Gait Hip » History » Version 10
Hannes Rúnar Herbertsson, 2012-01-31 11:27
Added a description for the agile eye
| 1 | 1 | Hannes Rúnar Herbertsson | h1. Gait Hip |
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| 2 | |||
| 3 | Hip joint |
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| 4 | Extenion -> Flextion -> |
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| 5 | |||
| 6 | * Initial contact |
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| 7 | -Flextion (30° thigh forward) |
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| 8 | |||
| 9 | * Loading response |
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| 10 | -Function -> maintain hip stability |
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| 11 | |||
| 12 | * Mid stance |
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| 13 | -extention (from 30° flextion to full extention) |
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| 14 | |||
| 15 | * Terminal stance |
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| 16 | -Hyperextension (3°) |
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| 17 | |||
| 18 | * Pre-swing |
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| 19 | -flextion |
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| 20 | |||
| 21 | h2. Brainstorm |
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| 22 | ideas that came from google research |
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| 23 | 3 | Hannes Rúnar Herbertsson | |
| 24 | 1 | Hannes Rúnar Herbertsson | * Parallel mechanism |
| 25 | 10 | Hannes Rúnar Herbertsson | -Description: The Agile Eye is a 3-DOFspherical parallel manipulator developed for the rapid |
| 26 | orientation of a camera. Its mechanical architecture allows the achievement of high |
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| 27 | operational speeds. The miniature camera attached to the end-effector can be |
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| 28 | pointed in a cone of vision of 140° with ±30° in torsion. Moreover, due to its low |
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| 29 | inertia and its inherent stiffness, the mechanism can achieve angular velocities |
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| 30 | superior to 1000 °/sec and angular accelerations greater than 20000 °/sec2. |
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| 31 | |||
| 32 | 7 | Halldór Þorkelsson | -Link to PDF "here":http://www.irt.uni-hannover.de/forschung/asr/aeye_a4.pdf |
| 33 | 4 | Hannes Rúnar Herbertsson | |
| 34 | 1 | Hannes Rúnar Herbertsson | -Video link you have to search the list for parallel mechanism (agile Eye) "here":http://www.expo21xx.com/automation21xx/14929_st3_university/default.htm |
| 35 | 7 | Halldór Þorkelsson | |
| 36 | -Lisa the Robot a robot done in hannover university "here":http://www.irt.uni-hannover.de/forschung/asr/lisa_en.html |
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| 37 | 2 | Hannes Rúnar Herbertsson | |
| 38 | * We can aslo use a 3 motor system where each of the motor moves in different planes |
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| 39 | |||
| 40 | 4 | Hannes Rúnar Herbertsson | h3. Our hip joint (Items that are crucial) |
| 41 | |||
| 42 | * 3 motors, to be able to move in 3D |
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| 43 | * Has to be strong enough to carry the weight of the leg |
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| 44 | * The hip joint does not have to be modular |
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| 45 | 5 | Hannes Rúnar Herbertsson | |
| 46 | "Picture to our hip joint":https://projects.cs.ru.is/attachments/download/135/Hip%20joint.jpg |
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| 47 | 6 | Halldór Þorkelsson | |
| 48 | h4. Ideas for materials. |
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| 49 | |||
| 50 | * Aluminium. |
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| 51 | * Stainless. |
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| 52 | * Steel. |
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| 53 | 8 | Vikar Hlynur Þórisson | |
| 54 | h5. FRDPRC chart |
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| 55 | 9 | Vikar Hlynur Þórisson | |
| 56 | -File "here":https://projects.cs.ru.is/attachments/download/139/FRDPARRC%20chart.xlsx |