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Krieger, Yannick S., Daniel Ostler, Korbinian Rzepka, Alexander Meining, Hubertus Feussner, Dirk Wilhelm, and Tim C. Lueth. "Evaluation of long-term stability of monolithic 3D-printed robotic manipulator structures for minimally invasive surgery." International Journal of Computer Assisted Radiology and Surgery 15, no. 10 (August 13, 2020): 1693–97. http://dx.doi.org/10.1007/s11548-020-02244-6.
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Abstract Purpose In the era of patient-centered medicine, clinical procedures, tools and instruments should be individually adapted to the patient. In this context, the presented 3D-printed Single-Port Overtube Manipulator System follows the aims to provide patient- and task-specific disposable manipulators for minimally invasive surgery. In a first experiment, the robustness of the monolithic flexure hinge structures in use as robotic manipulators will be investigated. Methods Customizable monolithic manipulator structures designed by means of an automated design process and manufactured with selective laser sintering were investigated with regard to long-term stability in an endurance test. Therefore, a bare manipulator arm, an arm equipped with a standard instrument and finally loaded with an additional load of 0.5 N were evaluated by continuously following a trajectory within the workspace of the manipulator arms over a period of 90 min. Results The unloaded manipulator as well as the manipulator arm equipped with a standard instrument showed a sufficient reproducibility (deviation of 1.5 mm and 2.5 mm, respectively, on average) with regard to an application as telemanipulated master–slave surgical robotic system. The 3D-printed manipulators showed no damage and maintained integrity after the experiment. Conclusion It has been shown that 3D-printed manipulators in principle are suitable for use as disposable surgical manipulator systems and offer a long-term stability over at least 90 min. The developed manipulator design shows great potential for the production of patient-, task- and user-specific robot systems. However, the manipulator geometries as well as the control strategies still show room for improvements.
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Petroka, R. P., and Liang-Wey Chang. "Experimental Validation of a Dynamic Model (Equivalent Rigid Link System) on a Single-Link Flexible Manipulator." Journal of Dynamic Systems, Measurement, and Control 111, no. 4 (December 1, 1989): 667–72. http://dx.doi.org/10.1115/1.3153111.
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Flexibility effects on robot manipulator design and control are typically ignored which is justified when large, bulky robotic mechanisms are moved at slow speeds. However, when increased speed and improved accuracy are desired in robot system performance it is necessary to consider flexible manipulators. This paper simulates the motion of a single-link, flexible manipulator using the Equivalent Rigid Link System (ERLS) dynamic model and experimentally validates the computer simulation results. Validation of the flexible manipulator dynamic model is necessary to ensure confidence of the model for use in future design and control applications of flexible manipulators.
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Wang, Yuezong, Liuqian Wang, and Jiqiang Chen. "Design and Experimental Investigations of Shape and Attitude Carding System for the Wires of Micro Coreless Motor Winding." Micromachines 12, no. 10 (September 23, 2021): 1140. http://dx.doi.org/10.3390/mi12101140.
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The shape and attitude (S&A) of the electrode wire are important characteristics of micro coreless motor winding. The purpose of this paper is to present the design of a robotic micro-manipulation system for micro wire carding with arbitrary S&A, which can be used as the pretreatment system for wire micro-gripper systems. The system is based on the principle of flexible carding, and uses nylon, bristle, nanometer-silk and wool as materials for the brushing micro-manipulator. The trajectory of the brushing micro-manipulator is designed, and the S&A of the electrode wires are straightened through the combined motion mode of horizontal and vertical brushing micro-manipulators. The experimental results show that the material of the brushing micro-manipulator has a great impact on the carding quality. Nanometer-silk material is more suitable for horizontal brushing micro-manipulators, and wool material is more suitable for vertical brushing micro-manipulators. The geometric dimension of the brushing micro-manipulator also affects the carding quality. When the diameter is in the range of 1 mm, the carding effect of the horizontal brushing micro-manipulator with a length of 4.9–8 mm is better. The system can realize the automatic carding of flexible electrode wires with arbitrary S&A, and it will not damage the structure of wires in the process.
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Suthar, Bhivraj. "Design of energy efficient four finger robotic hand." IAES International Journal of Robotics and Automation (IJRA) 5, no. 1 (January 21, 2016): 1. http://dx.doi.org/10.11591/ijra.v5i1.pp1-5.
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<span>Future would be the world of robotics. Human arm is the best serial manipulator in the world. End part of manipulator is known as End effector or hand. At the end of serial manipulator we always put gripper just like our hand. Today many mechanisms have been proposed for robotic hand. We proposed a novel mechanical design and we used one motor to operate the gripper mechanism and it consumes less electrical power than other gripper. For energy efficient robot we have to reduce the number of motors and have to look in the mechanical design. In this paper we targeted to make gripper more energy efficient. We used only one motor to operate four fingers symmetrically. Our proposed model has four fingers, each are placed orthogonally to each other. In market, other manufactures use single motor for motion of each finger. Each motor has its own power consumption capacity to manipulate the load on finger. We replaced all four motors with single motor by Geneva mechanism. So electrical power consumption reduced by 1/4th. Energy conservation point of view it is energy efficient system. This paper presents a methodology that has been applied for a design mechanism for energy efficient robotic hand with four fingers. Wide applications of gripper are in automobile industries. Automobile companies are used gripers and serial manipulators in plenty</span>
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Wang, Yaxi, and Qingsong Xu. "Design and Fabrication of a New Dual-Arm Soft Robotic Manipulator." Actuators 8, no. 1 (January 4, 2019): 5. http://dx.doi.org/10.3390/act8010005.
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This paper presents the design and implementation of a dual-arm soft robotic manipulator. It consists of two soft manipulators, which are driven by pneumatic actuators. Each soft manipulator is composed of three soft modules, and each module includes three evenly distributed cavities inside. The flexible bending deformation of the soft module is produced by regulating the air pressure and changing the applying sequence to the cavities. The design and fabrication of the manipulator are presented in detail. The cooperation of the dual-arm soft robotic manipulator is implemented by adopting visual servo control. Experimental testing was carried out to demonstrate the manipulator performance. Unlike a single-arm manipulator, the robotic manipulator with dual arms features high flexibility, adaptability, and safety. The feasibility of the proposed dual-arm soft robotic manipulator is demonstrated by executing assembly tasks.
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Xidias, Elias K., Philip N. Azariadis, and Nikos A. Aspragathos. "Mission Design of Mobile Manipulators in Cluttered Environments for Service Applications." International Journal of Robotics Applications and Technologies 4, no. 1 (January 2016): 1–18. http://dx.doi.org/10.4018/ijrat.2016010101.
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The purpose of this paper is to present a mission design approach for a service mobile manipulator which is moving and manipulating objects in partly known indoor environments. The mobile manipulator is requested to pick up and place objects on predefined places (stations). The proposed approach is based on the Bump-Surface concept to represent robot's environment through a single mathematical entity. The solution of the mission design problem is searched on a higher dimension Bump-Surface in such a way that its inverse image into the actual robot environment satisfies the given objectives and constraints. The problem's objectives consist of determining the best feasible paths for both the mobile platform and for the manipulator's end-effector so that all the stations are served at the lowest possible cost. Simulation examples are presented to show the effectiveness of the presented approach.
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Liu, De Shi, and Gang Li. "Dynamic Behavior of the Forging Manipulator under the Press Motions." Key Engineering Materials 419-420 (October 2009): 417–20. http://dx.doi.org/10.4028/www.scientific.net/kem.419-420.417.
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When designing forging manipulators, the bending moments transmitted to the manipulator through the workpiece due to the press motions should be reduced to avoid damage to the manipulator and the workpiece. A resilient system is designed to this purpose. This paper investigates the dynamic behavior of the forging manipulator due to press motions, which focuses on the bending moment transmitted to the manipulator. The Forging manipulator parameters assume primary importance in design, such as the clamp mass, resilient stiffness, resilient damping. A parametric study is committed to provide some helpful solutions for forging manipulator design.
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Chen, Jau-Liang, and J. Duffy. "An Analysis for Rectilinear Parallel Operation of a Pair of Spatial Manipulators." Journal of Mechanical Design 112, no. 1 (March 1, 1990): 23–29. http://dx.doi.org/10.1115/1.2912574.
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The use of two manipulators is more effective than a single manipulator for manipulatory tasks such as assembly of an object from large parts. This paper presents an analysis of the kinematic and geometric properties for rectilinear parallel operation of two spatial manipulators. Two basis types of manipulators, a TRS robot and a PUMA robot, working in cooperation are considered. The analysis is based on a study of the motion and workspace boundaries of the manipulators.
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Chang, Liang-Wey, and K. P. Gannon. "A Dynamic Model on a Single-Link Flexible Manipulator." Journal of Vibration and Acoustics 112, no. 1 (January 1, 1990): 138–43. http://dx.doi.org/10.1115/1.2930089.
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An enhanced Equivalent Rigid Link System (ERLS) model using natural-mode shape function for flexible manipulators is developed. An experimental validation of the model is performed on a single-link manipulator. The Lagrangian dynamics and the Finite Element Method are used to derive the equations of motion. Joint variables and nodal displacements are chosen being generalized coordinates. The model well describes the dynamic behavior of manipulator systems and allows for applications to design a robust motion control.
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Tarvirdizadeh, Bahram, Khalil Alipour, and Alireza Hadi. "An algorithm for dynamic object manipulation by a flexible link robot." Engineering Computations 33, no. 5 (July 4, 2016): 1508–29. http://dx.doi.org/10.1108/ec-06-2015-0145.
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Purpose – The purpose of this paper is to focus on an online closed-loop (CL) approach for performing dynamic object manipulation (DOM) by a flexible link manipulator. Design/methodology/approach – Toward above goal, a neural network and optimal control are integrated in a closed-loop structure, to achieve a robust control for online DOM applications. Additionally, an elegant novel numerical solution method will be developed which can handle the split boundary value problem resulted from DOM mission requirements for a wide range of boundary conditions. Findings – The obtained simulation results reveal the effectiveness of both proposed innovative numerical solution technique and control structure for online object manipulation purposes using flexible manipulators. Originality/value – The object manipulation problem has previously been studied, however, for the first time its accomplishment by flexible link manipulators was addressed just in offline form considering an open-loop control structure (Tarvirdizadeh and Yousefi-Koma, 2012). As an extension of Tarvirdizadeh and Yousefi-Koma (2012), the current research, consequently, focusses on a numerical solution and a CL approach for performing DOM by a flexible link manipulator.
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Yu, Chung Huang, and Wen Yeuan Chung. "Synthesis of Parallel Manipulator with Single DOF." Applied Mechanics and Materials 330 (June 2013): 639–43. http://dx.doi.org/10.4028/www.scientific.net/amm.330.639.
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This paper proposed a new manipulator design concept which leads to a single DOF system. The system composed of a moving platform and several supporting legs. It can execute the tasks of 3D body guidance or path generation and thus replace expensive manipulators with high DOF in some conditions. There are mainly two steps in designing this manipulator. The first step is type synthesis to determine the number and types of legs. Dimensional synthesis is then executed based on the movement requirements and geometrical constraints. In this study the reduction of the DOF is also analyzed for various legs added between the moving platform and the ground. A numerical example of executing 3D body guidance is given to verify the proposed new concept.
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Youcef-Toumi, Kamal, and Haruhiko Asada. "The Design of Open-Loop Manipulator Arms With Decoupled and Configuration-Invariant Inertia Tensors." Journal of Dynamic Systems, Measurement, and Control 109, no. 3 (September 1, 1987): 268–75. http://dx.doi.org/10.1115/1.3143854.
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A manipulator design theory for reduced dynamic complexity is presented. The kinematic structure and mass distribution of a manipulator arm are designed so that the inertia matrix in the equation of motion becomes diagonal and/or invariant for an arbitrary arm configuration. For the decoupled and invariant inertia matrix, the system can be treated as a linear, single-input, single-output system with constant parameters. Consequently, control of the manipulator arm is simplified, and more importantly, the reduced dynamic complexity permits improved control performance. First, the problem of designing such an arm with a decoupled and/or configuration-invariant inertia matrix is defined. The inertia matrix is then analyzed in relation to the kinematic structure and mass properties of the arm links. Necessary conditions for a decoupled and/or configuration-invariant manipulator inertia matrix are then obtained. Using the necessary conditions, the kinematic structure and mass properties are found which reduce the inertia matrix to a constant diagonal form. Possible arm designs for decoupled and/or invariant inertia matrices are then determined for 2 and 3 degree-of-freedom manipulators.
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Yu, Zhiqiang, Qing Shi, Huaping Wang, Ning Yu, Qiang Huang, and Toshio Fukuda. "How to achieve precise operation of a robotic manipulator on a macro to micro/nano scale." Assembly Automation 37, no. 2 (April 3, 2017): 186–99. http://dx.doi.org/10.1108/aa-02-2017-017.
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Purpose The purpose of this paper is to present state-of-the-art approaches for precise operation of a robotic manipulator on a macro- to micro/nanoscale. Design/methodology/approach This paper first briefly discussed fundamental issues associated with precise operation of a robotic manipulator on a macro- to micro/nanoscale. Second, this paper described and compared the characteristics of basic components (i.e. mechanical parts, actuators, sensors and control algorithm) of the robotic manipulator. Specifically, commonly used mechanisms of the manipulator were classified and analyzed. In addition, intuitive meaning and applications of its actuator explained and compared in details. Moreover, related research studies on general control algorithm and visual control that are used in a robotic manipulator to achieve precise operation have also been discussed. Findings Remarkable achievements in dexterous mechanical design, excellent actuators, accurate perception, optimized control algorithms, etc., have been made in precise operations of a robotic manipulator. Precise operation is critical for dealing with objects which need to be manufactured, modified and assembled. The operational accuracy is directly affected by the performance of mechanical design, actuators, sensors and control algorithms. Therefore, this paper provides a categorization showing the fundamental concepts and applications of these characteristics. Originality/value This paper presents a categorization of the mechanical design, actuators, sensors and control algorithms of robotic manipulators in the macro- to micro/nanofield for precise operation.
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FISHER, J. K., L. VICCI, J. CRIBB, E. T. O'BRIEN, R. M. TAYLOR, and R. SUPERFINE. "MAGNETIC FORCE MICROMANIPULATION SYSTEMS FOR THE BIOLOGICAL SCIENCES." Nano 01, no. 03 (November 2006): 191–205. http://dx.doi.org/10.1142/s1793292006000276.
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Manipulation systems using magnetic field gradients have the ability to apply a large range of forces noninvasively to a specific target. Depending on the requirements of a given experiment, the systems may be as simple as a single electromagnet for unidirectional manipulation or as complex as a high-frequency three-dimensional manipulator with force feedback. Here, we discuss the motivation for developing such systems, theory and design considerations, and give examples of the broad range of manipulators that has been put to use. In addition, we discuss a variety of applications demonstrating the range of experiments for which such a system is applicable.
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Zarafshan, Payam, Reza Larimi, S. Ali A. Moosavian, and Bruno Siciliano. "Which impedance strategy is the most effective for cooperative object manipulation?" Industrial Robot: An International Journal 44, no. 2 (March 20, 2017): 198–209. http://dx.doi.org/10.1108/ir-08-2016-0216.
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Purpose The purpose of this paper is to present a comparison study of cooperative object manipulation control algorithms. To this end, a full comprehensive survey of the existing control algorithms in this field is presented. Design/methodology/approach Cooperative manipulation occurs when manipulators are mechanically coupled to the object being manipulated, and the manipulators may not be treated as an isolated system. The most important and basic impedance control (IC) strategies for an assumed cooperative object manipulation task are the Augmented Object Model (AOM) control and the multiple impedance control (MIC) which are found based on the IC, where the former is designed based on the object movement, and the latter is designed based on the whole robot movement. Thus, the basis of these two algorithms are fully studied. Findings The results are fully analyzed, and it is practically verified that the MIC algorithm has the better performance. In fact, the results reveal that the MIC system could successfully perform the object manipulation task, as opposed to the AOM controller: for the same controller gains, the MIC strategy showed better performance than the AOM strategy. This means that because there is no control on the robot base with the AOM algorithm, the object manipulation task cannot be satisfactorily performed whenever the desired path is not within the robot work space. On the other hand, with the MIC algorithm, satisfactory object manipulation is achieved for a mobile robotic system in which the robot base, the manipulator endpoints and the manipulated object shall be moved. Practical implications A simple conceptual model for cooperative object manipulation is considered, and a suitable setup is designed for practical implementation of the two ICs. Originality/value The basis of these two aspects or these two algorithms is fully studied and compared which is the foundation of this paper. For this purpose, a case study is considered, in which a space free-flying robotic system, which contains two 2-degrees of freedom planar cooperative manipulators, is simulated to manipulate an object using the above control strategies. The system also includes a rotating antenna and camera as its third and fourth arm. Finally, a simple conceptual model for cooperative object manipulation is considered, and a suitable setup is designed for practical implementation of the two ICs.
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Xu, Qing, and Shuzhi Sam Ge. "Adaptive control of redundant robot manipulators with null-space compliance." Assembly Automation 38, no. 5 (November 5, 2018): 615–24. http://dx.doi.org/10.1108/aa-02-2018-030.
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Purpose The purpose of this paper is to propose an adaptive control for a redundant robot manipulator interacting physically with the environment, especially with the existence of humans, on its body. Design/methodology/approach The redundant properties of the robot manipulator are used and a reference velocity variable is introduced to unify the operation-space tracking control and the null-space impedance control under one common framework. Neural networks are constructed to deal with unstructured and unmodeled dynamic nonlinearities. Lyapunov function is used during the course of control design and simulation studies are carried out to further illustrate the effectiveness of the proposed strategies. Findings Satisfying tracking performance in the operation-space and compliance behavior in the null-space of the redundant robot manipulator are ensured simultaneously. Originality/value The design procedure of redundant robot manipulators control can be greatly simplified, and the framework of multi-priority control can be transformed into a joint-space velocity tracking problem via the introducing of a reference velocity variable.
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Morita, Saki, Daiki Mori, and Genya Ishigami. "Design and Development of Built-in-Clutch Joint for Single-Drive and Multi-Degrees of Freedom Manipulator." Abstracts of the international conference on advanced mechatronics : toward evolutionary fusion of IT and mechatronics : ICAM 2015.6 (2015): 257–58. http://dx.doi.org/10.1299/jsmeicam.2015.6.257.
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Guo, Hao, Feng Ju, Ning Wang, Bai Chen, Xiaoyong Wei, Yaoyao Wang, and Dan Wang. "Multi-continuum manipulators shape reconstruction using inertial navigation sensors and cameras." Industrial Robot: the international journal of robotics research and application 48, no. 3 (February 9, 2021): 401–12. http://dx.doi.org/10.1108/ir-09-2020-0205.
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Purpose Continuum manipulators are often used in complex and narrow space in recent years because of their flexibility and safety. Vision is considered to be one of the most direct methods to obtain its spatial shape. However, with the improvement of the cooperation requirements of multiple continuum manipulators and the increase of space limitation, it is impossible to obtain the complete spatial shape information of multiple continuum manipulators only by several cameras. Design/methodology/approach This paper proposes a fusion method using inertial navigation sensors and cameras to reconstruct the shape of continuum manipulators in the whole workspace. The camera is used to obtain the position information, and the inertial navigation sensor is used to obtain the attitude information. Based on the above two information, the shape of the continuum manipulator is reconstructed by fitting Bézier curve. Findings The experiment result of single continuum manipulator shows that the cubic Bézier curves is applicable to curve fitting of variable curvature, the maximum fitting error is about 2 mm. Meanwhile, the experiment result shows that this method is not affected by obstacles and can still reconstruct the shape of the continuum manipulators in 3-D space by detecting the position and attitude information of the end. Originality/value According to the authors’ knowledge, this is the first study on spatial shape reconstruction of multiple continuum manipulators and the first study to introduce inertial navigation sensors and cameras into the field of shape reconstruction of multiple continuum manipulators in narrow space. This method is suitable for shape reconstruction of manipulator with variable curvature continuum manipulator. When the vision of multiple continuum manipulators is blocked by obstacles, the spatial shape can still be reconstructed only by exposing the end point. The structure is simple, but it has certain accuracy within a certain range.
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Zhu, Yuanchao, Canjun Yang, Qianxiao Wei, Xin Wu, and Wei Yang. "Human–robot shared control for humanoid manipulator trajectory planning." Industrial Robot: the international journal of robotics research and application 47, no. 3 (February 21, 2020): 395–407. http://dx.doi.org/10.1108/ir-10-2019-0217.
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Purpose This paper aims to propose an intuitive shared control strategy to control a humanoid manipulator that can fully combine the advantages of humans and machines to produce a stronger intelligent form. Design/methodology/approach The working space of an operator’s arm and that of a manipulator are matched, and a genetic algorithm that limits the position of the manipulator’s elbow joint is used to find the optimal solution. Then, the mapping of the operator’s action to that of manipulators is realized. The controls of the human and robot are integrated. First, the current action of the operator is input. Second, the target object is predicted according to the maximum entropy hypothesis. Third, the joint angle of the manipulator is interpolated based on time. Finally, the confidence and weight of the current moment are calculated. Findings The modified weight adjustment method is the optimal way to adjust the weight during the task. In terms of time and accuracy, the experimental results of single target obstacle avoidance grabbing and multi-target predictive grabbing show that the shared control mode can provide full play to the advantages of humans and robots to accomplish the target task faster and more accurately than the control merely by a human or robot on its own. Originality/value A flexible and highly anthropomorphic human–robot action mapping method is proposed, which provides operator decisions in the shared control process. The shared control between human and the robot is realized, and it enhances the rapidity and intelligence, paving a new way for a novel human–robot collaboration.
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Liu, P. A., and Q. Li. "Kinematics and dynamics of a general-purpose, parallel, compliant micromanipulator." Proceedings of the Institution of Mechanical Engineers, Part K: Journal of Multi-body Dynamics 217, no. 1 (March 1, 2003): 39–50. http://dx.doi.org/10.1243/146441903763049432.
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Kinematic and dynamic modelling of a three-degrees-of-freedom (3DOF) planar parallel manipulator is presented in this paper. An equilateral triangle forms the output stage of the mechanism, and three driving structures, connected via three links, provide stroke magnification to the output stage. Aiming at achieving micromotions, this manipulator is developed using compliant material. In order to reduce assembly errors, a monolithic structure is adopted in this design. Hence, the joints in this mechanism are all flexural hinges. Since the masses and moments of inertia can be neglected in this lightweight micromanipulator, and the joint resistances are greatly increased owing to the flexure of the joints, new problems arise in the design and modelling of such a mechanism. The results presented in this paper will provide useful information for the design and applications of parallel, compliant micromanipulators.
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Chen, Tan, Wei-jun Zhang, Jian-jun Yuan, Liang Du, and Ze-yu Zhou. "Design of cooling system for inspection manipulator and analysis based on experiment." Industrial Robot: An International Journal 43, no. 2 (March 21, 2016): 231–40. http://dx.doi.org/10.1108/ir-07-2015-0136.
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Purpose – This paper aims to present a different cooling method (water cooling) to protect all the mechanical/electrical components for Tokamak in-vessel inspection manipulator. The method is demonstrated effective through high temperature experiment, which provides an economical and robust approach for manipulators to work normally under high temperature. Design/methodology/approach – The design of cooling system uses spiral copper tube structure, which is versatile for all types of key components of manipulator, including motors, encoders, drives and vision systems. Besides, temperature sensors are set at different positions of the manipulator to display temperature data to construct a close-loop feedback control system with cooling components. Findings – The cooling system for the whole inspection manipulator working under high temperature is effective. Using insulation material such as rubber foam as component coating can significantly reduce the environmental heat transferred to cooling system. Originality/value – Compared with nitrogen gas cooling applied in robotic protection design, although it is of less interest in prior research, water cooling method proves to be effective and economical through our high temperature experiment. This paper also presents an energetic analysis method to probe into the global process of water cooling and to evaluate the cooling system.
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Lee, Eric, and Constantinos Mavroidis. "An Elimination Procedure for Solving the Geometric Design of Spatial 3R Manipulators." Journal of Mechanical Design 128, no. 1 (April 13, 2005): 142–45. http://dx.doi.org/10.1115/1.2125970.
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In this paper, the geometric design problem of serial-link robot manipulators with three revolute (R) joints when three precision points are specified is solved using an algebraic elimination method for the first time. Three spatial positions and orientations are defined and the dimensions of the geometric parameters of the 3R manipulator are computed so that the manipulator will be able to place its end-effector at these three prespecified locations. In this problem, six of the design parameters are set as free choices and their values are selected arbitrarily. For the specific case studied in this paper, a 12 deg single variable polynomial is calculated that has eight roots that are the design solutions and the other four roots are extraneous solutions.
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Matsumaru, Takafumi. "Design Disquisition on Modular Robot Systems." Journal of Robotics and Mechatronics 8, no. 5 (October 20, 1996): 408–19. http://dx.doi.org/10.20965/jrm.1996.p0408.
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This paper describes subjects to address in modularity design for robots to find a practical and useful modular robot system using the present technology. It concerns module granularity, module scaling, hardware interface, and joint structure. The most suitable module granularity is on the simplified function level, where each module is self-contained, independent unit and the joint modular group consists of only joints with 1-DOE The modular manipulators can effectively achieve many tasks in practical applications without scaling on either joints or links, but with a common standard hardware interface. Furthermore, the joint module should be able to achieve rotation and bending in a single joint module of 1-DOE We propose a new design concept, TOMMS (TOshiba Modular Manipulator System), to produce a modular manipulator system that can be assembled into any desired configuration to provide adaptability to tasks, using a few kinds and types of modules as possible, without the weed for special handling such as modification of control software. A trial system, TOMMS-1, was developed to study the design of the hardware and software for TOMMS.
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Wang, Hao, GuoHua Gao, Qixiao Xia, Han Ren, LianShi Li, and Yuhang Zheng. "Accuracy estimation of a stretch-retractable single section continuum manipulator based on inverse kinematics." Industrial Robot: the international journal of robotics research and application 46, no. 5 (August 19, 2019): 573–80. http://dx.doi.org/10.1108/ir-06-2018-0122.
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Purpose The purpose of this paper is to present a novel stretch-retractable single section (SRSS) continuum manipulator which owns three degrees of freedom and higher motion range in three-dimension workspace than regular single continuum manipulator. Moreover, the motion accuracy was analyzed based on the kinematic model. In addition, the experiments were carried out for validation of the theory. Design/methodology/approach A kinematics model of the SRSS continuum manipulator is presented for analysis on bending, rotating and retracting in its workspace. To discuss the motion accuracy of the SRSS continuum manipulator, the dexterity theory was introduced based on the decomposing of the Jacobian matrix. In addition, the accuracy of motion is estimated based on the inverse kinematics and dexterity theory. To verify the presented theory, the motion of free end was tracked by an electromagnetic positioning system. According to the comparison of experimental value and theoretical analysis, the free end error of SRSS continuum manipulator is less than 6.24 per cent in the region with favorable dexterity. Findings This paper presents a new stretch-retractable continuum manipulator that the structure was composed of several springs as the backbone. Thus, the SRSS continuum manipulator could own wide motion range depending on its retractable structure. Then, the motion accuracy character of the SRSS continuum manipulator in the different regions of its workspace was obtained both theoretically and experimentally. The results show that the high accuracy region distributes in the vicinity of the outer boundary of the workspace. The motion accuracy gradually decreases with the motion position approaching to the center of its workspace. Research limitations/implications The presented SRSS continuum manipulator owns three degrees of freedom. The future work would be focused on the two-section structure which will own six degrees of freedom. Practical implications In this study, the SRSS continuum manipulator could be extended to six degrees of freedom continuum robot with two sections that is less one section than regular six degrees of freedom with three single section continuum manipulator. Originality/value The value of this study is to propose a SRSS continuum manipulator which owns three degrees of freedom and could stretch and retract to expend workspace, for which the accuracy in different regions of the workspace was analyzed and validated based on the kinematics model and experiments. The results could be feasible to plan the motion space of the SRSS continuum manipulator for keeping in suitable accuracy region.
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Huang, Jhih-Wei, and Jung-Shan Lin. "Backstepping Control Design of a Single-Link Flexible Robotic Manipulator." IFAC Proceedings Volumes 41, no. 2 (2008): 11775–80. http://dx.doi.org/10.3182/20080706-5-kr-1001.01994.
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Wang, D., J. P. Huissoon, and K. Luscott. "A Teaching Robot for Demonstrating Robot Control Strategies." Robotica 11, no. 5 (September 1993): 393–401. http://dx.doi.org/10.1017/s0263574700016945.
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SUMMARYIt is standard now in undergraduate and graduate courses in robotics to teach the basic concepts of position control design strategies. Due to the geared motors inherent in most educational and industrial manipulators, sophisticated control design strategies such as the inverse dynamics technique cannot be easily demonstrated in a laboratory setting. A direct drive 5-bar-linkage manipulator with reduced motor torque requirements is proposed in this paper for such a purpose. The manipulator dynamics are easily understood by undergraduates and an inverse dynamics control strategy is suggested which can be easily designed by students at the undergraduate level.
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Jeong, Donghwa, and Kiju Lee. "Design and analysis of an origami-based three-finger manipulator." Robotica 36, no. 2 (September 7, 2017): 261–74. http://dx.doi.org/10.1017/s0263574717000340.
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SUMMARYThis paper describes a new robotic manipulator with three fingers based on an origami twisted tower design. The design specifications, kinematic description, and results from the stiffness and durability tests for the selected origami design are presented. The robotic arm is made of a 10-layer twisted tower, actuated by four cables with pulleys driven by servo motors. Each finger is made of a smaller 11-layer tower and uses a single cable directly attached to a servo motor. The current hardware setup supports vision-based autonomous control and internet-based remote control in real time. For preliminary evaluation of the robot's object manipulation capabilities, arbitrary objects with varying weights, sizes, and shapes (i.e., a shuttlecock, an egg shell, a paper cub, and a cubic block) were selected and the rate of successful grasping and lifting for each object was measured. In addition, an experiment comparing a rigid gripper and the new origami-based manipulator revealed that the origami structure in the fingers absorbs the excessive force applied to the object through force distribution and structural deformation, demonstrating its potential applications for effective manipulation of fragile objects.
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Behzadipour, Saeed, and Amir Khajepour. "Stiffness of Cable-based Parallel Manipulators With Application to Stability Analysis." Journal of Mechanical Design 128, no. 1 (April 28, 2005): 303–10. http://dx.doi.org/10.1115/1.2114890.
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The stiffness of cable-based robots is studied in this paper. Since antagonistic forces are essential for the operation of cable-based manipulators, their effects on the stiffness should be considered in the design, control, and trajectory planning of these manipulators. This paper studies this issue and derives the conditions under which a cable-based manipulator may become unstable because of the antagonistic forces. For this purpose, a new approach is introduced to calculate the total stiffness matrix. This approach shows that, for a cable-based manipulator with all cables in tension, the root of instability is a rotational stiffness caused by the internal cable forces. A set of sufficient conditions are derived to ensure the manipulator is stabilizable meaning that it never becomes unstable upon increasing the antagonistic forces. Stabilizability of a planar cable-based manipulator is studied as an example to illustrate this approach.
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Jin, Shi Jia, and Fei Yin. "Software Design and Implementation in Simulation of Manipulator Control System." Applied Mechanics and Materials 722 (December 2014): 209–12. http://dx.doi.org/10.4028/www.scientific.net/amm.722.209.
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Manipulator has been widely used in industrial production because it can reduce labor intensity, improve the machining accuracy and reduce the number of dangerous operations manual operation. There are many kinds of control modes for manipulator trajectory. The PLC due to characteristics of low cost, simple structure, repeatable use, flexible programming ,it widely used in the control of the manipulator. This paper focus on the the software design and implementation. Through the simulation of the control system of manipulator, the PLC program design, debugging and running can achieve the expected control purpose and requirements, make the motion trajectory of manipulator in accordance with the relevant provisions. Based on the PLC programming, the manipulator can run in accordance with the requirements of running track.BackgroundWith the progress of science and technology, industrial production automation equipment demand is increasing day by day. Due to the reduction of labor intensity, improve the machining accuracy and less manual intervention operation risk, the manipulator has been more widely used in all walks of life.
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Chen, Zhiguang, Chenguang Yang, Xin Liu, and Min Wang. "Learning control of flexible manipulator with unknown dynamics." Assembly Automation 37, no. 3 (August 7, 2017): 304–13. http://dx.doi.org/10.1108/aa-11-2016-148.
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Purpose The purpose of this paper is to study the controller design of flexible manipulator. Flexible manipulator system is a nonlinear, strong coupling, time-varying system, which is introduced elastodynamics in the study and complicated to control. However, due to the flexible manipulator, system has a significant advantage in response speed, control accuracy and load weight ratio to attract a lot of researchers. Design/methodology/approach Since the order of flexible manipulator system is high, designing controller process will be complex, and have a large amount of calculation, but this paper will use the dynamic surface control method to solve this problem. Findings Dynamic surface control method as a controller design method which can effectively solve the problem with the system contains nonlinear and reduced design complexity. Originality/value The authors assume that the dynamic parameters of flexible manipulator system are unknown, and use Radial Basis Function neural network to approach the unknown system, combined with the dynamic surface control method to design the controller.
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Wang, G. L., and Y. F. Li. "Integrated Sensing and Filter Design for a Single-Link Flexible Manipulator." IEEE Transactions on Robotics and Automation 20, no. 3 (June 2004): 559–64. http://dx.doi.org/10.1109/tra.2004.824646.
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Yadmellat, Peyman, Alexander S. Shafer, and Mehrdad R. Kermani. "Design and Development of a Single-Motor, Two-DOF, Safe Manipulator." IEEE/ASME Transactions on Mechatronics 19, no. 4 (August 2014): 1384–91. http://dx.doi.org/10.1109/tmech.2013.2281598.
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Park, Jonghoon, and Wankyun Chung. "Design of a Robust H∞ PID Control for Industrial Manipulators." Journal of Dynamic Systems, Measurement, and Control 122, no. 4 (December 25, 1999): 803–12. http://dx.doi.org/10.1115/1.1310367.
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Industrial manipulators are under various limitations against high quality motion control; for example, both frictional and dynamic disturbances should be dealt with a simple PID control structure. A robust linear PID motion controller, called the reference error feedback (REF), is proposed, which solves the nonlinear L2-gain attenuation control problem for robotic manipulators. The stability, robustness, and performance tuning of the proposed controller are analyzed. Making use of the fact that the single parameter of the induced L2-gain γ controls the performance with stability attained, we propose a simple and stable method of performance tuning called “the square law.” The analytical results are verified through experiments of a six-degrees-of-freedom industrial manipulator. [S0022-0434(00)00104-0]
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Zhang, Xin. "The Industrial Manipulator Control System Based on Programmable Logic Controller." Applied Mechanics and Materials 473 (December 2013): 235–38. http://dx.doi.org/10.4028/www.scientific.net/amm.473.235.
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Industrial manipulator has become an important and indispensable part of the modern industrial production, This paper studies the industrial manipulator control system based on programmable controller, This paper mainly introduces the software design of PLC control system, analyzes the various modules of the composition manipulator control system , Adopt Mitsubishi PLC design of manipulator system was put forward, the function and the control method of Mitsubishi PLC was studied; Experimental results show that the manipulator can eventually exercise according to the requirements of the control program ,and implement the monitoring system of this manipulator intuitive image observation, reached the design purpose and the requirements of this paper.
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Vakil, M., R. Fotouhi, and P. N. Nikiforuk. "On the Zeros of the Transfer Function of Flexible Link Manipulators and Their Non-Minimum Phase Behaviour." Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science 224, no. 10 (February 12, 2010): 2083–96. http://dx.doi.org/10.1243/09544062jmes2106.
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In this article, a study of the zeros of the transfer function, between the base torque and the end-effector displacement, for flexible link manipulators is performed. The analysis is carried out on a single flexible link manipulator with the initial part of the link being rigid. This type of manipulator is referred to as a slewing single rigid—flexible link manipulator (SRFLM). A new method for finding the zeros of the transfer function of an SRFLM without using the corresponding transfer function is introduced. The changes of the locations of the zeros of an SRFLM owing to the changes in all the physical parameters (PPs) are investigated. It is shown that there are PPs where the increase in their values moves the zeros further from the imaginary axis; while by increasing the values of some other PPs the zeros become closer to the imaginary axis. Finally, there are PPs where the locations of the zeros are independent of their values. These findings will be beneficial in the design as well as control of flexible link manipulators and are among the main contributions of this work.
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Wang, Kang, Chang Chun Liang, Yun Cheng Lin, and Xu Yang. "Research and Design of Space Manipulator System Based on Telescopic Arm." Applied Mechanics and Materials 865 (June 2017): 508–17. http://dx.doi.org/10.4028/www.scientific.net/amm.865.508.
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The smaller envelope of space manipulator system is often required during the launch phase, while the lager range and higher precision for operation is needed in the space application stage. It is difficult for a single manipulator to meet the above requirements. To solve this problem, a self-reconfigurable space manipulator system with telescopic rod is proposed. When the manipulator is in the contracted state, the envelope is small and the operation precision is high; however, when the manipulator is in the extended state, it can reach a large operation range. This paper presents a equal-section arm telescopic mechanism，which can realize the extension and contraction of arms by the horizontal strip and the vertical strip being engaged and locked with each other. And the parameters of the telescopic mechanism and the stiffness of the rod are analyzed and simulated，which shows that it has the characteristics of high stiffness and high telescopic ratio. Finally, aiming at the target operating conditions in the narrow space, the manipulator motion planning simulation analysis is carried out. The simulation results show that the design of the equal-section telescopic rod can improve the adaptability of the space manipulator system.
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Alıcı, Gürsel. "Determination of singularity contours for five-bar planar parallel manipulators." Robotica 18, no. 5 (September 2000): 569–75. http://dx.doi.org/10.1017/s0263574700002733.
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From a design point of view, it is crucial to predict singular configurations of a manipulator in terms of inputs in order to improve the dexterity and workspace of a manipulator. In this paper, we present a simple, yet a systematic appoach to obtain singularity contours for a class of five-bar planar parallel manipulators which are based on five rigid links and five single degree of freedom joints – revolute and prismatic joints. The determinants of the manipulator Jacobian matrices are evaluated in terms of joint inputs for a specified set of geometric parameters, and the contours of the determinants at 0.0 plane which are the singularity contours in joint space are generated for the three types of singularities reported in the literature. The proposed approach/algorithm is simple and systematic, and the resulting equations are easy to solve on a computer. The singularity contours for all the class are presented in order to demonstrate the method. It is concluded that the proposed method is useful in trajectory planning and design of five-bar planar parallel manipulators in order to improve their dexterity and workspace.
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Yu, Lingtao, Huajian Song, Tao Wang, Zhengyu Wang, Liqiang Sun, and Zhijiang Du. "A new asymmetrical mass distribution method on the analysis of universal “force-sensing” model for 3-DOF translational parallel manipulator." Industrial Robot: An International Journal 41, no. 1 (January 14, 2014): 56–69. http://dx.doi.org/10.1108/ir-03-2013-337.
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Purpose – The characteristic of static is quite important especially for the manipulator with force feedback. This paper aims to improve the traditional static model by considering the limitations such as lacking of versatility and ignoring gravity of links. For this purpose, a new asymmetric mass distribution method on the analysis of universal “force-sensing” model has been put forward to overcome the limitations. Design/methodology/approach – Through the forces and torques analysis of every link and the moving platform, the static model of 3-RUU manipulator is acquired. Then, based on the physical meaning analysis of every part in the static model of 3-RUU manipulator, a new asymmetric mass distribution method on the analysis of universal “force-sensing” model can be obtained. Findings – The correctness of the static model of 3-RUU manipulator is verified by simulation results based on Pro/Engineer software and Adams software. Furthermore, experiment results based on a manipulator similar to the Omega.3 manipulator indicate that the universal “force-sensing” model can be applicable to the above manipulator. Originality/value – A new asymmetric mass distribution method on the analysis of universal static mathematical model has been put forward. Based on physical meaning of the above method, the “force-sensing” model can be established quickly and it owns versatility, which can be applicable to the 3-RUU manipulator, the Omega.3 parallel manipulator and other similar manipulators with force feedback. In addition, it can improve the accuracy of the “force-sensing” model to a great extent.
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Wang, Hai, and Xiao Pin Xia. "Simulation of Manipulator with Flexible Joint." Applied Mechanics and Materials 325-326 (June 2013): 999–1003. http://dx.doi.org/10.4028/www.scientific.net/amm.325-326.999.
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Joint flexibility is the key factor during dynamic control of robot manipulator. Accurate dynamic model is the fundamental of manipulator system design, analysis and control. This paper adopts Lagrange method to accomplish two degrees freedom manipulator modeling, and then design Backstepping control law according to a single-link manipulator. For the above control law, the proof of the Lyapunov stability is given and simulations are done. The simulated result suggested that the static error is decreased.
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Yang, Zeguo, Mantian Li, Fusheng Zha, Xin Wang, Pengfei Wang, and Wei Guo. "Imitation learning of a wheeled mobile manipulator based on dynamical movement primitives." Industrial Robot: the international journal of robotics research and application 48, no. 4 (June 17, 2021): 556–68. http://dx.doi.org/10.1108/ir-11-2020-0255.
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Purpose This paper aims to introduce an imitation learning framework for a wheeled mobile manipulator based on dynamical movement primitives (DMPs). A novel mobile manipulator with the capability to learn from demonstration is introduced. Then, this study explains the whole process for a wheeled mobile manipulator to learn a demonstrated task and generalize to new situations. Two visual tracking controllers are designed for recording human demonstrations and monitoring robot operations. The study clarifies how human demonstrations can be learned and generalized to new situations by a wheel mobile manipulator. Design/methodology/approach The kinematic model of a mobile manipulator is analyzed. An RGB-D camera is applied to record the demonstration trajectories and observe robot operations. To avoid human demonstration behaviors going out of sight of the camera, a visual tracking controller is designed based on the kinematic model of the mobile manipulator. The demonstration trajectories are then represented by DMPs and learned by the mobile manipulator with corresponding models. Another tracking controller is designed based on the kinematic model of the mobile manipulator to monitor and modify the robot operations. Findings To verify the effectiveness of the imitation learning framework, several daily tasks are demonstrated and learned by the mobile manipulator. The results indicate that the presented approach shows good performance for a wheeled mobile manipulator to learn tasks through human demonstrations. The only thing a robot-user needs to do is to provide demonstrations, which highly facilitates the application of mobile manipulators. Originality/value The research fulfills the need for a wheeled mobile manipulator to learn tasks via demonstrations instead of manual planning. Similar approaches can be applied to mobile manipulators with different architecture.
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Zhu, Chunxia, Jay Katupitiya, and Jing Wang. "Effect of links deformation on motion precision of parallel manipulator based on flexible dynamics." Industrial Robot: An International Journal 44, no. 6 (October 16, 2017): 776–87. http://dx.doi.org/10.1108/ir-12-2016-0368.
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Purpose Manipulator motion accuracy is a fundamental requirement for precision manufacturing equipment. Light weight manipulators in high speed motions are vulnerable to deformations. The purpose of this work is to analyze the effect of link deformation on the motion precision of parallel manipulators. Design/methodology/approach The flexible dynamics model of the links is first established by applying the Euler–Bernoulli beam theory and the assumed modal method. The rigid-flexible coupling equations of the parallel mechanism are further derived by using the Lagrange multiplier approach. The elastic energy resulting from spiral motion and link deformations are computed and analyzed. Motion errors of the 3-link torque-prismatic-torque parallel manipulator are then evaluated based on its inverse kinematics. The validation experiments are also conducted to verify the numerical results. Findings The lateral deformation and axial deformation are largest at the middle of the driven links. The axial deformation at the middle of the driven link is approximately one-tenth of the transversal deformation. However, the elastic potential energy of the transversal deformation is much smaller than the elastic force generated from axial deformation. Practical implications Knowledge on the relationship between link deformation and motion precision is useful in the design of parallel manipulators for high performing dynamic responses. Originality/value This work establishes the relationship between motion precision and the amount of link deformation in parallel manipulators.
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Shim, J. H., D. S. Kwon, and H. S. Cho. "Kinematic analysis and design of a six D.O.F. 3-PRPS in-parallel manipulator." Robotica 17, no. 3 (May 1999): 269–81. http://dx.doi.org/10.1017/s0263574799001368.
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This paper presents a kinematic analysis and design characteristics of an in-parallel manipulator developed for the probing task application that requires high precision, active compliance, and high control bandwidth. The developed manipulator is a class of six-degree-of-freedom in-parallel platforms with 3 PRPS (prismatic-revolute-prismatic-spherical joints) chain geometry. The main advantages of this manipulator, compared with the typical Stewart platform type, are the capability of pure rotation generation and the easy prediction of the moving platform motion. The purpose of this paper is to develop an efficient kinematic model which can be used for real-time control and to propose systematic methods to design the manipulator considering workspace, manipulability, resistivity, singularity, and the existence conditions of the forward kinematic solution. Particularly, we propose a new method for checking the singularity of the parallel manipulator using the translational and rotational resistivity measures. A series of simulation are carried out to show kinematic characteristics and performance of the manipulator mechanism. A prototype manipulator was built based on the kinematic analysis results.
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Walter, Benjamin, Yannick S. Krieger, Dirk Wilhelm, Hubertus Feussner, Tim C. Lueth, and Alexander Meining. "Evaluation of improved bi-manual endoscopic resection using a customizable 3D-printed manipulator system designed for use with standard endoscopes: a feasibility study using a porcine ex-vivo model." Endoscopy International Open 09, no. 06 (May 27, 2021): E881—E887. http://dx.doi.org/10.1055/a-1395-7089.
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Abstract Background and study aims A major drawback of endoscopic en-bloc resection technique is its inability to perform bimanual tasks. Although endoscopic platforms that enable bimanual tasks are commercially available, they are neither approved for various locations nor adaptable to specific patients and indications. Methods Based on evolution of an adaptive 3D-printable platform concept, system variants with different characteristic properties were evaluated for ESD scenarios, ex-vivo in two locations in the stomach and colorectum. Results In total 28 ESDs were performed (7 antrum, 7 corpus in inversion, 7 cecum, 7 rectum) in a porcine ex-vivo setup. ESD was feasible in 21 cases. Investigated manipulator variants are differently well suited for performing ESD within the varying interventions scenarios. Dual-arm manipulators allowed autonomous ESD, while single-arm flexible manipulators could be used more universally due to their compact design, especially for lesions difficult to access. Pediatric scopes were too frail to guide the overtube-manipulators in extremely angled positions. Working in the rectum was impaired using long-sized manipulator arms. Conclusions The presented endoscopic platform based on 3D-printable and customizable manipulator structures might be a promising approach for future improvement of ESD procedure. With regard to localization, especially flexible manipulators attached to standard endoscopes appear to be most promising for further application of specific and individualised manipulator systems.
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Xu, Kai, Jiangran Zhao, and Xidian Zheng. "Configuration comparison among kinematically optimized continuum manipulators for robotic surgeries through a single access port." Robotica 33, no. 10 (April 29, 2014): 2025–44. http://dx.doi.org/10.1017/s0263574714000976.
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SUMMARYMany recent developments of surgical robots focus on less invasive paradigms, such as laparoscopic SPA (Single Port Access) surgery, NOTES (Natural Orifice Translumenal Endoscopic Surgery), laryngoscopic MIS (Minimally Invasive Surgery), etc. A configuration similarity shared by these surgical robots is that two or more manipulators are inserted through one access port (a laparoscope, an endoscope, or a laryngoscope) for surgical interventions. However, upon designing such a surgical robot, the structure of the inserted manipulators has not been thoroughly explored based on evaluation of their performances. This paper presents a comparison for kinematic performances among three different continuum manipulators. They all could be applied in the aforementioned surgical robots. The structural parameters of these continuum manipulators are firstly optimized to assure a more fair and consistent comparison. This study is conducted in a dimensionless manner and provides scalable results for a wide spectrum of continuum manipulator designs as long as their segments have a constant curvature. The results could serve as a design reference for future developments of surgical robots which use one access port and continuum mechanisms.
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Rao, S. S., and P. K. Bhatti. "Optimization in the Design and Control of Robotic Manipulators: A Survey." Applied Mechanics Reviews 42, no. 4 (April 1, 1989): 117–28. http://dx.doi.org/10.1115/1.3152423.
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Robotics is a relatively new and evolving technology being applied to manufacturing automation and is fast replacing the special-purpose machines or hard automation as it is often called. Demands for higher productivity, better and uniform quality products, and better working environments are primary reasons for its development. An industrial robot is a multifunctional and computer-controlled mechanical manipulator exhibiting a complex and highly nonlinear behavior. Even though most current robots have anthropomorphic configurations, they have far inferior manipulating abilities compared to humans. A great deal of research effort is presently being directed toward improving their overall performance by using optimal mechanical structures and control strategies. The optimal design of robot manipulators can include kinematic performance characteristics such as workspace, accuracy, repeatability, and redundancy. The static load capacity as well as dynamic criteria such as generalized inertia ellipsoid, dynamic manipulability, and vibratory response have also been considered in the design stages. The optimal control problems typically involve trajectory planning, time-optimal control, energy-optimal control, and mixed-optimal control. The constraints in a robot manipulator design problem usually involve link stresses, actuator torques, elastic deformation of links, and collision avoidance. This paper presents a review of the literature on the issues of optimum design and control of robotic manipulators and also the various optimization techniques currently available for application to robotics.
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Liu, Shuntao, Zhixiong Yang, Zhijun Zhu, Liangliang Han, Xiangyang Zhu, and Kai Xu. "Development of a dexterous continuum manipulator for exploration and inspection in confined spaces." Industrial Robot: An International Journal 43, no. 3 (May 16, 2016): 284–95. http://dx.doi.org/10.1108/ir-07-2015-0142.
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Purpose Slim and dexterous manipulators with long reaches can perform various exploration and inspection tasks in confined spaces. This paper aims to present the development of such a dexterous continuum manipulator for potential applications in the aviation industry. Design/methodology/approach Benefiting from a newly conceived dual continuum mechanism and the improved actuation scheme, this paper proposes a design of a slim and dexterous continuum manipulator. Kinematics modeling, simulation-based dimension synthesis, structural constructions and system descriptions are elaborated. Findings Experimental validations show that the constructed prototype possesses the desired dexterity to navigate through confined spaces with its kinematics calibrated and actuation compensation implemented. The continuum manipulator with different deployed tools (e.g. graspers and welding guns) would be able to perform inspections and other tasks at remote locations in constrained environments. Research limitations/implications The current construction of the continuum manipulator possesses quite some friction inside its structure. The bending discrepancy caused by friction could accumulate to an obvious level. It is desired to further reduce the friction, even though the actuation compensation had been implemented. Practical implications The constructed continuum manipulator could perform inspection and other tasks in confined spaces, acting as an active multi-functional endoscopic platform. Such a device could greatly facilitate routine tasks in the aviation industry, such as guided assembling, inspection and maintenance. Originality/value The originality and values of this paper mainly lay on the design, modeling, construction and experimental validations of the slim and dexterous continuum manipulator for the desired mobility and functionality in confined spaces.
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Tang, Mingdong, Youlin Gu, Yunjian Zhang, and Shigang Wang. "Dual manipulator system of the field hot-line working robot in 110-kV substations." Industrial Robot: An International Journal 44, no. 4 (June 19, 2017): 479–90. http://dx.doi.org/10.1108/ir-11-2016-0320.
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Purpose The purpose of this paper is to present a dual manipulator system for aloft hot-line assembly tasks of connection fittings in 110-kv intelligent substation, which is significant to the research on hot-line working robots. Design/methodology/approach This paper addresses the challenges of the task and presents a dual manipulator system which can overcome these challenges to realize the robotic assembly of connection fittings in narrow space without impacting the safe distance of both phase to phase and phase to ground. Two manipulators share a same global reference coordinate. The mission of Manipulator 1 is to position the fixed part of connection fittings and screw the bolts on it. Visual computing provides the approximately position for the end-effector of Manipulator 2, after which The Manipulator 2 carries the removable part of connection fittings to this position. Then, the assembly task could be completed with the posture of the Manipulator 2 adjusted following the guidance by force-position control. Findings The dual manipulator system can position the target under different illumination conditions and complete fast assembly of connect fittings in 110-kV substation. No strong arc discharge or surface erosion phenomenon has been observed. Practical implications This dual manipulator system will be particularly useful for the hot-line assembly of connection fittings in 110-kv intelligent substation, as well as some assembly tasks where uncertain target position and complex contact surface such as cylindrical hole is involved. Originality/value This study presents a dual manipulator system used by a field robot working in 110-kv intelligent substation. The system is able to achieve the connection fittings assembly task under energized simulation experimental system. Unlike other peg-in-hole assembly strategy, it does not require high stability of manipulator or plane contact surface around the hole.
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YEUNG, K. S., and Y. P. CHEN. "Sliding-mode controller design of a single-link flexible manipulator under gravity." International Journal of Control 52, no. 1 (July 1990): 101–17. http://dx.doi.org/10.1080/00207179008953526.
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Sharma, S. K., R. Sutton, and M. O. Tokhi. "Local Model and Controller Network Design for a Single-Link Flexible Manipulator." Journal of Intelligent & Robotic Systems 74, no. 3-4 (June 8, 2013): 605–23. http://dx.doi.org/10.1007/s10846-013-9847-1.
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Ren, Shunan, Xiangdong Yang, Jing Xu, Guolei Wang, Ying Xie, and Ken Chen. "Determination of the base position and working area for mobile manipulators." Assembly Automation 36, no. 1 (February 1, 2016): 80–88. http://dx.doi.org/10.1108/aa-11-2015-101.
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Purpose – The purpose of this paper is to determine the base position and the largest working area for mobile manipulators. The base position determines the workspace of the mobile manipulator, particularly when the operation mode is intermittent (i.e. the mobile platform stops when the manipulator conducts the task). When the base of the manipulator is in the intersection area of the Base’s Workable Location Spaces (BWLSes), the end effector (EE) can reach all path points. In this study, the intersection line of BWLSes is calculated numerically, and the largest working area is determined using the BWLS concept. The performance of this method is validated with simulations on specific surface segments, such as plane, cylinder and conical surface segments. Design/methodology/approach – The BWLS is used to determine the largest working area and the base position in which the mobile manipulator can reach all path points with the objective of reducing off-line planning time. Findings – Without considering the orientation of the EE, the base position and the working area for the mobile manipulator are determined using the BWLS. Compared to other methods, the proposed algorithm is beneficial when the planning problem has six dimensions, ensuring the reachability and stability of the EE. Originality/value – The algorithm needs no manual configuration, and its performance is investigated for typical surfaces in practical applications.