Kinematics of Serial Manipulators

This book chapter deals with kinematic modeling of serial robot manipulators (open-chain multibody systems) with focus on forward as well as inverse kinematic model. At first, the chapter describes basic important definitions in the area of manipulators kinematics. Subsequently, the rigid body motion is presented and basic mathematical apparatus is introduced. Based on rigid body conventions, the forward kinematic model is established including one of the most used approaches in robot kinematics, namely the Denavit-Hartenberg convention. The last section of the chapter analyzes inverse kinematic modeling including analytical, geometrical, and numerical solutions. The chapter offers several examples of serial manipulators with its mathematical solution

Design of Robot Vehicle Undercarriage with Ability to Operate in Broken Terrain

AbstractThis article deals with an undercarriage design of robot vehicle that will be able to work in broken terrain. It is a frequently solved problem in mechatronics. High requirements for its application in area of rescue assistance, fire fighting, in nuclear and space industry as well are taken into consideration. Within the frame of designing commercially available software, e.g., MATLAB/Simulink and SolidWorks have been used to analyze a one degree mathematical model and a six-wheeled spatial model. A series of computation have been performed to determine the appropriate stiffness and damping parameters

Using virtual scanning to find optimal configuration of a 3D scanner turntable for scanning of mechanical parts

The article describes a method of simulated 3D scanning of triangle meshes based on ray casting which is used to find the optimal configuration of a real 3D scanner turntable. The configuration include the number of scanners, their elevation above the rotary table and the number of required rotation steps. The evaluation is based on the percentage of the part surface covered by the resulting point cloud, which determines the ability to capture all details of the shape. Principal component analysis is used as a secondary criterion to also evaluate the ability to capture the overall general proportions of the model.Web of Science2116art. no. 534

Chimney sweeping robot based on a pneumatic actuator

The need of improving the quality of professions led to the idea of simplification of processes during chimney sweeping. These processes have been essentially the same for tens of years. The goal of this paper is to bring an automation element into the chimney sweeping process, making the job easier for the chimney sweeper. In this paper, an essentially in-pipe robot is presented, which uses brushes to move while simultaneously cleaning the chimney or pipeline. The problem of the robot motion was reduced using an in-pipe robot due to the environments and obstacles that the robot has to face. An approach of using a pneumatic actuator for motion is presented along with the mechanical design. The next part of this paper is focused on the mathematical model of the robot motion, as well as its simulation and testing in the experimental pipeline. The simulations were compared with the experimental measurements and a few analyses were conducted describing the simulation model and its differences with the real robot, as well as considering certain parameters and their impact on the performance of the robot. The results are discussed at the end of the paper.Web of Science1111art. no. 487

Testing of adhesive spray painting with robot

Cilj je ovoga rada određivanje odgovarajućih parametara za raspršivanje adheziva korištenih u industriji uz primjenu robota. Korišten je robot ABB IRB 1600 u neeksplozivnom okruženju. Adheziv se oslobađao iz tlačne posude i nanosio raspršivačem Krautzberger RA5. U radu se daje detaljan opis dijagrama za automatsko spajanje pištolja za bojenje. Rezultati pojedinačnih testova dani su u tablicama, a ovisnosti pojedinih parametara prikazane su u grafikonima. Ovisno o količini nanesenog mlaza, najbolji uzorci su ocijenjeni u skladu s preporukama proizvođača adheziva.This article aims at setting appropriate parameters for robotic spraying of adhesives used in industry. The robot ABB IRB 1600 was used in a non-explosive environment. The adhesive was dispensed from pressure sweat and applied by a Krautzberger RA5 spray head. The article describes a detailed diagram for automatic connection of a painting gun. The results of the individual tests are shown in the tables and the dependencies of the individual parameters are described in the graphs. Depending on the amount of spray applied, the best samples are evaluated according to the adhesive manufacturer\u27s recommendations

Biped robot with unconventional kinematics

The article deals with the design of a robot with an unconventional kinematic structure, which is able to vertically stabilize the position of the robot base for the placement of sensors and handling superstructures. The robot concept was designed to have as few actuators as possible. The robot's kinematics was solved for the purpose of simulating the robot's movement and implementation into the robot's control system.Web of Science20225824581

Snake Robot Locomotion Patterns for Straight and Curved Pipe

In the paper the locomotion of snake robot is introduced considering locomotion in straight and curved pipe. For the straight pipe locomotion was designed traveling wave locomotion pattern with sine-like wave which expands from rear of the robot to its front. For the locomotion in curved pipe was designed approach which is based on inverse kinematic model including besides primary task also secondary tasks, namely kinematic singularities avoidance task, obstacle avoidance task and joint limit avoidance task. For final inverse kinematic model was used approach of weight matrices by which can be stated the priorities of particular tasks. Both case studies were tested by experimental snake robot in order to verify introduced methodology for locomotion in the straight and curved pipe

Trajectory Tracking Controller of Air Bellow

Abstract The paper deals with describing of air bellow and designing of control system for its trajectory tracking. A lot of research works were done in the past concerning to pneumatic cylinders and their control systems based on servovalves. This paper investigates unconventional pneumatic actuator -air bellow, which is controlled by two two-way normally closed valves in consideration of expensive servovalves. In the paper air bellow is described as mass-damper-spring mechanical system of 2 nd order. The paper also introduces the control system for purposes of trajectory tracking of air bellow top platform. Derived algorithm was experimentally tested on measuring stand while control system consists of PLC B&R X20 in collaboration with input / output measuring card MF634 working through the software Matlab / Simulink. The results show that used methodology is suitable for certain applications, where it is not necessary to achieve high precise of positioning and also there is requirement to stiffness of mechanical system

Locomotion of Snake Robot through the Pipe

Abstract The paper deals with concertina locomotion of snake robot. Mathematical model of robot locomotion is based on locomotion of natural snake. The kinematic model is derived by homogeneous transformation matrices. In the fourth section, the mechanical design of experimental snake robot LocoSnake is introduced. The robot can perform planar motion by means of segments with 2 DOF, one revolute and one prismatic joint. In the following section the simulation of concertina locomotion is done in Matlab. Simulation is compared with experiments and the conclusion are discussed. Keywords: locomotion, simulation, snake robot Cite This Article: Ivan Virgala, Michal Kelemen, and Tomáš Lipták, "Locomotion of Snake Robot through the Pip