Journal articles: 'Manipulator design'

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Abdel-Rahman, Tarek M., and M. A. Elbestawi. "Design of a compact statically balanced direct-drive manipulator." Robotica 8, no. 4 (October 1990): 347–53. http://dx.doi.org/10.1017/s0263574700000473.

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SUMMARYThis paper addresses the conceptual design of direct-drive manipulators which have good promise for high speed, high precision manipulation. In the design methodology presented, the procedure begins by considering the kinematic aspects and ends by configuring manipulator structures with promising kinematic and dynamic characteristics. Based on the conceptual design considerations, a novel 3 DOF (RRR) direct-drive manipulator is proposed and analyzed. The manipulator structure has only five links and a compact configuration. Manipulator kinematics and dynamics are analyzed. Design guidelines are derived for static balancing of the manipulator and for minimizing the inertias driven by the motors. Operational configurations that either improve or worsen the kinematic and dynamic behaviour or characteristics of the manipulator are identified. The proposed design has an advantage over many currently known direct-drive manipulators for achieving two desirable mechanical features, namely: static balancing and compactness (smaller driven inertias).

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Aviles, Oscar, Mauricio Felipe Mauledoux Monroy, and Oscar Rubiano. "Electronic Architecture for a Mobile Manipulator." International Journal of Online Engineering (iJOE) 14, no. 02 (February 28, 2018): 133. http://dx.doi.org/10.3991/ijoe.v14i02.7672.

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A mobile manipulator is a robotic system consisting of a mobile platform on which a manipulator arm is mounted, allowing the robotic system to perform locomotion and manipulation tasks simultaneously. A mobile manipulator has several advantages over a robot manipulator which is fixed, the main advantage is a larger workspace. The robots manipulators are oriented to work collaboratively with the human being in tasks that simultaneously require mobility and ability to interact with the environment through the manipulation of objects. This article will present the electronic design for a mobile robot manipulator with five degrees of freedom and a 6-wheel traction with four of these directional.

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Atia, Khaled R., and M. P. Cartmell. "A general dynamic model for a large-scale 2-DOF planar parallel manipulator." Robotica 17, no. 6 (November 1999): 675–83. http://dx.doi.org/10.1017/s0263574799001794.

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In this work a new concept of designing two degree of freedom (2-DOF) planar parallel manipulators (PPMs) is presented. With this design the manipulator's workspace can be increased by increasing the number of cells in the manipulator. A general dynamic model is formulated for the manipulator with any number of cells. The model is adapted for SCARA and ADEPT configurations, and a new approach for balancing these type of manipulators is proposed.

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Hsieh, Ming-Chu, and Zhen-Hong Khong. "Design and analysis for manipulator fixture applications." MATEC Web of Conferences 185 (2018): 00031. http://dx.doi.org/10.1051/matecconf/201818500031.

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The manipulators arms are the most important components in automatic machinery and equipment. These arms must conform to product requirements and match important accessory devices such as clamping jaw so that the entire process operates properly. Therefore the most important issue is that the manipulator arm has only one clamping jaw, followed by other issues such as welding and related features. In this research the manipulator arm of automated machinery with attached equipment was optimized, and the design serves as an object of study for multifunctional applications. This research emphasizes on customized manipulator design to create products with distinguished styles and characteristics, and serve as a basis for an improvement on innovative design. Manipulator arms from different manufacturers with various head-disc size and screw-hole locations were investigated, and concept of human palm was incorporated in the design to create a mechanical fixture that can be fitted into the arm. Overall design including main body of the manipulator, pneumatic cylinder set, gear and connecting rod combination, planet gear set, and linkage rods and fixture. These components were combined to offer the functions of the manipulator. Commercial software package, SolidWorks, was used to construct the model for the manipulator arm, and CAE analysis was implemented to identify the stress on the structure and possible interferences of the mobile components. Stress analysis was also performed on the gear set under pneumatic loading to ensure that the gear mechanism has a sufficient strength. The results of this study showed that an arc shaped manipulator body is the most easily handled during installation and most effectively controlled during operation. The simple profiles of the manipulator also lower the space required for storage. The design of the gear set and integrated application of the shaft helps prevent loosening of gear and shaft during operation. In this study, a manipulator was designed with three different functions, each fixture is powered by an isolated pneumatic cylinder, and this mechanism can be manipulated to form o0to o180clamping action in accordance with requirements of the task. The methods and results of this study serve as a reference for machinery industry to achieve high quality product, and also as a basis for innovative design.

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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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Shoani, Mohamed Tahir, Mohamed Najib Ribuan, and Ahmad Athif Mohd Faudzi. "Design, Fabrication, and Performance Analysis of a Vertically Suspended Soft Manipulator." International Journal of Automation Technology 15, no. 5 (September 5, 2021): 696–705. http://dx.doi.org/10.20965/ijat.2021.p0696.

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Soft continuum manipulators are comprised of flexible materials in a serpentine shape. Such manipulators can be controlled mechanically through tendons or pneumatic muscles. Continuum manipulators utilizing tendons are traditionally formed in a thick cross section, which presents limitations in achieving a high bending range as well as difficulties for storage and transportation. This study introduces a continuum manipulator comprised of two thin plastic bands and driven by a tendon to provide a bending action. The manipulator’s thin body form enables it to be rolled up for storage and transportation. Experimental results on different section lengths show the possibility of achieving a horizontal displacement of up to 34% of the bending-segment’s length, and a full closed-loop curvature for most segments. However, the results also indicated an elongation of the tip paths owing to gravity. These results, in addition to the manipulator’s flexibility and light weight features, confirm its suitability for applications in space and underwater environments.

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乔, 宗原. "Review of Humanoid Hand Five-Finger Manipulator." Design 03, no. 02 (2018): 32–38. http://dx.doi.org/10.12677/design.2018.32006.

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Rajesh, Mr K. "Serial Manipulator Design for an AG-Robot." International Journal of Trend in Scientific Research and Development Volume-2, Issue-1 (December 31, 2017): 643–46. http://dx.doi.org/10.31142/ijtsrd6979.

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Blatnický, Miroslav, Ján Dižo, Juraj Gerlici, Milan Sága, Tomáš Lack, and Erik Kuba. "Design of a robotic manipulator for handling products of automotive industry." International Journal of Advanced Robotic Systems 17, no. 1 (January 1, 2020): 172988142090629. http://dx.doi.org/10.1177/1729881420906290.

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Automation is a process of handling and transport of products, which allows replacing man’s control by operation of manipulators and robots. It represents a highly complex process, which includes several operations and they are usually performed automatically by particular devices. In this article, a technical design of a universal versatile robotic manipulator for handling with automotive products is presented. The designed device is intended for handling with automotive products with a maximum weight of 25 kg. The technical solution of the manipulator comes from required specifications and operation conditions given by the customer, who will install it as a part of an automatic line. A particularity of the manipulator is the special functionality, which allows handling with objects of both circular and angular shapes. This is ensured by adaptable gripping fingers, which are able to adjust their position by means of a well-considered mechanism. The technical design of the manipulator includes calculation of forces needed for reliable gripping of manipulated objects, choice of a working screw and calculation of the load and carrying out of strength analyses of the main loaded part of the manipulator. Based on results, there is recommended an appropriate material for the manufacture of the device to reach its optimal accuracy of positioning of handled objects during a long-term operation.

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Ou, Yeong-Jeong, and Lung-Wen Tsai. "Isotropic Design of Tendon-Driven Manipulators." Journal of Mechanical Design 118, no. 3 (September 1, 1996): 360–66. http://dx.doi.org/10.1115/1.2826893.

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This paper deals with the synthesis of mechanical transmission structures for tendon-driven manipulators. Based on static force analysis, necessary conditions are developed for the synthesis of tendon-driven manipulators with isotropic transmission characteristics. It is shown that an n degree-of-freedom (dof) manipulator will possess the isotropic transmission characteristics, if it satisfies two isotropic conditions. Furthermore, a design equation is derived for the construction of isotropic transmission structure matrices and a three-dof spatial manipulator is synthesized to demonstrate the methodology. It is shown that the isotropic design leads to a more uniform tendon force distribution.

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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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Lee, Tian-Soon, and Yueh-Jaw Lin. "Shear deformation effect in design considerations of flexible manipulators." Robotica 11, no. 1 (January 1993): 83–92. http://dx.doi.org/10.1017/s0263574700015460.

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SUMMARYIn this paper the role that shear deformation effect plays in flexible manipulator dynamics is investigated and reported. The shear deformation effect of manipulators with three typical cross-sectional geometries, namely, hollow round, hollow square, and hollow rectangle, is studied. In addition, one important issue for manipulator design considerations regarding the influence of the link dimension variations on flexible dynamics is also investigated. The dynamic simulation results show that the shear deformation effect is approximately inverse proportional to the thickness of manipulator link regardless of cross-sectional shapes, if the link length is fixed. It can also be observed that the longer the manipulator link the less shear effect will influence the manipulator deflection, although the frequency of deflection variances becomes less. Based on the simulation results, it is suggested that hollow circular cross-sectional link should be adopted to reduce shear effect for short and thin manipulator links as far as the flexible linkage manipulator design is concerned. For hollow square and hollow rectangular link cross-sections, the manipulator link must be long and thick to avoid significant influences of shear effects.

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Wang, Xiao Mei, Xiong Zhou, and Meng Tao Yang. "Design on Four DOF Pneumatic Conveyance Manipulator Based on PLC." Applied Mechanics and Materials 319 (May 2013): 616–21. http://dx.doi.org/10.4028/www.scientific.net/amm.319.616.

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The design of four degrees of freedom pneumatic conveyance manipulator based on PLC is introduced in the paper. The work task of the manipulator was briefly introduced. The structural design, work cycle, pneumatic control circuit design and PLC control system design are introduced in detail. The manipulator has the advantages of simple in design, stable and reliable act,research and development in low-cost. The design is to provide a reference for other design of economic type manipulators.

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Sun, Xue Dong, Lian Feng Zhao, Tian Tian Niu, and Han Ming Cai. "Control System Design of the Automatic Sorting and Palletizing Manipulator for Passenger Car Tire." Advanced Materials Research 542-543 (June 2012): 914–18. http://dx.doi.org/10.4028/www.scientific.net/amr.542-543.914.

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In this paper the object of study is automatic sorting and palletizing manipulator for passenger car tire. It designed the driving mechanism and control system of the manipulator. There are 3 degrees of freedom with the automatic sorting and palletizing manipulator in this paper. The horizontal and vertical movement of manipulator's movable parts is drived by servo motor. And manipulator's gripper grabs and places tires by cylinder drive. In addition, the centering device opens or tightens 4 embraced arms by cylinder drive. A touch-screen is used as the man-machine interface, which can represent manipulator's operation process and results. Realizing the control of the manipulator by PLC combined with the corresponding software programming.

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Pickard, Joshua K., and Juan A. Carretero. "AN INTERVAL ANALYSIS METHOD FOR WRENCH WORKSPACE DETERMINATION OF PARALLEL MANIPULATOR ARCHITECTURES." Transactions of the Canadian Society for Mechanical Engineering 40, no. 2 (June 2016): 139–54. http://dx.doi.org/10.1139/tcsme-2016-0012.

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This paper deals with the wrench workspace (WW) determination of parallel manipulators. The WW is the set of end-effector poses (positions and orientations) for which the active joints are able to balance a set of external wrenches acting at the end-effector. The determination of the WW is important when selecting an appropriate manipulator design since the size and shape of the WW are dependent on the manipulator’s geometry (design) and selected actuators. Algorithms for the determination of the reachable workspace and the WW are presented. The algorithms are applicable to manipulator architectures utilizing actuators with positive and negative limits on the force/torque they can generate, as well as cable-driven parallel manipulator architectures which require nonnegative actuator limits to maintain positive cable tensions. The developed algorithms are demonstrated in case studies applied to a cable-driven parallel manipulator with 2-degrees-of-freedom and three cables and to a 3-RRR parallel manipulator. The approaches used in this paper provide guaranteed results and are based on methods utilizing interval analysis techniques for the representation of end-effector poses and design parameters.

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Feng, Fei, Yi Wei Liu, Hong Liu, and He Gao Cai. "The Design and Comparison Study on the Large-Scale End-Effector of Large Space Manipulator." Advanced Materials Research 308-310 (August 2011): 2095–103. http://dx.doi.org/10.4028/www.scientific.net/amr.308-310.2095.

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The space manipulator which is mounted on a space structure or spacecraft to manipulate space payloads is important for the on-orbit-servicing. Its manipulation tasks depend on its end-effector. The flexibility of the large space manipulator will result in residual vibration on its tip, and let the manipulator have poor capability of end positioning. To overcome the drawbacks mentioned-above, the end-effector needs strong capability of misalignment tolerance and soft capturing. On the base of these requirements and analysis, two kinds of end-effector schemes are presented and designed in detail. The essential performances are in comparison based on the results of dynamic simulations and experiments. Consequently, the conclusion is drawn that the steel cable-snared end-effector which captures the interface by winding the grapple fixture probe, is the best scheme that can combine the ability of soft capturing and great misalignment tolerance perfectly.

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Arrouk, Khaled Assad, Belhassen Chedli Bouzgarrou, Sergiu Dan Stan, and Grigore Gogu. "CAD Based Design Optimization of Planar Parallel Manipulators." Solid State Phenomena 166-167 (September 2010): 33–38. http://dx.doi.org/10.4028/www.scientific.net/ssp.166-167.33.

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In this paper a new method for determination and optimization of the workspace of parallel manipulators is presented. The proposed method is based on a geometrical approach, and offers the possibility to generate automatically the workspace in a CAD environment. Thus, the relationship between the geometrical design parameters of the parallel manipulator and its workspace can be analyzed without difficulty. Optimization problem considered in this paper consists in determining the dimensions of a parallel manipulator having the closest workspace to a prescribed task region. Finally, numerical applications of two types of planar parallel manipulators are presented in order to illustrate the proposed approach.

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Ashchepkova, Natalya Sergeevna. "STABILITY ANALYSIS OF SOFTWARE MANIPULATOR MOVEMENTS USING MATHCAD." Journal of Rocket-Space Technology 27, no. 4 (December 30, 2019): 52–57. http://dx.doi.org/10.15421/451908.

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Abstract. The method of the stability analysis of the manipulator program movements with use of Mathcad applied programs package is offered. On the basis of the manipulator’s kinematic scheme, the matrices of homogeneous transformations of Denavit Hartenberg are formed and a mathematical model of the extended control object is drawn up. An outline of an extended object control system consisting of a manipulator and an actuator is presented. For example, the linear equations of the manipulator, actuators, meter and controller are considered. The task of synthesizing the manipulator control algorithm is to determine the coefficients of the matrix transfer function of the controller that satisfy the conditions of stability and quality of transients. Mathematical modeling of manipulator programmatic movements was performed using the Matchad application package. The analysis of simulation results allows us to evaluate: manipulator workspace, control system performance, grip positioning accuracy, dependence of grip positioning error on the nature of load and the law of motion. A change in the dynamic characteristics of an extended control object causes a change in the controllability of systems, for the considered example rang Q = 2, i.e. the system is fully controllable. This method can be used to analyze the manipulation of the manipulator at the design stage; allows to determine the influence of design, kinematic and dynamic parameters on the manipulation of the manipulator and perform mathematical modeling of the manipulator motion. Calculation examples are given that confirm the expediency and effectiveness of using the Mathcad application software package to solve this type of problem.

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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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Cui, Yu Jie, Jian Ning Hua, and Pu Shi. "Optimal Design and Simulation on the Major Linkage Parameters of a Harvesting Manipulator." Applied Mechanics and Materials 44-47 (December 2010): 651–55. http://dx.doi.org/10.4028/www.scientific.net/amm.44-47.651.

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A general optimization methodology for the optimal design of robotic manipulators is presented and illustrated by its application to a harvesting manipulator. The optimization design of the manipulator framework and structure is made according to the tomato' s growth circumstance and distribution space.The workspace of the manipulator is carried out and simulated through the Monte Carlo method. Simulation results show that the manipulator with 4 degree- of- freedoms meets the expectations for picking tomato in greenhouse. The rationality of the structure and frame is validated.

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Liu, Xin-Jun. "Optimal kinematic design of a three translational DoFs parallel manipulator." Robotica 24, no. 2 (November 17, 2005): 239–50. http://dx.doi.org/10.1017/s0263574705002079.

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In this paper, an optimal kinematic design method of a three translational DoFs parallel manipulator is presented. The design is based on the concept of performance chart, which can show the relationship between a criterion and design parameters graphically and globally. The normalization on the design parameters of the studied manipulator makes it possible that the design space, which is made up of the normalized parameters, is limited. The design space includes of all possible basic similarity manipulators (BSMs). As any one of the BSMs represents all of its similarity manipulators (SMs) in terms of performances, if one BSM is optimal, its SMs are optimized as well. The said optimal BSM is from the optimum region, which is the intersecting result of involved performance charts. In this paper, the related performance criteria are good-conditioning workspace (GCW), global conditioning index (GCI) and global stiffness index (GSI). As an applying example, a design result of the parallel manipulator with a desired task workspace is presented. The results of the paper are very useful for the design and application of a parallel manipulator.

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Zeinoun, Gabriel, Ramin Sedaghati, and Farhad Aghili. "OPTIMAL DESIGN PARAMETERS OF RECONFIGURABLE ROBOTS WITH LOCKABLE JOINTS." Transactions of the Canadian Society for Mechanical Engineering 41, no. 1 (March 2017): 23–38. http://dx.doi.org/10.1139/tcsme-2017-1002.

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This paper presents a global optimization methodology to find the optimal Denavit–Hartenberg parameters of a serial reconfigurable manipulator minimizing a cost function over a pre-specified workspace volume and given lower and upper bounds on the design parameters. Different cost functions such as the manipulability measure, maximum force capability of the manipulator’s end-effector, and maximum velocity capability of the manipulator within the operating workspace of the manipulator are considered to optimize the kinematic design. Based on a combination of genetic algorithm (GA) and sequential quadratic programming (SQP), a modified global and posture-independent parameter of singularity (MPIPS) is presented. Finally, a weighted objective function is proposed to balance between the conflicting requirements for manipulator’s force and velocity capabilities.

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Cai, Jia Cheng, Hai Tao Wu, Tian Chang Yao, and Da Wei Xu. "Structure Design and Kinematic Analysis of Stacking Mechanical Arm of Aluminium Ingot." Advanced Materials Research 834-836 (October 2013): 1414–17. http://dx.doi.org/10.4028/www.scientific.net/amr.834-836.1414.

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In view of the existing problem of the traditional aluminium ingot stacking practices, it was important significance to research and develop a stack-manipulator that includes various functions to do portage and stack. According to the demand of stacking, the motion system of the Stack-manipulator based on four degrees was finished. The kinematics equation of the manipulator was set up using the D-H theory, On this base, Some of the kinematics problems of this stack-manipulator were discussed and these reliable basis were provided for the research of the manipulators dynamics and control and trajectory planning.

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Kanninen, Barbara J. "Optimal Design for Multinomial Choice Experiments." Journal of Marketing Research 39, no. 2 (May 2002): 214–27. http://dx.doi.org/10.1509/jmkr.39.2.214.19080.

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The author derives D-optimal designs for main-effects, multinomial choice experiments using attribute levels as design parameters. The design solutions are similar to standard main-effects designs except that one attribute is used to manipulate response probabilities. The manipulator is key to implementing optimal designs in practice.

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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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Liu, Fang, Chang Qing Shen, Yong Bin Liu, and Fan Rang Kong. "Design of a Remote-Controlled Basketball-Playing Mobile Robot." Applied Mechanics and Materials 532 (February 2014): 170–74. http://dx.doi.org/10.4028/www.scientific.net/amm.532.170.

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This paper depicts the system design of a basketball-playing robot named BPR. BPR is a wheeled mobile robot equipped with a 3-DOF manipulator and a mechanical claw. The robot can grasp one basketball and then dunk under the players remote control. In this paper, the hardware design including the mechanical structure and the electrical system are introduced firstly. Then, the kinematic analysis of the manipulator is proposed to decide the manipulators posture control. Finally, simulation of the manipulator is implemented in ADAMS to verify the design efficiency of posture planning. BPR has been exhibited in a science museum in China and it is well welcomed by the audiences.

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Rastegar, J., S. Z. Zhang, and K. Kazerounian. "An Object Shape Dependent Kinematic Manipulability Measure for Path and Trajectory Synthesis and Shape Optimization." Journal of Mechanical Design 120, no. 2 (June 1, 1998): 342–48. http://dx.doi.org/10.1115/1.2826979.

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The manipulability of robot manipulators has been studied with respect to the ability to position the end-effector in its workspace. However, since manipulators have to manipulate objects with finite dimensions, the ability of a manipulator to position and orient an object is quite different from its end-effector manipulability. Object shape dependent kinematic manipulability measures are essential for the formulation of optimal path planning and trajectory synthesis algorithms used for moving objects in operations such as mating parts and for formulating related object shape optimization problems. The optimality criterion may be related to part positioning accuracy, mating accuracy, kinematics performance of the manipulator for applying force (torque) to the object at some stage of the assembly, or a number of other accuracy, force or control measures. In the present study, a class of shape dependent kinematics measures is developed for the object manipulability. The measures can be used to evaluate the manipulability of objects with various shapes, for path and trajectory synthesis, and for designing object shapes. No rigid body constraint is imposed and the object considered may be deforming, stretching or shrinking during its manipulation. A number of examples are presented.

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Papakostas, K. D., S. G. Mouroutsos, and B. Porter. "Genetic design of dynamically optimal robotic manipulators." Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering 212, no. 6 (September 1, 1998): 423–36. http://dx.doi.org/10.1243/0959651981539587.

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This paper presents a procedure for the genetic design of dynamically optimal robotic manipulators. This design procedure is task oriented and minimizes the reaction forces and moments induced by the manipulator during the execution of specific trajectories. These forces and moments are included in an objective function and their reduction is achieved by using genetic algorithms to calculate the balance weight and the associated eccentricity for each link for which the base reaction is minimized. This genetic design technique is illustrated by application to a planar RR manipulator.

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Youcef-Toumi, K. "Analysis and Design of Manipulators With Decoupled and Configuration-Invariant Inertia Tensors Using Remote Actuation." Journal of Dynamic Systems, Measurement, and Control 114, no. 2 (June 1, 1992): 204–12. http://dx.doi.org/10.1115/1.2896516.

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The dynamics of manipulators with diagonal and/or constant inertia tensors are described by simple differential equations. This feature greatly simplifies the control of high speed manipulators. This paper presents design methods, which incorporate selection of arm structure and link inertial properties, to achieve simplified manipulator dynamics. First the concept of remote actuation is described. A model is then developed in order to analyze the effects of remote actuation on the manipulator kinematics and dynamics. The modeling is based on Kane’s partial rates along with a set notation to concisely express the system’s dynamics. Second, necessary and sufficient conditions for achieving such dynamic properties for open and closed kinematic chain linkages are derived. These techniques are then applied in the design of three degree-of-freedom planar manipulator and the three degree-of-freedom spatial M. I. T direct-drive manipulator. The mass distribution conditions for which the arm inertia tensors are diagonal and configuration-invariant are derived. The resultant dynamic equations of these manipulators are shown to be very simple.

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YOSHIDA, Taketoshi, and Hideo MATSUKA. "Simulation for manipulator design." Journal of the Robotics Society of Japan 4, no. 4 (1986): 434–38. http://dx.doi.org/10.7210/jrsj.4.434.

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Wang, Shuai Jun, Bo Zhang, Xin Wang, and Xue Qian Wang. "Design and Research of a Novel Fast Connecting and Separating Modular Space Manipulator." Applied Mechanics and Materials 775 (July 2015): 357–62. http://dx.doi.org/10.4028/www.scientific.net/amm.775.357.

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With the increasing complexity of the space mission, the ability of fast reconstruction of manipulator is more and more important. To solve the problem of space manipulator’s fast reconstruction, this paper designs a novel manipulator that contains mechatronics modular joints and a connecting mechanism. Compared to the traditional manipulator, the manipulator in this paper have the advantage of great convenience of assembling and replacement of the modular joint. In this paper, we analyze the relationship between tolerance ability and structural parameters and computed the tolerance ability after optimization of the connecting mechanism; Using the perturbation method, we conducted the simulation of analysis error. Results show that relationship between the end position error and the error of the modular joints is approximate linear, which providing a theory instruction for the design of manipulator.

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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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Wang, Kesheng, and Terje K. Lien. "Structure design and kinematics of a robot manipulator." Robotica 6, no. 4 (October 1988): 299–309. http://dx.doi.org/10.1017/s0263574700004665.

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SUMMARYIn this paper we show that a robot manipulator with 6 degrees of freedom can be separated into two parts: arm with the first three joints for major positioning and wrist with the last three joints for major orienting. We propose 5 arms and 2 wrists as basic construction for commercially robot manipulators. This kind of simplification can lead to a general algorithm of inverse kinematics for the corresponding configuration of different combinations of arm and wrist. The approaches for numerical solution and closed form solution presented in this paper are very efficient and easy for calculating the inverse kinematics of robot manipulator.

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Kazerooni, H., and S. Kim. "On the Design and Construction of Direct-Drive Robots." Journal of Engineering for Industry 112, no. 2 (May 1, 1990): 197–201. http://dx.doi.org/10.1115/1.2899568.

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In this research, a statically-balanced direct-drive manipulator is designed and constructed to achieve improved dynamic behavior for compliance control [10, 11, 12]. The manipulator mechanism, incorporating a four-bar linkage, is designed so that its functional parts are balanced in all positions without the addition of counterweights. The motors are never loaded by gravity. As a result, smaller motors with less torque can be used to achieve higher speed, accuracy, and repeatability in fine manipulation tasks. The robot is powered by high-torque AC synchronous motors. The mechanism is comprised of graphite-epoxy and AA7075T6 aluminum materials. The manipulator is controlled by a parallel processor computer.

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Papadopoulos, E., and Ahmed Abu-Abed. "A DESIGN METHODOLOGY FOR ZERO REACTION ROBOTS." Transactions of the Canadian Society for Mechanical Engineering 19, no. 3 (September 1995): 197–211. http://dx.doi.org/10.1139/tcsme-1995-0009.

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In many applications of advanced robotic systems, reaction forces and moments transmitted by a manipulator to its base are highly undesirable. Such reactions reduce the accuracy of high-speed manipulators, destroy zero-g environments in space, require the use of thruster fuel to stabilize free-flying space robots, or excite suspension modes in mobile robotic systems. In this paper, we analyze the problem of force and torque transmission in robotic systems, and propose design and planning methods that can reduce it, or eliminate it. It is shown that designing a force-balanced manipulator with an invariant mass matrix, and employing appropriate trajectory planning, can result in reactionless motions. Two redundant planar manipulator designs, that can be used as building blocks of more complicated systems, demonstrate the usefulness of the proposed methods. An important advantage of these methods is that if reactionless behavior is not needed, system redundancy can be recovered.

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Huang, Long, Lei Yu Zhang, Yang Yang, Li Jun Shen, and Yi Qi Chen. "Design and Analysis of a Robot-Assisted Manipulator in Retinal Vascular Bypass Surgery." Applied Mechanics and Materials 190-191 (July 2012): 673–78. http://dx.doi.org/10.4028/www.scientific.net/amm.190-191.673.

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Retinal vascular bypass surgery (RVBS) is a kind of complicated operation, with high precision and dexterous manipulation limited to small workspace. It is necessary to design a robot-assisted manipulator for performing such a task. The process of RVBS is described according to clinic operation at first. The motion of surgeon and workspace of surgical instruments are analyzed; correspondingly, motions of robot-assisted manipulator are obtained. Then, mechanism of manipulator including remote center of motion (RCM) is proposed through considering constraints induced by pierce points of sclera. Finally, inverse kinematics of the proposed robot-assisted manipulator is done to realize retinal surface motion. The analysis results show the end-effectors of robot-assisted manipulator can reach arbitrary position on the retinal surface.

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Wu, Xiaoyong. "Performance Analysis and Optimum Design of a Redundant Planar Parallel Manipulator." Symmetry 11, no. 7 (July 12, 2019): 908. http://dx.doi.org/10.3390/sym11070908.

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This work presents a comprehensive performance evaluation and optimum design of a novel symmetrical 4-PPR (P indicates the prismatic joint, R denotes the revolute joint, and the letter with underline represents an active joint) redundant planar parallel manipulator. The kinematic model is established, upon which the inverse position and singularity are analyzed. Based on the evaluation of dexterity, velocity, and stiffness performance, the optimum region is achieved. With the optical design parameters, a case study for the analysis of dynamic behavior is conducted. Performance comparison between the redundant manipulator and another two non-redundant 3-PPR planar parallel manipulators, one with a Δ-shape symmetrical structure and the other with U-shape symmetrical structure, is presented. Simulation results reveal that the U-shape manipulator has the greatest velocity performance. Moreover, the redundant manipulator possesses the best dexterity, stiffness, and dynamic performance.

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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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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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Feliu-Talegon, Daniel, José Ángel Acosta, Alejandro Suarez, and Anibal Ollero. "A Bio-Inspired Manipulator with Claw Prototype for Winged Aerial Robots: Benchmark for Design and Control." Applied Sciences 10, no. 18 (September 18, 2020): 6516. http://dx.doi.org/10.3390/app10186516.

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Nature exhibits many examples of birds, insects and flying mammals with flapping wings and limbs offering some functionalities. Although in robotics, there are some examples of flying robots with wings, it has not been yet a goal to add to them some manipulation-like capabilities, similar to ones that are exhibited on birds. The flying robot (ornithopter) that we propose improves the existent aerial manipulators based on multirotor platforms in terms of longer flight duration of missions and safety in proximity to humans. Moreover, the manipulation capabilities allows them to perch in inaccessible places and perform some tasks with the body perched. This work presents a first prototype of lightweight manipulator to be mounted to an ornithopter and a new control methodology to balance them while they are perched and following a desired path with the end effector imitating their beaks. This allows for several possible applications, such as contact inspection following a path with an ultrasonic sensor mounted in the end effector. The manipulator prototype imitates birds with two-link legs and a body link with an actuated limb, where the links are all active except for the first passive one with a grabbing mechanism in its base, imitating a claw. Unlike standard manipulators, the lightweight requirement limits the frame size and makes it necessary to use micro motors. Successful experimental results with this prototype are reported.

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Tsai, Lung-Wen, and Sameer Joshi. "Kinematics and Optimization of a Spatial 3-UPU Parallel Manipulator." Journal of Mechanical Design 122, no. 4 (September 1, 1999): 439–46. http://dx.doi.org/10.1115/1.1311612.

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The structural characteristics associated with parallel manipulators are investigated. Using these characteristics a class of 3 degree-of-freedom parallel manipulators are enumerated. Several parallel manipulators with only translational degrees of freedom are identified and the 3-UPU parallel manipulator is chosen for design analysis and optimization. The kinematics of this 3-UPU parallel manipulator is studied. Two geometric conditions that lead to pure translational motion of the moving platform are described. Due to the simple kinematic structure, the inverse kinematics yields two equal and opposite limb lengths whereas the direct kinematics produces two possible manipulator postures with one being the mirror image of the other. The Jacobian matrix is derived and several singular conditions are discussed. Furthermore the conditions for existence of an isotropic point within the workspace are discussed and equations to compute the isotropic configurations of a 3-UPU manipulator are derived. Finally, we undertake architecture optimization and show that certain values of design variables maximize the global condition index of the 3-UPU manipulator. [S1050-0472(00)01404-5]

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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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Liu, Xin-Jun, Jinsong Wang, and Jongwon Kim. "Determination of the Link Lengths for a Spatial 3-DOF Parallel Manipulator." Journal of Mechanical Design 128, no. 2 (July 8, 2005): 365–73. http://dx.doi.org/10.1115/1.2159028.

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This paper addresses the issue of determining the optimal geometric parameters of a 3-DOF parallel manipulator. One of the advantages of the manipulator is that the moving platform exhibits high tilting capabilities, e.g., as much as ±50deg. The first step of the new optimal methodology proposed in this paper to achieve the optimum design involves developing a design space that includes all possible basic similarity manipulators. The next step deals with the graphical representation of atlases that can illustrate relationships between performance criteria and design parameters. With such atlases, the designer can identify an optimum region with respect to the specification on performances. The region contains the optimum candidates, from which we can select one directly. Finally, the geometric parameters of the manipulator can be reached by comparing the desired workspace and the good-conditioning workspace. The design methodology discussed in this paper has no process to establish the objective function and does not involve any optimization algorithm, which is normally used in traditional optimization. We expect that since each manipulator in the developed design space represents all of its similarity manipulators in terms of performances, this method will guarantee an optimum design result.

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Zhao, Jianguo, Bing Li, Xiaojun Yang, and Hongjian Yu. "Geometrical method to determine the reciprocal screws and applications to parallel manipulators." Robotica 27, no. 6 (April 3, 2009): 929–40. http://dx.doi.org/10.1017/s0263574709005359.

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SUMMARYScrew theory has demonstrated its wide applications in robot kinematics and statics. We aim to propose an intuitive geometrical approach to obtain the reciprocal screws for a given screw system. Compared with the traditional Plücker coordinate method, the new approach is free from algebraic manipulation and can be used to obtain the reciprocal screws just by inspecting the structure of manipulator. The approach is based on three observations that describe the geometrical relation for zero pitch screw and infinite pitch screw. Based on the observations, the reciprocal screw systems of several common kinematic elements are analyzed, including usual kinematic pairs and chains. We also demonstrate usefulness of the geometrical approach by a variety of applications in mobility analysis, Jacobian formulation, and singularity analysis for parallel manipulator. This new approach can facilitate the parallel manipulator design process and provide sufficient insights for existing manipulators.

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Zi, Bin, Jianbin Cao, Zhencai Zhu, and Peter Mitrouchev. "Design, Dynamics, and Workspace of a Hybrid-Driven-Based Cable Parallel Manipulator." Mathematical Problems in Engineering 2013 (2013): 1–15. http://dx.doi.org/10.1155/2013/914653.

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The design, dynamics, and workspace of a hybrid-driven-based cable parallel manipulator (HDCPM) are presented. The HDCPM is able to perform high efficiency, heavy load, and high-performance motion due to the advantages of both the cable parallel manipulator and the hybrid-driven planar five-bar mechanism. The design is performed according to theories of mechanism structure synthesis for cable parallel manipulators. The dynamic formulation of the HDCPM is established on the basis of Newton-Euler method. The workspace of the manipulator is analyzed additionally. As an example, a completely restrained HDCPM with 3 degrees of freedom is studied in simulation in order to verify the validity of the proposed design, workspace, and dynamic analysis. The simulation results, compared with the theoretical analysis, and the case study previously performed show that the manipulator design is reasonable and the mathematical models are correct, which provides the theoretical basis for future physical prototype and control system design.

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Uriza, Pablo Andrés, and Carlos F. Rodriguez. "Design of Passive Weight Compensation for a Robotic Manipulator." Applied Mechanics and Materials 798 (October 2015): 30–35. http://dx.doi.org/10.4028/www.scientific.net/amm.798.30.

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A serial link manipulator consist of various unbalanced bars (links) attached by torsional joints that are subjected to torque loads due to the weight and configuration of the manipulator. This paper proposes a solution to passive weight compensation for serial link manipulators, using torsional springs. A set of characteristic points is selected and evaluated through sensibility analysis to define the required maneuvers. A nonlinear optimization methodology is used to find the springs parameters to minimize the energy consumption during the execution of the defined maneuvers. The energy saving is estimated through simulation as well as the effect of the maximum preload allowed for the spring.

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Liu, Xin-Jun, Jay il Jeong, and Jongwon Kim. "A three translational DoFs parallel cube-manipulator." Robotica 21, no. 6 (October 24, 2003): 645–53. http://dx.doi.org/10.1017/s0263574703005198.

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This paper concerns the presentation and analysis of a type of three translational degrees of freedom (DoFs) parallel cube-manipulator. The parallel manipulators are the topology architectures of the DELTA robot and Tsai's manipulator, respectively, which have three translational DoFs. In the design, the three actuators are arranged according to the Cartesian coordinate system, which means that the actuating directions are normal to each other, and the joints connecting to the moving platform are located on three sides of a cube, for such reason we call this type of manipulator the parallel cube-manipulator. The kinematics problems, singularity, workspace, compliance characteristic of the manipulator are investigated in the paper. The analysis results show that the manipulators have the advantages of no singularities in the workspace, relatively more simple forward kinematics, and existence of a compliance center. The parallel cube-manipulator can be applied to the fields of micro-motion manipulators, remote center compliance (RCC) devices, assembly, and so on.

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Zhu, Li, Ji Ku Sun, Hai Dong Tan, and Li Song Yang. "Miniature Rescue Manipulator Design Based on CATIA and ANSYS." Advanced Materials Research 753-755 (August 2013): 1351–55. http://dx.doi.org/10.4028/www.scientific.net/amr.753-755.1351.

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In order to shorten development cycle, expand the movement space, increase the flexibility of manipulator and reduce weight, parameterized model of manipulator has been established based on the elaborate analyses of the manipulator's structure characteristics and working mechanism. Statics simulation of stiffness has done under the load by using ANSYS, which can prove that the structure that meet the practical needs is rational. Total deformation can meet the requirements when calculation had been finished according to the results of simulation. At last we provide some theory references for further optimization of structure.

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Sugar, Thomas G., and Vijay Kumar. "Design and Control of a Compliant Parallel Manipulator." Journal of Mechanical Design 124, no. 4 (November 26, 2002): 676–83. http://dx.doi.org/10.1115/1.1517568.

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We describe a novel design for a compliant arm that can be mounted on a mobile robot. Because the arm is compliant, a mobile robot can manipulate or interact with objects that are not precisely positioned in the environment. The main features of the arm are the in-parallel architecture and a novel control scheme that allows us to easily control the Cartesian stiffness or impedance in the plane. Springs are added in series to the limbs of the parallel manipulator. We analyze one limb and the manipulator to determine its performance when either controlling the force applied to an object or controlling its stiffness. Further, we present experimental results that show the performance of the compliant arm.

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Berkelman, P., P. Cinquin, E. Boidard, J. Troccaz, C. Létoublon, and J.-M. Ayoubi. "Design, control and testing of a novel compact laparoscopic endoscope manipulator." Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering 217, no. 4 (June 1, 2003): 329–41. http://dx.doi.org/10.1177/095965180321700409.

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This paper describes the development of a compact laparoscopic endoscope manipulator and its command interface for use as a surgical assistant during minimally invasive surgery. The defining feature of the endoscope manipulator is that it is sufficiently small and lightweight to be fixed directly on the abdomen of the patient. The mechanism of the manipulator controls the orientation of the endoscope and its insertion depth. It is actuated by cables inside flexible sleeves connected to a separate enclosure containing analogue controllers, servomotors and rack-and-pinion drives. Compared with floor-standing endoscope manipulators, the described device is easier to set up, cheaper, simpler and allows unrestricted access to the abdomen from all sides of the patient. The pointing accuracy of the device is reduced by the absence of a rigid base, but the resulting compliance to patient motion is an added benefit. The current prototype has been tested on a cadaver. The design and control of the endoscope manipulator continues to evolve in response to testing results and consultation with surgeons, with light weight, small size, simplicity and ease of use as primary considerations. A novel hands-free user control interface for orientation of the endoscope manipulator using an external optical localizer to track surgical instruments is also presented.

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Journal articles on the topic 'Manipulator design'

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