1,694 research outputs found
Multi-Objective Design Optimization of the Leg Mechanism for a Piping Inspection Robot
This paper addresses the dimensional synthesis of an adaptive mechanism of
contact points ie a leg mechanism of a piping inspection robot operating in an
irradiated area as a nuclear power plant. This studied mechanism is the leading
part of the robot sub-system responsible of the locomotion. Firstly, three
architectures are chosen from the literature and their properties are
described. Then, a method using a multi-objective optimization is proposed to
determine the best architecture and the optimal geometric parameters of a leg
taking into account environmental and design constraints. In this context, the
objective functions are the minimization of the mechanism size and the
maximization of the transmission force factor. Representations of the Pareto
front versus the objective functions and the design parameters are given.
Finally, the CAD model of several solutions located on the Pareto front are
presented and discussed.Comment: Proceedings of the ASME 2014 International Design Engineering
Technical Conferences \& Computers and Information in Engineering Conference,
Buffalo : United States (2014
Control of free-flying space robot manipulator systems
New control techniques for self contained, autonomous free flying space robots were developed and tested experimentally. Free flying robots are envisioned as a key element of any successful long term presence in space. These robots must be capable of performing the assembly, maintenance, and inspection, and repair tasks that currently require human extravehicular activity (EVA). A set of research projects were developed and carried out using lab models of satellite robots and a flexible manipulator. The second generation space robot models use air cushion vehicle (ACV) technology to simulate in 2-D the drag free, zero g conditions of space. The current work is divided into 5 major projects: Global Navigation and Control of a Free Floating Robot, Cooperative Manipulation from a Free Flying Robot, Multiple Robot Cooperation, Thrusterless Robotic Locomotion, and Dynamic Payload Manipulation. These projects are examined in detail
Task-Space Control of Articulated Mobile Robots With a Soft Gripper for Operations
A task-space method is presented for the control of a head-raising articulated mobile robot, allowing the trajectory tracking of a tip of a gripper located on the head of the robot in various operations, e.g., picking up an object and rotating a valve. If the robot cannot continue moving because it reaches a joint angle limit, the robot moves away from the joint limit and changes posture by switching the allocation of lifted/grounded wheels. An articulated mobile robot with a gripper that can grasp objects using jamming transition was developed, and experiments were conducted to demonstrate the effectiveness of the proposed controller in operations
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