlike traditional SCARA robots that typically have four degrees of freedom, the addition of two extra degrees of freedom enhances the 6-DOF SCARA robot's spatial reach and manipulation capabilities. This enables the robot to perform tasks that require complex orientations, intricate movements, and precise positioning within a 3D workspace. The mechanical design, kinematics, and control strategies of these robots are carefully developed to ensure accurate and efficient performance, making them valuable tools in various industries. 6-DOF SCARA robots find applications in numerous industries where precise manipulation, efficient automation, and versatile positioning are crucial.

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Liu, Yong Qiu, Ying Xin Zhai, and Xiao Feng Liu. "Dynamic Characteristics Analysis of Simulator Six-DOF Platform." Applied Mechanics and Materials 651-653 (September 2014): 716–19. http://dx.doi.org/10.4028/www.scientific.net/amm.651-653.716.

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Six degrees of freedom motion platform is an important part of the flight simulator. To study the dynamic characteristics of the simulator, the paper carried a six degree of freedom motion platform dynamics analysis, and proposed fuzzy PID control strategy, and through the ADAMS software to establish a simulation model of six degrees of freedom motion platform, simulation results show that the use of strategy has good control effect for the simulator is designed to provide some reference.

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5

Liu, Xiao Bo, Xiao Dong Yuan, Xiao Feng Wei, and Wei Ni. "A Novel 3-DOF Parallel Robot and its Kinematic Analysis." Applied Mechanics and Materials 607 (July 2014): 759–63. http://dx.doi.org/10.4028/www.scientific.net/amm.607.759.

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This paper deals with the design and analysis of a novel and simple two-translation and one-rotation (3 degrees of freedom, 3-dof) mechanism for alignment. Firstly, degree of freedom of the parallel robot is solved based on the theory of screw. Secondly considering the demand of motion control, we have conducted the analysis on the 3-dof parallel robot, which includes inverse displacement, forward displacement, and simulation based on SolidWorks Motion. The simulation results indicate that the novel 3-dof robot is suitable for performing the required operations.

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Tsai, Lung-Wen, and Chen-Chou Lin. "The Creation of Nonfractionated, Two-Degree-of-Freedom Epicyclic Gear Trains." Journal of Mechanisms, Transmissions, and Automation in Design 111, no. 4 (December 1, 1989): 524–29. http://dx.doi.org/10.1115/1.3259033.

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To date, most of the multi-DOF (degree-of-freedom) epicyclic gear trains have been used as a series of one-DOF devices. Comparatively little is known with regard to the existence and synthesis of nonfractionated, epicyclic gear trains. This paper presents a systematic methodology for the identification and enumeration of the kinematic structure of nonfractionated, two-DOF epicyclic gear trains. It has been shown that there exists no such gear trains with five or less links. It has also been shown that there exist two nonisomorphic rotation graphs of six vertices and twenty nonisomorphic rotation graphs of seven vertices. An atlas of nonisomorphic displacement graphs which can be used to construct nonfractionated, two-DOF epicyclic gear trains with six and seven links has been developed. It is hoped that this atlas will lead to more optimum and efficient designs of machines with multiple actuating requirements such as robotic wrists, grippers, and walking machines.

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Wang, Shengtong, Linbin Luo, Junhao Zhu, Ningning Shi, and Xinghui Li. "An Ultra-Precision Absolute-Type Multi-Degree-of-Freedom Grating Encoder." Sensors 22, no. 23 (November 22, 2022): 9047. http://dx.doi.org/10.3390/s22239047.

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An absolute-type four-degree-of-freedom (four-DOF) grating encoder that can simultaneously measure the three-axis pose (θx, θy, θz) and one-axis out-of-plane position (Z) of an object with high accuracy is demonstrated for the first time in this research. This grating encoder is composed of a stationary reading head and a movable grating reflector. A light beam from the reading head is projected onto the grating, and three diffracted beams (0th-, +1st-, and −1st-order) are generated, collimated, and received by three separate quadrant photodetectors (QPDs). The information of θx, θy, θz, and Z is coded into spot positions of these three diffracted beams on the QPDs. Thus, the modeling and decoupling algorithms were investigated, and an independent calculation of these four-DOF absolute positions was theoretically guaranteed. A prototype was then designed, constructed, and evaluated. Experimental results verified that the proposed grating encoder could achieve the absolute measurement of four-DOF θx, θy, θz, and Z with an accuracy of sub-arcseconds and sub-micrometers. To the best of our knowledge, the proposed encoder in this research is the first one to achieve absolute simultaneous measurements of four-DOF position and pose with a large measurement range. The success of this new grating encoder can benefit various multi-DOF positioning applications, especially for large-scale synthetic aperture optics (SAO), including stitching off-axis parabolic mirrors and pulse compression grating.

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Jiang, Yuchen, Jun Fu, Bao Li, and Pengfei Jiang. "Distributed Sensitivity and Critical Interference Power Analysis of Multi-Degree-of-Freedom Navigation Interference for Global Navigation Satellite System Array Antennas." Sensors 24, no. 2 (January 19, 2024): 650. http://dx.doi.org/10.3390/s24020650.

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Current research on the interference of GNSS (Global Navigation Satellite System) array antennas focuses on the single interference effect and the improvement of interference hardware capability, while the multi-degree-of-freedom (DOF) interference model and mechanism remain to be fully studied. Aiming at this problem, this paper analyzes the preconditions for the definition of anti-jamming degrees of freedom and the characteristics of super-DOF interference through formula derivation and simulation. First, by analyzing the influence of the number of interfering signals on the angular resolution, the prerequisite of the definition of anti-interference degrees of freedom in the airspace is proposed. Second, the definition of anti-interference degrees of freedom is used to calculate the change rule of the critical power of the interference under different numbers of interfering signals. Finally, the influence of super-DOF interference on the array antenna is analyzed. The results show that the prerequisite for the anti-interference freedom of the array antenna is that the distribution interval of the interfering signal is greater than 15°, taking a four-array element uniform circular array antenna as an example. The critical interference power of the array antenna decreases by about 15 dB when the number of interfering signals exceeds the degrees of freedom of the array antenna’s interference immunity, provided that the interference resolution is satisfied. The conclusions of this paper give the critical power change rule of multi-DOF interference and the effect of super-DOF interference, as well as the prerequisites for the setting of interference signals, which can be used, for example, in the deployment of distributed interference sources and the development of anti-jamming algorithms.

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Liu, Ping, Tao Deng, Zhenhua Su, Lu Jiang, and Zhentao Ding. "Design, control and optimization of multi-degree-of-freedom spherical induction motor." Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science 236, no. 2 (December 11, 2021): 778–94. http://dx.doi.org/10.1177/09544062211000792.

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In order to meet the requirements of multi-degree-of-freedom (multi-DOF) driving units for omnidirectional vehicle wheels, a multi-DOF spherical induction motor (SIM) is proposed with composite rotor through the conversion of design concept of linear induction motor (LIM), which compensates for the insufficiency of traditional multi-DOF driving scheme with structural complexity, control difficulties and poor dynamic performance. The SIM realizes two DOF driving and has the characteristics of direct output on rotor surface. Firstly, the overall design of SIM is drafted, as well as finite element model and control system are established. Subsequently, in order to optimize SIM performance, the multi-objective optimization design of composite rotor structure is proposed by adopting non-dominated sorting genetic algorithm-II (NSGA-II). The results show that the reasonable design of rotor structure can effectively improve output torque and reduce fluctuation. And the proposed design idea based on theory of LIM can provide a reference for SIM design.

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10

Huang, Qingqing, Guanwei He, Guodong Feng, and Beichen Ding. "A Novel Cooperative Control Strategy for Three-Degree-of-Freedom Pneumatic Parallel Mechanism." Actuators 13, no. 3 (February 26, 2024): 89. http://dx.doi.org/10.3390/act13030089.

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The three-degree-of-freedom (3-DoF) parallel mechanism (PM) is widely used due to its simple structure and ability to avoid coupling problems commonly found in high-DoF PMs. The conventional control approach is usually independent control for each branch of the mechanism using a PID controller, without considering the consistency among branches. This paper proposes a novel cooperative control strategy for the 3-DoF PM to achieve both synchronized and differential motion. A pneumatic actuated test rig was constructed to validate the effectiveness of the cooperative controller. The results demonstrate our control approach outperforms the PID controller. Our self-designed platform is functional and intuitive, which can be regarded as a control scheme test bench for a 3-DoF PM.

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Dissertations / Theses on the topic "Degree of Freedom (DoF)"

1

Gu, Jie. "Development of a 6-degree-of-freedom magnetically levitated instrument with nanometer precision." Thesis, Texas A&M University, 2003. http://hdl.handle.net/1969/118.

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Calhoun, Sean M. "Six Degree-of-Freedom Modeling of an Uninhabited Aerial Vehicle." Ohio University / OhioLINK, 2006. http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1149543622.

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Joshi, Atul Ravindra. "Design and control of a three degree-of-freedom planar parallel robot." Ohio : Ohio University, 2003. http://www.ohiolink.edu/etd/view.cgi?ohiou1175180058.

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4

Ding, Jun. "Mechanism Design, Kinematics and Dynamics Analysis of a 7-Degree-Of-Freedom (DOF) Cable-Driven Humanoid Robot Arm." Ohio University / OhioLINK, 2011. http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1299856503.

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5

Yang, Yiming. "Motion synthesis for high degree-of-freedom robots in complex and changing environments." Thesis, University of Edinburgh, 2018. http://hdl.handle.net/1842/31236.

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The use of robotics has recently seen significant growth in various domains such as unmanned ground/underwater/aerial vehicles, smart manufacturing, and humanoid robots. However, one of the most important and essential capabilities required for long term autonomy, which is the ability to operate robustly and safely in real-world environments, in contrast to industrial and laboratory setup is largely missing. Designing robots that can operate reliably and efficiently in cluttered and changing environments is non-trivial, especially for high degree-of-freedom (DoF) systems, i.e. robots with multiple actuators. On one hand, the dexterity offered by the kinematic redundancy allows the robot to perform dexterous manipulation tasks in complex environments, whereas on the other hand, such complex system also makes controlling and planning very challenging. To address such two interrelated problems, we exploit robot motion synthesis from three perspectives that feed into each other: end-pose planning, motion planning and motion adaptation. We propose several novel ideas in each of the three phases, using which we can efficiently synthesise dexterous manipulation motion for fixed-base robotic arms, mobile manipulators, as well as humanoid robots in cluttered and potentially changing environments. Collision-free inverse kinematics (IK), or so-called end-pose planning, a key prerequisite for other modules such as motion planning, is an important and yet unsolved problem in robotics. Such information is often assumed given, or manually provided in practice, which significantly limiting high-level autonomy. In our research, by using novel data pre-processing and encoding techniques, we are able to efficiently search for collision-free end-poses in challenging scenarios in the presence of uneven terrains. After having found the end-poses, the motion planning module can proceed. Although motion planning has been claimed as well studied, we find that existing algorithms are still unreliable for robust and safe operations in real-world applications, especially when the environment is cluttered and changing. We propose a novel resolution complete motion planning algorithm, namely the Hierarchical Dynamic Roadmap, that is able to generate collision-free motion trajectories for redundant robotic arms in extremely complicated environments where other methods would fail. While planning for fixed-base robotic arms is relatively less challenging, we also investigate into efficient motion planning algorithms for high DoF (30 - 40) humanoid robots, where an extra balance constraint needs to be taken into account. The result shows that our method is able to efficiently generate collision-free whole-body trajectories for different humanoid robots in complex environments, where other methods would require a much longer planning time. Both end-pose and motion planning algorithms compute solutions in static environments, and assume the environments stay static during execution. While human and most animals are incredibly good at handling environmental changes, the state-of-the-art robotics technology is far from being able to achieve such an ability. To address this issue, we propose a novel state space representation, the Distance Mesh space, in which the robot is able to remap the pre-planned motion in real-time and adapt to environmental changes during execution. By utilizing the proposed end-pose planning, motion planning and motion adaptation techniques, we obtain a robotic framework that significantly improves the level of autonomy. The proposed methods have been validated on various state-of-the-art robot platforms, such as UR5 (6-DoF fixed-base robotic arm), KUKA LWR (7-DoF fixed-base robotic arm), Baxter (14-DoF fixed-base bi-manual manipulator), Husky with Dual UR5 (15-DoF mobile bi-manual manipulator), PR2 (20-DoF mobile bi-manual manipulator), NASA Valkyrie (38-DoF humanoid) and many others, showing that our methods are truly applicable to solve high dimensional motion planning for practical problems.

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Alqasemi, Redwan M. "Maximizing manipulation capabilities of persons with disabilities using a smart 9-degree-of-freedom wheelchair-mounted robotic arm system." [Tampa, Fla.] : University of South Florida, 2007. http://purl.fcla.edu/usf/dc/et/SFE0002004.

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Rajesh, Edwin. "Assessment of Marine Conditions for Logistics, Operation Envelope and Weather Window for Offshore Projects." Thesis, Högskolan på Gotland, Institutionen för kultur, energi och miljö, 2011. http://urn.kb.se/resolve?urn=urn:nbn:se:uu:diva-217003.

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This thesis describes an assessment of offshore wind farms using a Matlab tool Marine System simulator. This tool helps to analyse the Vessel motion according to different wave heights. From this assessment one can know the correct weather window for offshore operation and other possible techniques to reduce the time delay in operation. This tool is used to simulate a supply vessel motion according to different wave heights. The chosen supply vessel is the default supply vessel in the simulator.

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Mamrak, Justin. "MARK II a biologically-inspired walking robot /." Ohio : Ohio University, 2008. http://www.ohiolink.edu/etd/view.cgi?ohiou1226694264.

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Chau, Simon Yi Ying. "Six degree of freedom joystick." Thesis, University of Canterbury. Mechanical Engineering, 2003. http://hdl.handle.net/10092/6604.

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Industrial robotics concentrates on developing automated alternatives to human function. Most of the equipment is controlled by means of joystick. Through a joystick input, a robotic arm can be guided through the trajectories to accomplish complex manipulation tasks for its user. Nevertheless, conventional joysticks are mainly two dimensional input devices such as mouse or joystick with additional buttons. Hence it is necessary to design and build a more intuitive and user-friendly joystick model. This thesis aims at designing and building a six degree of freedom (DOF) joystick. Different designs are reviewed in the beginning of the thesis, the final prototype is proposed by refining the different designs. Structural analysis of the model is performed and verified using finite element software ANSYS and PATRAN. The prototype is tested to model the movement of the wire strips when various forces are applied. Preliminary test results are obtained and explained.

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English, Chad. "Stiffness behaviour in two degree of freedom mechanisms." Thesis, National Library of Canada = Bibliothèque nationale du Canada, 2000. http://www.collectionscanada.ca/obj/s4/f2/dsk1/tape4/PQDD_0023/NQ52318.pdf.

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Books on the topic "Degree of Freedom (DoF)"

1

Yan, Liang. Design, Modeling and Experiments of 3-DOF Electromagnetic Spherical Actuators. Dordrecht: Springer Science+Business Media B.V., 2011.

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2

Oktay, Baysal, and United States. National Aeronautics and Space Administration., eds. 3-D unstructured method for flows past bodies in 6-DOF relative motion: Preprint from proceedings of 6th International Symposium of Computational Fluid Dynamics, Japan Society of Computational Fluid Dynamics, September 4-8, 1995, Lake Tahoe, Nevada. [Washington, D.C: National Aeronautics and Space Administration, 1995.

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Oktay, Baysal, and United States. National Aeronautics and Space Administration., eds. 3-D unstructured method for flows past bodies in 6-DOF relative motion: Preprint from proceedings of 6th International Symposium of Computational Fluid Dynamics, Japan Society of Computational Fluid Dynamics, September 4-8, 1995, Lake Tahoe, Nevada. [Washington, D.C: National Aeronautics and Space Administration, 1995.

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Singh, K. P. 3-D unstructured method for flows past bodies in 6-DOF relative motion: Preprint from proceedings of 6th International Symposium of Computational Fluid Dynamics, Japan Society of Computational Fluid Dynamics, September 4-8, 1995, Lake Tahoe, Nevada. [Washington, D.C: National Aeronautics and Space Administration, 1995.

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5

Oran, Nicks Colby, and Langley Research Center, eds. Six degree-of-freedom "live" isolation system tests. Hampton, Va: National Aeronautics and Space Administration, Langley Research Center, 1986.

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Oran, Nicks Colby, and Langley Research Center, eds. Six degree-of-freedom "live" isolation system tests. Hampton, Va: National Aeronautics and Space Administration, Langley Research Center, 1986.

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7

Sahler, Erica. Analysis of a single-degree-of-freedom roll motion model: Simulation, sensitivity study, and comparison to multi-degree-of-freedom models. Springfield, Va: Available from National Technical Information Service, 1996.

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Brown, Robert Michael. A microcontroller-based three degree-of-freedom manipulator testbed. [Washington, DC: National Aeronautics and Space Administration, 1995.

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Brown, Robert Michael. A microcontroller-based three degree-of-freedom manipulator testbed. [Washington, DC: National Aeronautics and Space Administration, 1995.

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Brown, Robert Michael. A microcontroller-based three degree-of-freedom manipulator testbed. [Washington, DC: National Aeronautics and Space Administration, 1995.

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Book chapters on the topic "Degree of Freedom (DoF)"

1

Yan, Liang, I.-Ming Chen, Chee Kian Lim, Guilin Yang, and Kok-Meng Lee. "Three Degree-of-freedom Optical Orientation Measurement." In Design, Modeling and Experiments of 3-DOF Electromagnetic Spherical Actuators, 133–51. Dordrecht: Springer Netherlands, 2011. http://dx.doi.org/10.1007/978-94-007-1646-9_6.

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2

Shahabi, Ebrahim, Yu-Ta Yao, Cheng-Hsiu Chuang, Po Ting Lin, and Chin-Hsing Kuo. "Design and Testing of 2-Degree-of-Freedom (DOF) Printable Pneumatic Soft Finger." In Robotics and Mechatronics, 298–308. Cham: Springer International Publishing, 2019. http://dx.doi.org/10.1007/978-3-030-30036-4_27.

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3

Azar, Ahmad Taher, Hossam Hassan, Mohd Saiful Akmal Bin Razali, Gabriel de Brito Silva, and Hedaya Rafat Ali. "Two-Degree of Freedom Proportional Integral Derivative (2-DOF PID) Controller for Robotic Infusion Stand." In Advances in Intelligent Systems and Computing, 13–25. Cham: Springer International Publishing, 2018. http://dx.doi.org/10.1007/978-3-319-99010-1_2.

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Li, Xinxin, Takahito Ono, Rongming Lin, and Masayoshi Esashi. "Much Enlarged Resonant Amplitude of Micro-resonator with Two-degree-of-freedom (2-DOF) Mechanical Coupling Scheme." In Transducers ’01 Eurosensors XV, 1078–81. Berlin, Heidelberg: Springer Berlin Heidelberg, 2001. http://dx.doi.org/10.1007/978-3-642-59497-7_255.

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Kuang, Lisheng, Maud Marchal, Marco Aggravi, Paolo Robuffo Giordano, and Claudio Pacchierotti. "Design of a 2-DoF Haptic Device for Motion Guidance." In Haptics: Science, Technology, Applications, 198–206. Cham: Springer International Publishing, 2022. http://dx.doi.org/10.1007/978-3-031-06249-0_23.

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AbstractWe present a 2-degrees-of-freedom (2-DoF) haptic device, which can be either used as a grounded or a hand-held device. It is composed of two platforms moving with respect to each other, actuated by two servomotors housed in one of structures. The device implements a rigid coupling mechanism between the two platforms, based on a three-legged 3-4R constrained parallel linkage, with the two servomotors actuating two of these legs. The device can apply position/kinesthetic haptic feedback to the user hand(s). This paper presents the device and its kinematics, together with a human subjects experiment where we evaluate its capabilities to provide meaningful directional information.

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6

Gooch, Jan W. "Degree of Freedom." In Encyclopedic Dictionary of Polymers, 199. New York, NY: Springer New York, 2011. http://dx.doi.org/10.1007/978-1-4419-6247-8_3383.

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Woodhouse, Nicholas M. J. "One Degree of Freedom." In Springer Undergraduate Mathematics Series, 35–66. London: Springer London, 2009. http://dx.doi.org/10.1007/978-1-84882-816-2_2.

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Levi, Mark. "One degree of freedom." In The Student Mathematical Library, 1–74. Providence, Rhode Island: American Mathematical Society, 2014. http://dx.doi.org/10.1090/stml/069/01.

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9

Jazar, Reza N. "One Degree of Freedom." In Advanced Vibrations, 203–338. Cham: Springer International Publishing, 2022. http://dx.doi.org/10.1007/978-3-031-16356-2_3.

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Preumont, André. "Multiple Degree-of-Freedom Systems." In Twelve Lectures on Structural Dynamics, 15–41. Dordrecht: Springer Netherlands, 2013. http://dx.doi.org/10.1007/978-94-007-6383-8_2.

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Conference papers on the topic "Degree of Freedom (DoF)"

1

Ahmad, Nurfadzilah, Muhammad Khairul Afzan Kholdun, Habibah Zulkefle, Mohd Firdaus Abdullah, Dayana Kamaruzzaman, and Noor Ezan Abdullah. "2 Degree of Freedom (DOF) Motor Control for Motion Simulation." In 2021 IEEE 12th Control and System Graduate Research Colloquium (ICSGRC). IEEE, 2021. http://dx.doi.org/10.1109/icsgrc53186.2021.9515297.

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2

Funke, Lawrence, James P. Schmiedeler, and Kai Zhao. "Design of Planar Multi-Degree-of-Freedom Morphing Mechanisms." In ASME 2014 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2014. http://dx.doi.org/10.1115/detc2014-35265.

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This paper seeks to advance the design of planar shape-changing mechanisms used in a variety of applications, such as morphing extrusion dies and airfoils. The presence of defects is a limiting factor in finding suitable single-degree-of-freedom (DOF) mechanisms, particularly when the number of shapes to achieve is large and/or the changes among those shapes are significant. This paper presents a new method of designing multi-DOF mechanisms to aid in avoiding these defects. The primary method uses a building-block approach similar to the current one-DOF synthesis procedure and is compared to alternative strategies that seek to leverage the use of multiple single-DOF subchains. While more complex in terms of determining the actuation pattern, the primary method offers a larger design space in which to find solutions. In all cases a genetic algorithm is employed to search the design space. Two example problems involving four prescribed shapes demonstrate the benefits of using multi-DOF mechanisms in terms of shape matching and mechanical advantage.

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3

Ocak, Ilker E., Daw D. Cheam, Sanchitha N. Fernando, Angel T. H. Lin, Pushpapraj Singh, Jaibir Sharma, Geng L. Chua, et al. "A monolithic 9 degree of freedom (DOF) capacitive inertial MEMS platform." In 2014 IEEE International Electron Devices Meeting (IEDM). IEEE, 2014. http://dx.doi.org/10.1109/iedm.2014.7047103.

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Qin, You-lei, Yi Cao Hai, Chen Hui Zhou, and Yi Cao. "Structural synthesis of 3T2R five-degree-of-freedom (DoF) hybrid mechanism." In 2015 IEEE International Conference on CYBER Technology in Automation, Control, and Intelligent Systems (CYBER). IEEE, 2015. http://dx.doi.org/10.1109/cyber.2015.7287911.

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Yang, Ting-Li, and Dun-Jin Sun. "A General Formula of Degree of Freedom for Parallel Mechanisms." In ASME 2008 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2008. http://dx.doi.org/10.1115/detc2008-49077.

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In this paper, a general formula of degree of freedom (DOF) for parallel mechanisms has been presented which could provide the full-cycle DOF. The key parameters in the formula can be determined via the position and orientation characteristic equations and their symbolic operations of serial and parallel mechanisms proposed by author and the symbolic operation is simple. It is totally different from the methods based on screw theory and based on displacement subgroup. The formula has been used for selection of driving pairs and determination of idle pairs. The formula may also be used for determining the DOF of other multi-loop mechanisms besides parallel mechanisms.

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Yun, Yuan, and Yangmin Li. "Multi-degree of freedom vibration model for a 3-DOF hybrid robot." In 2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM). IEEE, 2009. http://dx.doi.org/10.1109/aim.2009.5229864.

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Hildreth, Bruce, Dennis Linse, and John Dicola. "Pseudo Six Degree of Freedom (DOF) Models for Higher Fidelity Constructive Simulations." In AIAA Modeling and Simulation Technologies Conference and Exhibit. Reston, Virigina: American Institute of Aeronautics and Astronautics, 2008. http://dx.doi.org/10.2514/6.2008-6857.

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Gosselin, Florian, Claude Andriot, Florian Bergez, and Xavier Merlhiot. "Widening 6-DOF haptic devices workspace with an additional degree of freedom." In 2007 2nd Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environments and Teleoperator Systems. IEEE, 2007. http://dx.doi.org/10.1109/whc.2007.127.

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Adelstein, B. D., D. F. Gayme, P. Ho, and H. Kazerooni. "Three Degree of Freedom Haptic Interface for Precision Manipulation." In ASME 1998 International Mechanical Engineering Congress and Exposition. American Society of Mechanical Engineers, 1998. http://dx.doi.org/10.1115/imece1998-0252.

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Abstract We are developing a new portable force-reflecting haptic interface based on the three degree of freedom (dof) kinematic architecture introduced by Adelstein, Ho, and Kazerooni (1996). This new interface is intended specifically to emulate dynamic manual interaction with precision hand tools and allow single-point probing of simulated mechanical environments.

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Kong, Xianwen. "Variable Degree-of-Freedom Spatial Mechanisms Composed of Four Circular Translation Joints." In ASME 2020 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2020. http://dx.doi.org/10.1115/detc2020-22332.

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Abstract This paper deals with the construction and reconfiguration analysis of a spatial mechanism composed of four circular translation (G) joints. Two links connected by a G joint, which can be in different forms such as a planar parallelogram, translate along a circular trajectory with respect to each other. A spatial 4G mechanism, which is composed of four G joints, usually has 1-DOF (degree-of-freedom). Firstly, a 2-DOF 4G mechanism is constructed. Then a novel variable-DOF spatial 4G mechanism is constructed starting from the 2-DOF 4G mechanism using the approach based on screw theory. Finally, the reconfiguration analysis is carried out in the configuration space using dual quaternions. The analysis shows that the variable-DOF spatial 4G mechanism has one 2-DOF motion mode and one to two 1-DOF motion modes and reveals how the 4G mechanism can switch among these motion modes. By removing one link from two adjacent G joints each and two links from each of the remaining two G joints, we can obtain a queer-rectangle and a queer-parallelogram, which are the generalization of the queer-square or derivative queer-square in the literature. The approach in this paper can be extended to the analysis of other types of coupled mechanisms using cables and gears and multi-mode spatial mechanisms involving G joints.

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Reports on the topic "Degree of Freedom (DoF)"

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Christie, Benjamin, Cameron Alred, Michael Paquette, and Garry Glaspell. Increasing the degrees of freedom on a robot arm. Engineer Research and Development Center (U.S.), November 2023. http://dx.doi.org/10.21079/11681/47846.

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This report provides an implementation of the moveit-commander Python module to generate trajectories for custom six– and seven–degrees of freedom (DoF) arms. The moveit_setup_assistant package was used to modify an existing five-DoF OpenManipulator-X model to increase its range of motion. Specifically, additional joints were fabricated and mounted to the physical arm. Also, the Unified Robot Description Format files were modified to account for the additional joints. In order to optimize the solvers, many changes to the MOVEit configuration files were made. The changes documented in this report lay the groundwork for leveraging MOVEit to expand the capabilities of low-DoF arms.

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Wissink, Andrew, Jude Dylan, Buvana Jayaraman, Beatrice Roget, Vinod Lakshminarayan, Jayanarayanan Sitaraman, Andrew Bauer, James Forsythe, Robert Trigg, and Nicholas Peters. New capabilities in CREATE™-AV Helios Version 11. Engineer Research and Development Center (U.S.), June 2021. http://dx.doi.org/10.21079/11681/40883.

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CREATE™-AV Helios is a high-fidelity coupled CFD/CSD infrastructure developed by the U.S. Dept. of Defense for aeromechanics predictions of rotorcraft. This paper discusses new capabilities added to Helios version 11.0. A new fast-running reduced order aerodynamics option called ROAM has been added to enable faster-turnaround analysis. ROAM is Cartesian-based, employing an actuator line model for the rotor and an immersed boundary model for the fuselage. No near-body grid generation is required and simulations are significantly faster through a combination of larger timesteps and reduced cost per step. ROAM calculations of the JVX tiltrotor configuration give a comparably accurate download prediction to traditional body-fitted calculations with Helios, at 50X less computational cost. The unsteady wake in ROAM is not as well resolved, but wake interactions may be a less critical issue for many design considerations. The second capability discussed is the addition of six-degree-of-freedom capability to model store separation. Helios calculations of a generic wing/store/pylon case with the new 6-DOF capability are found to match identically to calculations with CREATE™-AV Kestrel, a code which has been extensively validated for store separation calculations over the past decade.

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Sahler, Erica. Analysis of a Single-Degree-of-Freedom Roll Motion Model: Simulation, Sensitivity Study, and Comparison to Multi-Degree-of-Freedom Models,. Fort Belvoir, VA: Defense Technical Information Center, April 1996. http://dx.doi.org/10.21236/ada310335.

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Ravani, Bahram. Classification and Simulation of Single and Multi-Degree-of-Freedom Motions. Fort Belvoir, VA: Defense Technical Information Center, October 1989. http://dx.doi.org/10.21236/ada214925.

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Grassia, F. S. A Practical Parameterization of 2 and 3 Degree of Freedom Rotations. Fort Belvoir, VA: Defense Technical Information Center, May 1997. http://dx.doi.org/10.21236/ada327707.

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Tyson, Paul. Climate Change Mitigation and Human Flourishing: Recovering Teleology, Avoiding Tyranny. Mέta | Centre for Postcapitalist Civilisation, 2021. http://dx.doi.org/10.55405/mwp5.

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It is most unlikely that adjusting to a 1.5 to 2 degree hotter world is possible within the prevailing political and economic norms of our times. In our post-capitalist times we need to modify modern technological market “liberalism” (which has become, actually, techno-feudalism). If we do not modify our present norms, the collapse of the natural means of power and privilege native to our present world order makes it almost inevitable that democratic liberalism will devolve further into a distinctly anti-liberal species of techno-tyranny. To avoid such a dystopian future, this paper explores how we might re-imagine our global politico-economic norms without embracing techno-tyranny. The argument put forward is that modern liberalism makes the means of personal wealth accumulation and private freedom, the end of public life. This confusion of means with ends implies, ironically, that if our means become unviable, we have no way of aiming at valuable human ends by different means. We have a culturally assumed faulty teleology in political economics and in our philosophy of technology. A revised form of Aristotle’s teleology is proposed whereby an understanding of common human flourishing defines human ends, and where a range of new means could then be pursued to achieve that end, respecting the natural limitations on means that are now upon us.

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Zeng, D., M. C. Richmond, C. S. Simmons, and T. J. Carlson. Six-degree-of-freedom Sensor Fish design - Governing equations and motion modeling. Office of Scientific and Technical Information (OSTI), July 2004. http://dx.doi.org/10.2172/1218164.

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Feliu, Vincente, H. B. Brown, Rattan Jr., and Kuldip S. Design and Control of a Two-Degree-of-Freedom Lightweight Flexible Arm. Fort Belvoir, VA: Defense Technical Information Center, July 1989. http://dx.doi.org/10.21236/ada213335.

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Amoruso, Michael J. Euler Angles and Quaternions in Six Degree of Freedom Simulations of Projectiles. Fort Belvoir, VA: Defense Technical Information Center, March 1996. http://dx.doi.org/10.21236/ada417259.

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Deng, Zhiqun, Marshall C. Richmond, Carver S. Simmons, and Thomas J. Carlson. Six-Degree-of-Freedom Sensor Fish Design: Governing Equations and Motion Modeling. Office of Scientific and Technical Information (OSTI), August 2004. http://dx.doi.org/10.2172/15020939.

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