Concept for a large master/slave-controlled robotic hand

A strategy is presented for the design and construction of a large master/slave-controlled, five-finger robotic hand. Each of the five fingers will possess four independent axes each driven by a brushless DC servomotor and, thus, four degrees-of-freedom. It is proposed that commercially available components be utilized as much as possible to fabricate a working laboratory model of the device with an anticipated overall length of two-to-four feet (0.6 to 1.2 m). The fingers are to be designed so that proximity, tactile, or force/torque sensors can be imbedded in their structure. In order to provide for the simultaneous control of the twenty independent hand joints, a multilevel master/slave control strategy is proposed in which the operator wears a specially instrumented glove which produces control signals corresponding to the finger configurations and which is capable of conveying sensor feedback signals to the operator. Two dexterous hand master devices are currently commercially available for this application with both undergoing continuing development. A third approach to be investigated for the master control mode is the use of real-time image processing of a specially patterned master glove to provide the respective control signals for positioning the multiple finger joints

Servomotor-Linked Articulated Versatile End Effector (SLAVE2)

A strategy is presented for the design and construction of a large master/slave-controlled, five-finger robotic hand. Each of the five fingers will possess four independent axes each driven by a brushless DC servomotor and, thus, four degrees-of-freedom. It is proposed that commercially available components be utilized as much as possible to fabricate a working laboratory model of the device with an anticipated overall length of approximately three feet (0.9 m). The fingers are to be designed to accommodate proximity, tactile, or force/torque sensors imbedded in their structure. In order to provide for the simultaneous control of the operator wears a specially instrumented glove which produces control signals corresponding to the finger configuration and which is capable of conveying sensor feedback signals to the operator. Two dexterous hand master devices are currently commercially available for this application with both undergoing continuing development

Development Of A Semi-Swath Craft For Malaysian Waters

Small Waterplane Area Twin Hull (SWATH) and Catamaran vessels are known to have more stable platform as compared to mono-hulls. A further advantage of SWATH as compared to Catamaran is its smaller waterplane area that provides better seakeeping qualities. However, the significant drawback of the SWATH vessel is when encountering head-sea at high forward speed. Due to its low stiffness, it has a tendency for large pitch motions. Consequently, this may lead to excessive trim or even deck wetness. This phenomenon will not only degrade the comfortability but also results in structural damage with greater safety risks. In this research a modified SWATH design is proposed. The proposed design concept represents a combination of Catamaran and SWATH vessel hull features that will lead to reduce in bow-diving but still maintains good seakeeping capabilities. This is then called the Semi- SWATH vessel. In addition, the full-design of this vessel has been equipped by fixed fore fins and controllable aft fins attached on each lower hull. In the development of controllable aft fins, the PID controller system was applied to obtain an optimal vessel’s ride performance at speeds of 15 (medium) and 20 (high) knots. In this research work, the seakeeping performance of Semi-SWATH vessel was evaluated using time-domain simulation approach. The effect of fin stabilizer on the bare hull performance is considered. The validity of numerical evaluation was then compared with model experiments carried out in the Towing Tank at Marine Technology Laboratory, UTM. It is shown that the Semi-SWATH vessel with controllable fin stabilizer can have significantly reduction by about 42.57% of heave motion and 48.80% of pitch motion

Hybrid intelligent machine systems : design, modeling and control

To further improve performances of machine systems, mechatronics offers some opportunities. Traditionally, mechatronics deals with how to integrate mechanics and electronics without a systematic approach. This thesis generalizes the concept of mechatronics into a new concept called hybrid intelligent machine system. A hybrid intelligent machine system is a system where two or more elements combine to play at least one of the roles such as sensor, actuator, or control mechanism, and contribute to the system behaviour. The common feature with the hybrid intelligent machine system is thus the presence of two or more entities responsible for the system behaviour with each having its different strength complementary to the others. The hybrid intelligent machine system is further viewed from the system’s structure, behaviour, function, and principle, which has led to the distinction of (1) the hybrid actuation system, (2) the hybrid motion system (mechanism), and (3) the hybrid control system. This thesis describes a comprehensive study on three hybrid intelligent machine systems. In the case of the hybrid actuation system, the study has developed a control method for the “true” hybrid actuation configuration in which the constant velocity motor is not “mimicked” by the servomotor which is treated in literature. In the case of the hybrid motion system, the study has resulted in a novel mechanism structure based on the compliant mechanism which allows the micro- and macro-motions to be integrated within a common framework. It should be noted that the existing designs in literature all take a serial structure for micro- and macro-motions. In the case of hybrid control system, a novel family of control laws is developed, which is primarily based on the iterative learning of the previous driving torque (as a feedforward part) and various feedback control laws. This new family of control laws is rooted in the computer-torque-control (CTC) law with an off-line learned torque in replacement of an analytically formulated torque in the forward part of the CTC law. This thesis also presents the verification of these novel developments by both simulation and experiments. Simulation studies are presented for the hybrid actuation system and the hybrid motion system while experimental studies are carried out for the hybrid control system

Ground Robotic Hand Applications for the Space Program study (GRASP)

This document reports on a NASA-STDP effort to address research interests of the NASA Kennedy Space Center (KSC) through a study entitled, Ground Robotic-Hand Applications for the Space Program (GRASP). The primary objective of the GRASP study was to identify beneficial applications of specialized end-effectors and robotic hand devices for automating any ground operations which are performed at the Kennedy Space Center. Thus, operations for expendable vehicles, the Space Shuttle and its components, and all payloads were included in the study. Typical benefits of automating operations, or augmenting human operators performing physical tasks, include: reduced costs; enhanced safety and reliability; and reduced processing turnaround time

Parallel active link suspension: full car application with frequency-dependent multi-objective control strategies

In this article, a recently proposed at basic level novel suspension for road vehicles, the parallel active link suspension (PALS), is investigated in the realistic scenario of a sport utility vehicle (SUV) full car. The involved rocker-pushrod assembly is generally optimized to maximize the PALS capability in improving the suspension performance. To fully release the PALS functions of dealing with both low- and high-frequency road cases, a PID control scheme is first employed for the chassis attitude stabilization, focusing on the minimization of both the roll and pitch angles; based on a derived linear equivalent model of the PALS-retrofitted full car, an H∞ control scheme is designed to enhance the ride comfort and road holding; moreover, a frequency-dependent multiobjective control strategy that combines the developed PID and H∞ control is proposed to enable: 1) chassis attitude stabilization at 0-1 Hz; 2) vehicle vibration attenuation at 1-8 Hz; and 3) control effort penalization (for energy saving) above 10 Hz. With a group of ISO-defined road events tested, numerical simulation results demonstrate that, compared to the conventional passive suspension, the PALS has a promising potential in full-car application, with up to 70% reduction of the chassis vertical acceleration in speed bumps and chassis leveling capability of dealing with up to 4.3-m/s² lateral acceleration

A 17 degree of freedom anthropomorphic manipulator

A 17 axis anthropomorphic manipulator, providing coordinated control of two seven degree of freedom arms mounted on a three degree of freedom torso-waist assembly, is presented. This massively redundant telerobot, designated the Robotics Research K/B-2017 Dexterous Manipulator, employs a modular mechanism design with joint-mounted actuators based on brushless motors and harmonic drive gear reducers. Direct joint torque control at the servo level causes these high-output joint drives to behave like direct-drive actuators, facilitating the implementation of an effective impedance control scheme. The redundant, but conservative motion control system models the manipulator as a spring-loaded linkage with viscous damping and rotary inertia at each joint. This approach allows for real time, sensor-driven control of manipulator pose using a hierarchy of competing rules, or objective functions, to avoid unplanned collisions with objects in the workplace, to produce energy-efficient, graceful motion, to increase leverage, to control effective impedance at the tool or to favor overloaded joints