3,706 research outputs found

    Technology-Oriented Optimization of the Secondary Design Parameters of Robots for High-Speed Machining Applications

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    International audienceIn this paper, a new methodology for the optimal design of the secondary geometric parameters (shape of links, size of the platform, etc.) of parallel kinematic machine tools is proposed. This approach aims at minimizing the total mass of the robot under position accuracy constraints. This methodology is applied to two translational parallel robots with three degrees-of-freedom (DOF): the Y-STAR and the UraneSX. The proposed approach is able to speed up the design process and to help the designer to find more quickly a set of design parameters

    A Rapidly Reconfigurable Robotics Workcell and Its Applictions for Tissue Engineering

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    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

    Activity Report: Automatic Control 2013

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    Parallel manipulators: practical applications and kinematic design criteria. Towards the modular reconfigurable robots

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    Post-PrintModern robotic manipulators play an essential role in industry, developing several tasks in an easy way, enhancing the accuracy of the final product and reducing the executing time. Also they can be found in other fields as aerospace industry, several medical applications, gaming industry, and so on. In particular, the parallel manipulators have acquired a great relevance in the last years. Indeed, many research activities and projects deal with the study and develop-ment of this type of robots. Nevertheless, usually, a bilateral communication between industry and research does not exist, even among the different existing research areas. This causes a lack of knowledge regarding works that have been carried out, the ones that are under devel-opment and the possible future investigations. Hence, once a specific field of knowledge has acquired a certain level of maturity, it is convenient to reflect its current state of the art. In this sense, the authors of this paper present a review of the different fields in which parallel ma-nipulators have a significant participation, and also the most active research topics in the anal-ysis and design of these robots. Besides, several contributions of the authors to this field are cited.The authors wish to acknowledge the financial support received from the Spanish Government through the "Ministerio de EconomĂ­a y Competitividad" (Project DPI2015-67626-P (MINECO/FEDER, UE)), the financial support from the Uni-versity of the Basque Country (UPV/EHU) under the program UFI 11/29 and the support to the research group, through the project with ref. IT949-16, given by the "Departamento de EducaciĂłn, PolĂ­tica LingĂŒĂ­stica y Cultura" of the Regional Government of the Basque Country

    A concept for actuating and controlling a leg of a novel walking parallel kinematic machine tool

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    The scope of this paper is to present a novel method of actuating the legs of a walking parallel kinematic machine tool (WalkingHex) such that the upper spherical joint can be actively driven while walking and remain a free, passive joint while performing machining operations. Different concepts for the number of Degrees of Freedom (DoF) and methods for actuating the chosen concept are presented, leading to a description of a three-wire actuated spherical joint arrangement. The inverse kinematics for the actuation mechanism is defined and a control methodology that accounts for the redundantly actuated nature of the mechanism is explored. It is demonstrated that a prototype of the system is capable of achieving a motion position accuracy within 5.64% RMS. Utilising the concept presented in this paper, it is possible to develop a walking robot that is capable of manoeuvring into location and performing precision machining or inspection operations

    Micro-manufacturing : research, technology outcomes and development issues

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    Besides continuing effort in developing MEMS-based manufacturing techniques, latest effort in Micro-manufacturing is also in Non-MEMS-based manufacturing. Research and technological development (RTD) in this field is encouraged by the increased demand on micro-components as well as promised development in the scaling down of the traditional macro-manufacturing processes for micro-length-scale manufacturing. This paper highlights some EU funded research activities in micro/nano-manufacturing, and gives examples of the latest development in micro-manufacturing methods/techniques, process chains, hybrid-processes, manufacturing equipment and supporting technologies/device, etc., which is followed by a summary of the achievements of the EU MASMICRO project. Finally, concluding remarks are given, which raise several issues concerning further development in micro-manufacturing

    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

    Contemporary Robotics

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    This book book is a collection of 18 chapters written by internationally recognized experts and well-known professionals of the field. Chapters contribute to diverse facets of contemporary robotics and autonomous systems. The volume is organized in four thematic parts according to the main subjects, regarding the recent advances in the contemporary robotics. The first thematic topics of the book are devoted to the theoretical issues. This includes development of algorithms for automatic trajectory generation using redudancy resolution scheme, intelligent algorithms for robotic grasping, modelling approach for reactive mode handling of flexible manufacturing and design of an advanced controller for robot manipulators. The second part of the book deals with different aspects of robot calibration and sensing. This includes a geometric and treshold calibration of a multiple robotic line-vision system, robot-based inline 2D/3D quality monitoring using picture-giving and laser triangulation, and a study on prospective polymer composite materials for flexible tactile sensors. The third part addresses issues of mobile robots and multi-agent systems, including SLAM of mobile robots based on fusion of odometry and visual data, configuration of a localization system by a team of mobile robots, development of generic real-time motion controller for differential mobile robots, control of fuel cells of mobile robots, modelling of omni-directional wheeled-based robots, building of hunter- hybrid tracking environment, as well as design of a cooperative control in distributed population-based multi-agent approach. The fourth part presents recent approaches and results in humanoid and bioinspirative robotics. It deals with design of adaptive control of anthropomorphic biped gait, building of dynamic-based simulation for humanoid robot walking, building controller for perceptual motor control dynamics of humans and biomimetic approach to control mechatronic structure using smart materials
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