1,808 research outputs found

    A Bio-Inspired Tensegrity Manipulator with Multi-DOF, Structurally Compliant Joints

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    Most traditional robotic mechanisms feature inelastic joints that are unable to robustly handle large deformations and off-axis moments. As a result, the applied loads are transferred rigidly throughout the entire structure. The disadvantage of this approach is that the exerted leverage is magnified at each subsequent joint possibly damaging the mechanism. In this paper, we present two lightweight, elastic, bio-inspired tensegrity robotics arms which mitigate this danger while improving their mechanism's functionality. Our solutions feature modular tensegrity structures that function similarly to the human elbow and the human shoulder when connected. Like their biological counterparts, the proposed robotic joints are flexible and comply with unanticipated forces. Both proposed structures have multiple passive degrees of freedom and four active degrees of freedom (two from the shoulder and two from the elbow). The structural advantages demonstrated by the joints in these manipulators illustrate a solution to the fundamental issue of elegantly handling off-axis compliance.Comment: IROS 201

    Dynamics and Control for Nonholonomic Mobile Modular Manipulators

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    Automatic Modeling for Modular Reconfigurable Robotic Systems: Theory and Practice

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    A modular reconfigurable robot consists of a collection of individual link and joint components that can be assembled into a number of different robot ge-ometries. Compared to a conventional industrial robot with fixed geometry, such a system can provide flexibility to the user to cope with a wide spectru

    Design, Control and Motion Planning for a Novel Modular Extendable Robotic Manipulator

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    This dissertation discusses an implementation of a design, control and motion planning for a novel extendable modular redundant robotic manipulator in space constraints, which robots may encounter for completing required tasks in small and constrained environment. The design intent is to facilitate the movement of the proposed robotic manipulator in constrained environments, such as rubble piles. The proposed robotic manipulator with multi Degree of Freedom (m-DOF) links is capable of elongating by 25% of its nominal length. In this context, a design optimization problem with multiple objectives is also considered. In order to identify the benefits of the proposed design strategy, the reachable workspace of the proposed manipulator is compared with that of the Jet Propulsion Laboratory (JPL) serpentine robot. The simulation results show that the proposed manipulator has a relatively efficient reachable workspace, needed in constrained environments. The singularity and manipulability of the designed manipulator are investigated. In this study, we investigate the number of links that produces the optimal design architecture of the proposed robotic manipulator. The total number of links decided by a design optimization can be useful distinction in practice. Also, we have considered a novel robust bio-inspired Sliding Mode Control (SMC) to achieve favorable tracking performance for a class of robotic manipulators with uncertainties. To eliminate the chattering problem of the conventional sliding mode control, we apply the Brain Emotional Learning Based Intelligent Control (BELBIC) to adaptively adjust the control input law in sliding mode control. The on-line computed parameters achieve favorable system robustness in process of parameter uncertainties and external disturbances. The simulation results demonstrate that our control strategy is effective in tracking high speed trajectories with less chattering, as compared to the conventional sliding mode control. The learning process of BLS is shown to enhance the performance of a new robust controller. Lastly, we consider the potential field methodology to generate a desired trajectory in small and constrained environments. Also, Obstacle Collision Avoidance (OCA) is applied to obtain an inverse kinematic solution of a redundant robotic manipulator

    Generalized approach to the modelling of modular machines

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    This paper describes a method of graphically simulating modular machines within a computer aided design environment. This forms part of a much larger Science and Engineering Research Council (SERC) funded programme aimed at advancing modern practices when designing and building manufacturing machines. A generalized approach to the synthesis of the generic features of various kinematic motion pairs is presented and prismatic and revolute motion primitives generalized in their functional and geometric aspects. A hierarchical ring and tree data structure has been designed and implemented to comprehensively represent these motion pairs and to simulate their performance. More complex modular manufacturing machines can be represented using information from a library of up to three degree of freedom motion modules. Seven two degree of freedom motion primitives and twelve three degree of freedom motion primitives with articulation configurations have been analyzed and included in the motion primitive library. The configuration of modular machines comprised of physically separate but logically connected distributed motion primitives are described. Examples of a two-finger industrial robot gripper and a three-finger industrial robot hand are used to demonstrate the general principles

    Emulation of modular manufacturing machines

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    A method for geometrically modelling and emulating modular machines based on the Universal Machine Control reference architecture is described. Geometric modelling is achieved through extensions to a proprietary robot simulation system. A library of modules consisting of 1, 2 or 3 degree of freedom manipulators is used to construct models of multi-degree of freedom distributed machines with appropriate kinematic characteristics. Logging of data from the real or emulated control handlers is then used to drive the geometric model. A case study of a printed circuit board assembly machine is used to demonstrate how this approach allows the investigation of machine performance before and during the building of the machine with real hardware elements

    Industrial Robotics

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    This book covers a wide range of topics relating to advanced industrial robotics, sensors and automation technologies. Although being highly technical and complex in nature, the papers presented in this book represent some of the latest cutting edge technologies and advancements in industrial robotics technology. This book covers topics such as networking, properties of manipulators, forward and inverse robot arm kinematics, motion path-planning, machine vision and many other practical topics too numerous to list here. The authors and editor of this book wish to inspire people, especially young ones, to get involved with robotic and mechatronic engineering technology and to develop new and exciting practical applications, perhaps using the ideas and concepts presented herein
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