Modelling of Modular Robot Configurations Using Graph Theory

Modular robots are systems that can change its geometry or configuration when connecting more modules or when rearranging them in a different manner to perform a variety of tasks. Graph theory can be used to describe modular robots configurations, hence the possibility to determine the flexibility of the robot to move from one point to another. When the robot’s configurations are represented in a mathematical way, forward kinematics can be obtained

Kinematics, workspace and singularity analysis of a multi-mode parallel robot

A family of reconfigurable parallel robots can change motion modes by passing through constraint singularities by locking and releasing some passive joints of the robot. This paper is about the kinematics, the workspace and singularity analysis of a 3-PRPiR parallel robot involving lockable Pi and R (revolute) joints. Here a Pi joint may act as a 1-DOF planar parallelogram if its lock-able P (prismatic) joint is locked or a 2-DOF RR serial chain if its lockable P joint is released. The operation modes of the robot include a 3T operation modes to three 2T1R operation modes with two different directions of the rotation axis of the moving platform. The inverse kinematics and forward kinematics of the robot in each operation modes are dealt with in detail. The workspace analysis of the robot allow us to know the regions of the workspace that the robot can reach in each operation mode. A prototype built at Heriot-Watt University is used to illustrate the results of this work.Comment: International Design Engineering Technical Conferences \& Computers and Information in Engineering Conference, Aug 2017, Cleveland, United States. 201

Kinematically Redundant Octahedral Motion Platform for Virtual Reality Simulations

We propose a novel design of a parallel manipulator of Stewart Gough type for virtual reality application of single individuals; i.e. an omni-directional treadmill is mounted on the motion platform in order to improve VR immersion by giving feedback to the human body. For this purpose we modify the well-known octahedral manipulator in a way that it has one degree of kinematical redundancy; namely an equiform reconfigurability of the base. The instantaneous kinematics and singularities of this mechanism are studied, where especially "unavoidable singularities" are characterized. These are poses of the motion platform, which can only be realized by singular configurations of the mechanism despite its kinematic redundancy.Comment: 13 pages, 6 figure

Geometry and kinematics for a spherical-base integrated parallel mechanism

Parallel mechanisms, in general, have a rigid base and a moving platform connected by several limbs. For achieving higher mobility and dexterity, more degrees of freedom are introduced to the limbs. However, very few researchers focus on changing the design of the rigid base and making it foldable and reconfigurable to improve the performance of the mechanism. Inspired by manipulating an object with a metamorphic robotic hand, this paper presents for the first time a parallel mechanism with a reconfigurable base. This novel spherical-base integrated parallel mechanism has an enlarged workspace compared with traditional parallel manipulators. Evolution and structure of the proposed parallel mechanism is introduced and the geometric constraint of the mechanism is investigated based on mechanism decomposition. Further, kinematics of the proposed mechanism is reduced to the solution of a univariate polynomial of degree 8. Moreover, screw theory based Jacobian is presented followed by the velocity analysis of the mechanism

A Rapidly Reconfigurable Robotics Workcell and Its Applictions for Tissue Engineering

This article describes the development of a component-based technology robot system that can be rapidly configured to perform a specific manufacturing task. The system is conceived with standard and inter-operable components including actuator modules, rigid link connectors and tools that can be assembled into robots with arbitrary geometry and degrees of freedom. The reconfigurable "plug-and-play" robot kinematic and dynamic modeling algorithms are developed. These algorithms are the basis for the control and simulation of reconfigurable robots. The concept of robot configuration optimization is introduced for the effective use of the rapidly reconfigurable robots. Control and communications of the workcell components are facilitated by a workcell-wide TCP/IP network and device level CAN-bus networks. An object-oriented simulation and visualization software for the reconfigurable robot is developed based on Windows NT. Prototypes of the robot systems configured to perform 3D contour following task and the positioning task are constructed and demonstrated. Applications of such systems for biomedical tissue scaffold fabrication are considered.Singapore-MIT Alliance (SMA

Formación emprendedora de la facultad de Ingeniería Química (FIQ) 2015-2018

In this article we present the experience of Entrepreneurial Training of the Facultyof Chemical Engineering (FIQ) 2015-2018 is presented, which had as purpose to develop skills, talents and entrepreneurial attitudes in the students, faculty and administrative staff of the faculty to contribute to its growth personal and professional. The process began in September 2015 and since then three generations have been trained, with a total of 152 participants, of which: 12 teachers, 6 administrative employees, 124 students from first to fifth year of the Chemical Engineering career and graduates of the FIQ, as well as 10 students participating in other UNI careers, stories such as industrial, mechanical, agricultural, civil and architectural engineering. Taking place in March 2018, the first Graduation of Entrepreneurs in which 32 certificates of approval of the Entrepreneurial Training course and Design of Business Plans were delivered, with the presentation of 11 completed business plans.En este artículo se presenta la experiencia de Formación Emprendedora de la Facultad de Ingeniería Química (FIQ) 2015-2018, que tuvo como propósito desarrollar habilidades, talentos y actitudes emprendedoras en los estudiantes, personal docente y administrativo de la facultad para contribuir a su crecimiento personal y profesional. El proceso inició en septiembre del año 2015 y desde entonces se han formado tres generaciones, capacitando a un total de 152 participantes de los cuales: 12 han sido docentes, 6 participantes del personal administrativo, 124 estudiantes de primer a quinto año de la carrera de ingeniería química y egresados de la FIQ, así como 10 estudiantes que pertenecen a otras carreras de UNI, tales como, ingeniería Industrial, mecánica, agrícola, civil y arquitectura. Realizándose en marzo de 2018, la primer Graduación de Emprendedores en la cual se entregaron 32 diplomas de aprobación del curso Formación Emprendedora y Diseño de Planes de Negocios, con la presentación de 11 planes de negocios concluidos