Journal articles on the topic 'Robotic Structure'
To see the other types of publications on this topic, follow the link: Robotic Structure.
Create a spot-on reference in APA, MLA, Chicago, Harvard, and other styles
Consult the top 50 journal articles for your research on the topic 'Robotic Structure.'
Next to every source in the list of references, there is an 'Add to bibliography' button. Press on it, and we will generate automatically the bibliographic reference to the chosen work in the citation style you need: APA, MLA, Harvard, Chicago, Vancouver, etc.
You can also download the full text of the academic publication as pdf and read online its abstract whenever available in the metadata.
Browse journal articles on a wide variety of disciplines and organise your bibliography correctly.
1
Chepkyi, V., V. Skachkov, O. Yefymchykov, V. Nabok, O. Sergeev, and O. Yelchaninov. "METHODOLOGICAL DESCRIPTION OF THE PROBLEM OF STABILIZATION OF THE ADAPTIVE CONTROL SYSTEM MOBILE STRUCTURES OF A GROUND-BASED ROBOTIC COMPLEX IN DISTURBED ENVIRONMENTS." Collection of scientific works of Odesa Military Academy 1, no. 12 (December 27, 2019): 5–18. http://dx.doi.org/10.37129/2313-7509.2019.12.1.5-18.
Full textAbstract:
In the article, the authors conduct research on the problem of stabilization of dynamic parameters of an adaptive information-control system of a ground-based robotic complex in disturbed environment. The research concept is based on the latest trends in the development of third-generation robotics objects; on the definition of the robotic complex, as an autonomous substrate means of reproducing physical functions and automating the intellectual activity of a person in the process of active interaction of the component structures of the robotic complex with the environment; on the technology of integrating the ground-based robotic complex into the system of the highest level of hierarchy, in particular, in the system of providing or performing special tasks in the interests of the Armed Forces of Ukraine. The methodological preamble of the stated problems is being updated, the description of which occurs in relation to the model of substrate modification of the spatially distributed structure of the ground-based robotic complex. The purpose of the study is related to the application of methodological description to the problem of stabilization of the dynamic parameters of the adaptive control system of the mobile substrate structure of a ground-based robotics complex in a disturbed environment. Consequences of the presented description were announced, according to which stability is given priority as an integral-substrate property, which combines various types of stability of mobile spatially distributed structures of the ground robotic complex in time, and also characterizes their general structural and functional organization throughout operating time. The existence of the potential stability of the substrate structures of the ground-based robotic complex in cases of their resistance to the negative influence of external disturbances in time is confirmed. The absence of an inverse relationship was noted, that is, the component structures of the ground-based robotic complex that are resistant to external factors will not necessarily be stable. The target result was obtained in the context of the general scientific paradigm and can serve as an application for the concept of ensuring the effective functioning of mobile spatially distributed structures of the ground-based robotic complex in the integrated project "object-system".
2
Prada, Erik, Srikanth Murali, Ľubica Miková, and Jana Ligušová. "APPLICATION OF DENAVIT HARTENBERG METHOD IN SERVICE ROBOTICS." Acta Mechatronica 5, no. 4 (December 31, 2020): 47–52. http://dx.doi.org/10.22306/am.v5i4.68.
Full textAbstract:
This work focuses primarily on the D-H method, as one of the most important methods used in the process of designing robotic structures. In the introduction, the history of the D-H method and its general use is briefly mentioned. In the following section, the algorithm for applying D-H in the form of mathematical formalism is explained. In this part, the individual steps of creating transformational relationships are explained in more detail. The next chapters deal in more detail with individual application types within service robotics. The first type deals with the application deployment of the mobile robotic platform, the second deals with the mobile humanoid robotic structure, the other deals with the fourlegged robotic mechanism and the last type with the application of the robotic arm.
3
Veliev, E. I., R. F. Ganiev, V. A. Glazunov, and G. S. Filippov. "Parallel and sequential structures of manipulators in robotic surgery." Доклады Академии наук 485, no. 2 (May 20, 2019): 166–70. http://dx.doi.org/10.31857/s0869-56524852166-170.
Full textAbstract:
The problems of modern robotics associated with the requirements for devices designed for various purposes are considered. The daVinci robotic surgical manipulation system is analyzed. The developed robotic system with a parallel structure designed for various kinds of surgical operations is proposed.
4
Park, Jai Hoon, and Kang Hoon Lee. "Computational Design of Modular Robots Based on Genetic Algorithm and Reinforcement Learning." Symmetry 13, no. 3 (March 13, 2021): 471. http://dx.doi.org/10.3390/sym13030471.
Full textAbstract:
Designing novel robots that can cope with a specific task is a challenging problem because of the enormous design space that involves both morphological structures and control mechanisms. To this end, we present a computational method for automating the design of modular robots. Our method employs a genetic algorithm to evolve robotic structures as an outer optimization, and it applies a reinforcement learning algorithm to each candidate structure to train its behavior and evaluate its potential learning ability as an inner optimization. The size of the design space is reduced significantly by evolving only the robotic structure and by performing behavioral optimization using a separate training algorithm compared to that when both the structure and behavior are evolved simultaneously. Mutual dependence between evolution and learning is achieved by regarding the mean cumulative rewards of a candidate structure in the reinforcement learning as its fitness in the genetic algorithm. Therefore, our method searches for prospective robotic structures that can potentially lead to near-optimal behaviors if trained sufficiently. We demonstrate the usefulness of our method through several effective design results that were automatically generated in the process of experimenting with actual modular robotics kit.
5
Mamahit, Calvin Johanes, and Mildes Sanggola. "The Development of Movement System of The Second Six-Legged Robot PTE Unima." JURNAL PENDIDIKAN TEKNOLOGI KEJURUAN 4, no. 4 (December 29, 2021): 130–39. http://dx.doi.org/10.24036/jptk.v4i4.21323.
Full textAbstract:
Engineering technology in robotics for the present era is no longer new, especially in high education, marked by Indonesian robot contests routinely held annually by the national achievement center. The participants in this event are groups of students from all higher education institutions spread throughout Indonesia. The development of robotics technology is now faster to spur individuals and students to compete to conduct research and development in robotics. The study aims to develop a six-legged robotic motion system or so-called hexapod. The research was conducted using the Addie model research method consisting of five stages, namely, analyze stage to analyze the needs of the development of the robotic motion system and analysis of the needs of tools and materials to be used. The design stage of designing the mechanical structure of the robot both in terms of hardware and in terms of robot software, the development stage of developing a six-legged robot's motion system to be more stable and more efficient in moving, the implementation stage is a test stage of the robot's motion system that has been developed. The evaluation stage is the last stage of this development research; at this stage, the evaluation is done to ensure the robot's motion system is feasible to use.
6
Sun, Yuanxi, Hao Tang, Yuntao Tang, Jia Zheng, Dianbiao Dong, Xiaohong Chen, Fuqiang Liu, et al. "Review of Recent Progress in Robotic Knee Prosthesis Related Techniques: Structure, Actuation and Control." Journal of Bionic Engineering 18, no. 4 (July 2021): 764–85. http://dx.doi.org/10.1007/s42235-021-0065-4.
Full textAbstract:
AbstractAs the essential technology of human-robotics interactive wearable devices, the robotic knee prosthesis can provide above-knee amputations with functional knee compensations to realize their physical and psychological social regression. With the development of mechanical and mechatronic science and technology, the fully active knee prosthesis that can provide subjects with actuating torques has demonstrated a better wearing performance in slope walking and stair ascent when compared with the passive and the semi-active ones. Additionally, with intelligent human-robotics control strategies and algorithms, the wearing effect of the knee prosthesis has been greatly enhanced in terms of stance stability and swing mobility. Therefore, to help readers to obtain an overview of recent progress in robotic knee prosthesis, this paper systematically categorized knee prostheses according to their integrated functions and introduced related research in the past ten years (2010–2020) regarding (1) mechanical design, including uniaxial, four-bar, and multi-bar knee structures, (2) actuating technology, including rigid and elastic actuation, and (3) control method, including mode identification, motion prediction, and automatic control. Quantitative and qualitative analysis and comparison of robotic knee prosthesis-related techniques are conducted. The development trends are concluded as follows: (1) bionic and lightweight structures with better mechanical performance, (2) bionic elastic actuation with energy-saving effect, (3) artificial intelligence-based bionic prosthetic control. Besides, challenges and innovative insights of customized lightweight bionic knee joint structure, highly efficient compact bionic actuation, and personalized daily multi-mode gait adaptation are also discussed in-depth to facilitate the future development of the robotic knee prosthesis.
7
Asama, Hajime. "Special Issue on Distributed Robotic Systems." Journal of Robotics and Mechatronics 8, no. 5 (October 20, 1996): 395. http://dx.doi.org/10.20965/jrm.1996.p0395.
Full textAbstract:
Distributed Robotic Systems are focused on as a new strategy to realize flexible, robust and fault-tolerant robotic systems. In conferences and symposia held recently, the number of papers related to the Distributed Robotic Systems has increased rapidly1,2,3) which shows this area has become one of the most interesting subjects in robotics. The Distributed Robotic Systems require a broad area of interdisciplinary technologies related not only to robotics and computer engineering (especially distributed artificial intelligence and artificial life), but also to biology and psychology. Distributed Robotic Systems can be defined as robot systems which are composed of various types and levels of units, such as cells, modules, agents and robots. One category of papers included in this volume is a robot with a distributed architecture, where modular structure is adopted and/or the robot system is controlled by many CPUs in a distributed manner. Cellular robotic systems are included in this category4). Another category of the papers is cooperative motion control of multiple robots. Coordinated control of multiple manipulators and cooperative motion control by multiple mobile robots using communication are discussed in these papers. The new elemental technologies are also presented, which are required for realization of advanced cooperative motion control of multiple autonomous mobile robots in this volume. The last category of the papers is self-organization of distributed robotic systems. Though the Journal of Robotics and MecharQnics has already published the special issues on the self-organization system,5,6) the latest progress is also presented in this volume. The papers belonging to this category are directed to swarm/collective intelligence in multi-robot cooperation issues. I believe this special issue will inspire the reader's interests in the Distributed Robotic Systems and accelerate the growth of this new arising interdisciplinary research area. References: 1)H.Asama, T.Fukuda, T.Arai and I.Endo eds., Distributed Autonomous Robotic Systems, Springer-Verlag, Tokyo, (1994). 2) H.Asama, T.Fukuda, T.Arai and I.Endo eds.,Distributed Autonomous Robotic Systems 2 , Springer-Verlag, Tokyo, (1996). 3) Robotics Society of Japan, Advanced Robotics 10,6, (1996). 4) T.Fukuda and T.Ueyama, Cellullar Robotics and Micro Robotic Systems,World Scientific, Singapore, (1994). 5) Fuji Technology Press Ltd., Journal of Robotics and Mechatronics,4,2,(1992). 6) Fuji Technology Press Ltd., Journal of Robotics and Mechatronics,4,3,(1992).
8
Wang, Rui, Fuguo Wang, Yuyan Cao, Honghao Wang, Xueqian Sun, and Fuhe Liu. "Precision Analysis and Error Compensation of a Telescope Truss Structure Based on Robotics." Applied Sciences 10, no. 18 (September 15, 2020): 6424. http://dx.doi.org/10.3390/app10186424.
Full textAbstract:
We propose a new secondary mirror support structure assisted by multi-robotics to improve the observation performance of vehicle-mobile telescope systems. A mathematical model of the displacement at the end of the robotic and the variation of telescope pitch angle is established, then the posture of the robotic is optimized by the Jacobian matrix iteration inverse kinematic problem method. Based on the new support structure, a high-order sensitivity matrix is proposed to establish the mapping relationship between the robotic misalignment and the Zernike coefficient, with the accuracy verified via the Monte Carlo method. The method of adjusting the secondary mirror to compensate the aberration caused by the primary mirror is proposed, and the relationship between the primary mirror surface error and the system error is established under different pitch angles before and after compensation. The experiment and simulation results showed that the adjustment calculated by the high-order sensitivity matrix method can effectively compensate for the misalignment caused by the robotics and the primary mirror surface error to a certain degree. After multiple iterations, the root mean square of the wavefront aberration was better than λ/15. This conclusion provides an engineering application reference value for the secondary mirror support and aberration correction technology of the vehicle telescope system.
9
Almadhoun, Randa, Tarek Taha, Lakmal Seneviratne, Jorge Dias, and Guowei Cai. "A survey on inspecting structures using robotic systems." International Journal of Advanced Robotic Systems 13, no. 6 (November 28, 2016): 172988141666366. http://dx.doi.org/10.1177/1729881416663664.
Full textAbstract:
Advancements in robotics and autonomous systems are being deployed nowadays in many application domains such as search and rescue, industrial automation, domestic services and healthcare. These systems are developed to tackle tasks in some of the most challenging, labour intensive and dangerous environments. Inspecting structures (e.g. bridges, buildings, ships, wind turbines and aircrafts) is considered a hard task for humans to perform and of critical importance since missing any details could affect the structure’s performance and integrity. Additionally, structure inspection is time and resource intensive and should be performed as efficiently and accurately as possible. Inspecting various structures has been reported in the literature using different robotic platforms to: inspect difficult to reach areas and detect various types of faults and anomalies. Typically, inspection missions involve performing three main tasks: coverage path planning, shape, model or surface reconstruction and the actual inspection of the structure. Coverage path planning ensures the generation of an optimized path that guarantees the complete coverage of the structure of interest in order to gather highly accurate information to be used for shape/model reconstruction. This article aims to provide an overview of the recent work and breakthroughs in the field of coverage path planning and model reconstruction, with focus on 3D reconstruction, for the purpose of robotic inspection.
10
Li, Xiaohui, Wei Zhang, and Liping Zhao. "Optimal Structure and Size of Multi-segment Soft Robotic Arms with Finite Element Method." E3S Web of Conferences 233 (2021): 04023. http://dx.doi.org/10.1051/e3sconf/202123304023.
Full textAbstract:
Pneumatic actuate of multi-segment soft robotic arm is a significant structure and has extensive applications. However, the study of the optimal structure and size of multi-segment soft robotic arm has not been achieved. In this study, the finite element method is used to optimized the structure and size of soft robotic arm. We report that the two-segment structure of soft robotic arm has better performance for the general manipulator operation task through evaluating bending angles with different structures and parameters. The optimal ratio of the total length of non-cavity section to the total length of the soft robotic arm with two-segment is 0.21. And soft robotic arm performs better when the length of the fixed first section, the linkage section between two cavity sections and the end section are equal. Two cavities in each segment has more advantages in tasks of plane bending, while three cavities structure has better adaptability when the task need bend in the space. These results in this study provide a reference and simplify the process for the structure and size design of the multi-segment soft robotic arm in the future.
11
Fukuda, Toshio, and Tsuyoshi Ueyama. "Self-Evolutionary Robotic System -Sociobiology and Social Robotics-." Journal of Robotics and Mechatronics 4, no. 2 (April 20, 1992): 96–103. http://dx.doi.org/10.20965/jrm.1992.p0096.
Full textAbstract:
This review presents the self-evolutionary robotic system comparing with society of human being, or sociobiology, and robotic system. Since the interaction among individuals evolves the society, the evolutionary robotic system must have the character as a ""society,"" which robotic individuals construct. In this review, we describe the concept of ""social robotics,"" which consists of autonomous distributed robots such as human being or insects, according to its intelligent level. This review shows several topics for realization of self-evolutionary robotic system, such as the comparison between information flow and organization or society of the system, the ability of self-evolution for robotic system from its architecture of control, communication and structure, and comparison between natural gene and technical gene from the theory of natural evolution. In the next generation of robotic system, the ability of self-organization and self-evolution will be desired in any application fields, e.g., manufacturing system, inspection robots, space, agriculture application, and so on.
12
Gao, Yan, Xin Guo, and Victor Leung. "Intelligent Making and Robotic Structure." Periodica Polytechnica Architecture 47, no. 2 (2016): 79–88. http://dx.doi.org/10.3311/ppar.10203.
Full text
13
Tian, Li, Jianmin Zheng, Nadia Magnenat Thalmann, Hanhui Li, Qifa Wang, Jialin Tao, and Yiyu Cai. "Design of a Single-Material Complex Structure Anthropomorphic Robotic Hand." Micromachines 12, no. 9 (September 18, 2021): 1124. http://dx.doi.org/10.3390/mi12091124.
Full textAbstract:
In the field of robotic hand design, soft body and anthropomorphic design are two trends with a promising future. Designing soft body anthropomorphic robotic hands with human-like grasping ability, but with a simple and reliable structure, is a challenge that still has not been not fully solved. In this paper, we present an anatomically correct robotic hand 3D model that aims to realize the human hand’s functionality using a single type of 3D-printable material. Our robotic hand 3D model is combined with bones, ligaments, tendons, pulley systems, and tissue. We also describe the fabrication method to rapidly produce our robotic hand in 3D printing, wherein all parts are made by elastic 50 A (shore durometer) resin. In the experimental section, we show that our robotic hand has a similar motion range to a human hand with substantial grasping strength and compare it with the latest other designs of anthropomorphic robotic hands. Our new design greatly reduces the fabrication cost and assembly time. Compared with other robotic hand designs, we think our robotic hand may induce a new approach to the design and production of robotic hands as well as other related mechanical structures.
14
Białek, Marcin, and Dominik Rybarczyk. "A Comparative Study of Different Fingertips on the Object Pulling Forces in Robotic Gripper Jaws." Applied Sciences 13, no. 3 (January 17, 2023): 1247. http://dx.doi.org/10.3390/app13031247.
Full textAbstract:
This paper presents a comparative study of the use of different fingertips in robotic gripper jaws with respect to measuring the pulling force of selected shaped objects from their grasp. The authors built a dedicated test stand and provided methodology to evaluate it. The authors’ innovative approach was to design accessory-controlled jaws for the base of the Robotiq 2F-140 gripper. For the study, rigid structures—flexible soft cushions filled with air and magnetorheological fluid (MRF)—were developed for the jaw. In this way, comparable measurement results were obtained in terms of the structure of the gripper set-up. The secondary purpose of the study was to demonstrate the potential of the soft cushions that are adaptable to the shape of a gripped object. As a result, an adaptive structure was obtained that allows object pulling forces that are comparable to rigid fingertips. In doing so, this does not damage the surface of any of the interacting components. The cushions were made of thermoplastic polyurethane (TPU) formed using 3D printing technology. The results obtained during the implementation of this research may be beneficial for comparing gripper capabilities; thus, they can contribute to advances in smart devices and many industrial fields, including robotics and bioengineering.
15
Du, Huijiang, Xiaotong Liu, Hudie Sun, Qi Zhu, and Liping Sun. "Progress in Control-Actuation Robotic System for Gastrointestinal NOTES Development." BioMed Research International 2022 (October 30, 2022): 1–9. http://dx.doi.org/10.1155/2022/7047481.
Full textAbstract:
Purpose. Natural orifice transluminal endoscopic surgery (NOTES) is a minimally invasive surgical procedure that reduces patient trauma, infection probability, and rehabilitation time. This paper reviews the progress made in the control-actuation robotic systems for gastrointestinal NOTES development. Material and Methods. A survey on both existing and state-of-the-art control-actuation robotic systems for gastrointestinal NOTES was conducted in December 2021. Results. Nine control-actuation robotic systems for gastrointestinal NOTES were identified. The structures and specifications of these robotic systems were reported. The technical parameters were also discussed. Special attention was directed to systems using a control-actuation structure and tendon-driven mechanism. The control-actuation robotic systems typically deploy a control-actuation structure and tendon-driven mechanism. Control-actuation robotic systems for gastrointestinal NOTES show great ability to improve operational accuracy and flexibility and flatten the learning curve of procedures. These characteristics suggest that the use of control-actuation robotic systems is worth exploring in future development.
16
HAQQANI, Ahmed A. H., Seenu N, Mukund JANARDHANAN, and Kuppan Chetty RM. "EVALUATION OF ROBOTIC CLEANING TECHNOLOGIES: PRESERVING A BRITISH ICONIC BUILDING." Applied Computer Science 16, no. 2 (June 30, 2020): 95–111. http://dx.doi.org/10.35784/acs-2020-15.
Full textAbstract:
The engineering building of the University Leicester built-in 1963 has been a British icon for decades now. Applications of Robotic technologies are uprising nowadays, which provides a contingency to manipulate the benefits of robotics for executing challenging and precarious facade cleaning processes. This paper surveys the facade cleaning robotic technologies exist in the market. It exhibits the comparative analysis of four notorious robotic facade cleaning solutions namely Sky Pro, Gekko, BFMR (Building Façade Maintenance Robot) and Sirius_c. The comparison is executed using Multi Criteria Decision Analysis (MCDA) and Quality Function Deployment (QFD) techniques. This study analyses the performance of the robots based on the critical parameters such as water consumption, cleaning efficiency, cleaning dimensions and ease of implementation. Although none of these robotic solutions are implemented off the shelf, some adaptation on these solutions is necessary for the development of robotic techniques work successfully in real time. This paper proposes a hybrid robotic solution combining the vacuum pump adhesion and wheeled locomotion for the effective cleaning of the complex external building structure based on the MCDA and QFD analysis. It highlights the significant future research directions in this field.
17
Ueyama, Tsuyoshi, Toshio Fukuda, and Fumihito Arai. "Evaluation of Communication Structure for Cellular Robotic System." Journal of Robotics and Mechatronics 4, no. 2 (April 20, 1992): 115–21. http://dx.doi.org/10.20965/jrm.1992.p0115.
Full textAbstract:
This paper deals with an evaluation of the communication architecture for Cellular Robotic System (CEBOT) with plural master cells. The CEBOT consists of a large number of autonomous robotic units called ""cells,"" that is, the system is one of distributed robotic systems. The communication architecture is one of the important issues for distributed intelligent systems. To evaluate the effectiveness of the communication architecture, we use the network energy, which is proposed by us in the previous paper. The issue of the communication architecture for the distributed robotic system is also one of the grouping issues for the group robotic system. In this paper, we consider each master cell as a coordinator in each sub-network, where the sub-network is constructed by a master cell as a core. To evaluate the grouping network, we propose the cross-dependence matrix, which presents the relation between the cells and the task steps depending on a given task. The simulation results presents the grouping examples of the cellular network. According to the simulation results, we also describe the effect for the group structure of community or a society.
18
Chea, C. P., and Y. Bai. "Automated assembly of reciprocal frame structures using robotics." IOP Conference Series: Earth and Environmental Science 1101, no. 7 (November 1, 2022): 072013. http://dx.doi.org/10.1088/1755-1315/1101/7/072013.
Full textAbstract:
Abstract In this paper, the robotization of structural construction was studied in preference to the undemanding assembly of the reciprocal frame (RF) structures. Formulas were developed to automate the process of geometric forming and component evaluation. Subsequently, the robotic cooperative system was established to assemble the structure according to the positions and orientations of each component from the geometric forming module. The robotic system consists of two robotic arms, two navigating robots, depth cameras, and customized grippers. The structure was made from pultruded glass fibre reinforced polymer (GFRP) members owing to their lightweight, high strength and corrosion resistance. Concepts of temporary connections were also proposed to eliminate the offset generated during the construction. Finally, the comparative studies of the constructions in different light environments and with different ground obstacles were investigated through experimental investigations. The results showed that the structure can be successfully assembled with the proposed robotic system and the assistance of the temporary connection in most of the light conditions and ground obstacles.
19
Lobanov, L. M., E. V. Shapovalov, P. V. Goncharov, V. V. Dolinenko, A. N. Timoshenko, and T. G. Skuba. "Technology of robotic TIG welding of structure elements of stainless steels." Paton Welding Journal 2017, no. 6 (June 28, 2017): 45–50. http://dx.doi.org/10.15407/tpwj2017.06.09.
Full text
20
Chi, Wanchao, and Kin Huat Low. "Review and Fin Structure Design for Robotic Manta Ray (RoMan IV)." Journal of Robotics and Mechatronics 24, no. 4 (August 20, 2012): 620–28. http://dx.doi.org/10.20965/jrm.2012.p0620.
Full textAbstract:
Manta ray generates thrust by flapping two pectoral fins, which inspires the fin structure design for a robotic manta ray. An effective and efficient structure of the fin will significantly enhance the swimming performance of the robotic manta ray. In this paper, the biomechanics of manta ray’s swimming is first reviewed. Then the existing designs of robotic manta ray are introduced in detail, with their tradeoffs and limitations discussed. One specific structure, Fin Ray Effect®, is further investigated for the potential design of our own robotic manta ray, RoMan IV. The characteristics of the structure are derived analytically. Both its advantages and shortcomings as the fin structure are discussed.
21
Popa, Razvan, Alexandru Joni, Adrian Ghionea, and Robert Iacob. "Robotic Welding Cells Configuration." Applied Mechanics and Materials 162 (March 2012): 445–54. http://dx.doi.org/10.4028/www.scientific.net/amm.162.445.
Full textAbstract:
This paper deals with electric arc robotic welding, the main objective being the optimal structure configuration of the flexible Robotic Welding Cells (RWC). To this purpose, the authors propose a new algorithm for the configuration of the cell structure based on a set of optimization criteria. Thus, to determine the optimum RWC structure, the working cycle of the technological welding process and some process parameters influencing the welded ensemble are improved as well.
22
Corves, Burkhard, and Amir Shahidi. "Kinematic Graph for Motion Planning of Robotic Manipulators." Robotics 11, no. 5 (October 5, 2022): 105. http://dx.doi.org/10.3390/robotics11050105.
Full textAbstract:
We introduce a kinematic graph in this article. A kinematic graph results from structuring the data obtained from the sampling method for sampling-based motion planning algorithms in robotics with the motivation to adapt the method to the positioning problem of robotic manipulators. The term kinematic graph emphasises the fact that any path computed by sampling-based motion planning algorithms using a kinematic graph is guaranteed to correspond to a feasible motion for the positioning of the robotic manipulator. We propose methods to combine the information from the configuration and task spaces of the robotic manipulators to cluster the samples. The kinematic graph is the result of this systematic clustering and a tremendous reduction in the size of the problem. Hence, using a kinematic graph, it is possible to effectively employ sampling-based motion planning algorithms for robotic manipulators, where the problem is defined in higher dimensions than those for which these algorithms were developed. Other barriers that hindered adequate utilisation of such algorithms for robotic manipulators with articulated arms, such as the non-injective surjection of the forward kinematic function, are also addressed in the structure of the kinematic graph.
23
Khalid, Sibar. "Internet of Robotic Things: A Review." Journal of Applied Science and Technology Trends 2, no. 03 (August 7, 2021): 78–90. http://dx.doi.org/10.38094/jastt203104.
Full textAbstract:
The Internet of Things (IoT) gives a strong structure for connecting things to the internet to facilitate Machine to Machine (M2M) communication and data transmission through basic network protocols such as TCP/IP. IoT is growing at a fast pace, and billions of devices are now associated, with the amount expected to reach trillions in the coming years. Many fields, including the army, farming, manufacturing, healthcare, robotics, and biotechnology, are adopting IoT for advanced solutions as technology advances. This paper offers a detailed view of the current IoT paradigm, specifically proposed for robots, namely the Internet of Robotic Things (IoRT). IoRT is a collection of various developments such as Cloud Computing, Artificial Intelligence (AI), Machine Learning, and the (IoT). This paper also goes over architecture, which would be essential in the design of Multi-Role Robotic Systems for IoRT. Furthermore, includes systems underlying IoRT, as well as IoRT implementations. The paper provides the foundation for researchers to imagine the idea of IoRT and to look beyond the frame while designing and implementing IoRT-based robotic systems in real-world implementations.
24
Jia, Yongnan, and Long Wang. "Three-dimensional swimming robotic fish with slide-block structure: design and realization." Robotica 32, no. 5 (December 16, 2013): 823–34. http://dx.doi.org/10.1017/s0263574713001173.
Full textAbstract:
SUMMARYThis paper focuses on the mechanism design of a slide-block structure and its application on a biomimetic modular robotic fish for three-dimensional swimming. First, as a barycenter-adjustor, the slide-block structure is integrated into a mechanical design of a robotic fish, which is constructed by a control module, a driving module, and a fan-shaped caudal fin. The three-dimensional locomotion of robotic fish is decomposed into two-dimensional locomotion in horizontal plane and ascent–descent locomotion in vertical plane. Both the kinematics of the horizontal swim and the dynamics of the ascent–descent swim are analyzed by the curve fitting method. Finally, experimental results validate the three-dimensional swimming capability of the robotic fish. Furthermore, the impact of two design parameters on the swimming capability of the robotic fish is discussed by the experimental method. The experimental results confirm that the robotic fish with one driving module and a fan-shaped low-aspect-ratio caudal foil can produce higher propulsive speed than other parameter combinations.
25
Huang, Shiuh-Jer, Wei-Han Chang, and Janq-Yann Lin. "SOFT FOOD ROBOTIC PICK AND PLACE OPERATION WITH EMBEDDED CONTROL STRUCTURE." Transactions of the Canadian Society for Mechanical Engineering 37, no. 3 (September 2013): 273–82. http://dx.doi.org/10.1139/tcsme-2013-0017.
Full textAbstract:
Robotic pick-and-place operation is planned for handling hard objects with on-off control gripper. It does not have force monitoring capability for safe grasping soft objects. Current force/torque sensor is too expensive and difficult to implement. Here, a low cost embedded control structure is designed with distributed FPGA robotic position control and gripper Arduino force control kernels. A model-free intelligent fuzzy sliding mode control strategy is employed to design the position controller of each robotic joint and gripper force controller. Experimental results show that the position and force tracking control errors of this robotic system are less than 1 mm and 0.1 N, respectively for pick-and-place different soft foods.
26
Patané, Luca. "Bio-Inspired Robotic Solutions for Landslide Monitoring." Energies 12, no. 7 (April 1, 2019): 1256. http://dx.doi.org/10.3390/en12071256.
Full textAbstract:
Bio-inspired solutions are often taken into account to solve problems that nature took millions of years to deal with. In the field of robotics, when we need to design systems able to perform in unstructured environments, bio-inspiration can be a useful instrument both for mechanical design and for the control architecture. In the proposed work the problem of landslide monitoring is addressed proposing a bio-inspired robotic structure developed to deploy a series of smart sensors on target locations with the aim of creating a sensor network capable of acquiring information on the status of the area of interest. The acquired data can be used both to create models and to generate alert signals when a landslide event is identified in the early stage. The design process of the robotic system, including dynamic simulations and robot experiments, will be presented here.
27
Saab, Wael, William S. Rone, and Pinhas Ben-Tzvi. "Robotic tails: a state-of-the-art review." Robotica 36, no. 9 (May 25, 2018): 1263–77. http://dx.doi.org/10.1017/s0263574718000425.
Full textAbstract:
SUMMARYThis paper reviews the state-of-the-art in robotic tails intended for inertial adjustment applications on-board mobile robots. Inspired by biological tails observed in nature, robotic tails provide a separate means to enhance stabilization, and maneuverability from the mobile robot's main form of locomotion, such as legs or wheels. Research over the past decade has primarily focused on implementing single-body rigid pendulum-like tail mechanisms to demonstrate inertial adjustment capabilities on-board walking, jumping and wheeled mobile robots. Recently, there have been increased efforts aimed at leveraging the benefits of both articulated and continuum tail mechanism designs to enhance inertial adjustment capabilities and further emulate the structure and functionalities of tail usage found in nature. This paper discusses relevant research in design, modeling, analysis and implementation of robotic tails onto mobile robots, and highlight how this work is being used to build robotic systems with enhanced performance capabilities. The goal of this article is to outline progress and identify key challenges that lay ahead.
28
Wang, Lu, Takao Naito, Yi Leng, Hiroatsu Fukuda, and Tao Zhang. "Research on Construction Performance Evaluation of Robot in Wooden Structure Building Method." Buildings 12, no. 9 (September 13, 2022): 1437. http://dx.doi.org/10.3390/buildings12091437.
Full textAbstract:
Robots have been increasingly involved in global construction and are considered one of the most promising solutions for the reform of the construction industry. The superiority of the robotic construction process compared to the present stage of actual construction with predominantly human participation is mainly reflected in the high efficiency and high accuracy of its construction, thus improving the benefits to the natural, economic, and social environment and significantly changing the current construction labor market. At present, the development and application of robotic construction technology worldwide are mostly at the laboratory stage and are not applied to actual construction projects on a large scale. In this paper, we explore the methods and steps of robotic involvement in the construction of a complete timber building through the reconstruction of a completed timber building, from the design process and construction process to the final evaluation of construction efficiency. Finally, by comparing the advantages and disadvantages of the two design and construction methods, manual construction and robotic construction, the problems and difficulties in current robotic construction and the opportunities and challenges faced by robotic automation in the construction industry are identified.
29
Dzedzickis, Andrius, Jurga Subačiūtė-Žemaitienė, Ernestas Šutinys, Urtė Samukaitė-Bubnienė, and Vytautas Bučinskas. "Advanced Applications of Industrial Robotics: New Trends and Possibilities." Applied Sciences 12, no. 1 (December 23, 2021): 135. http://dx.doi.org/10.3390/app12010135.
Full textAbstract:
This review is dedicated to the advanced applications of robotic technologies in the industrial field. Robotic solutions in areas with non-intensive applications are presented, and their implementations are analysed. We also provide an overview of survey publications and technical reports, classified by application criteria, and the development of the structure of existing solutions, and identify recent research gaps. The analysis results reveal the background to the existing obstacles and problems. These issues relate to the areas of psychology, human nature, special artificial intelligence (AI) implementation, and the robot-oriented object design paradigm. Analysis of robot applications shows that the existing emerging applications in robotics face technical and psychological obstacles. The results of this review revealed four directions of required advancement in robotics: development of intelligent companions; improved implementation of AI-based solutions; robot-oriented design of objects; and psychological solutions for robot–human collaboration.
30
Zhao, Wenjing, Aiguo Ming, Makoto Shimojo, Yohei Inoue, and Hiroshi Maekawa. "Fluid-Structure Interaction Analysis of a Soft Robotic Fish Using Piezoelectric Fiber Composite." Journal of Robotics and Mechatronics 26, no. 5 (October 20, 2014): 638–48. http://dx.doi.org/10.20965/jrm.2014.p0638.
Full textAbstract:
<div class=""abs_img""><img src=""[disp_template_path]/JRM/abst-image/00260005/13.jpg"" width=""300"" />Model of soft robotic fish</div> Designing a high-performance soft robotic fish requires considering the interaction between the flexible robot structure and surrounding fluid. This paper introduces fluid-structure interaction (FSI) analysis used to enhance the hydrodynamic performance of soft robotic fish using piezoelectric fiber composite (PFC) as the propulsion actuator. The basic FSI analysis scheme for soft robotic fish is presented, then the numerical model of the actuator, robot structure, and surrounding fluid are described based on the FSI analysis scheme. The FSI analysis of the soft robotic fish is performed through these numerical models. To evaluate the effectiveness of FSI analysis, coupling simulation and experimental results are compared. We found that the calculated results of propulsive force and deformation displacement were similar to those for experiments. These results suggest that FSI analysis is useful and is applicable to evaluating propulsion characteristics of the soft robotic fish to improve performance. </span>
31
Lee, Jyh-Jone, and Lung-Wen Tsai. "The Structural Synthesis of Tendon-Driven Manipulators Having a Pseudotriangular Structure Matrix." International Journal of Robotics Research 10, no. 3 (June 1991): 255–62. http://dx.doi.org/10.1177/027836499101000306.
Full textAbstract:
Tendons have been widely used for power transmission in the field of anthropomorphic manipulating systems. This article deals with the identification and enumeration of the kine matic structure of tendon-driven robotic mechanisms. The structural isomorphism of tendon-driven manipulators is defined, and the structural characteristics of such mechanical systems are described. Applying these structural characteris tics, a methodology for the enumeration of tendon-driven robotic mechanisms is developed. Mechanism structures with up to six degrees of freedom are enumerated.
32
Hernández, J., M. Visser, C. F. Nicolás, J. Landaluze, and R. Reyero. "Impedance Control of a Flexible Robotic Structure." IFAC Proceedings Volumes 31, no. 27 (September 1998): 127–32. http://dx.doi.org/10.1016/s1474-6670(17)40017-6.
Full text
33
Tsai, Lung-Wen, and Jyh-Jone Lee. "Kinematic Analysis of Tendon-Driven Robotic Mechanisms Using Graph Theory." Journal of Mechanisms, Transmissions, and Automation in Design 111, no. 1 (March 1, 1989): 59–65. http://dx.doi.org/10.1115/1.3258972.
Full textAbstract:
The kinematic structure of tendon-driven robotic mechanisms has been investigated with the aid of graph theory. The correspondence between the graph representation of the kinematic structure and the mechanism has been established. We have shown that the kinematic structure of tendon-driven kinematic chains is similar to that of epicyclic gear trains. We also have shown that, using the concept of fundamental circuits, the displacement equations of tendon-driven robotic mechanisms can be systematically derived from the kinematic structure. The theory has been demonstrated by the kinematic analysis of three articulated robotic devices.
34
Kovarikova, Zuzana, Frantisek Duchon, Andrej Babinec, and Dusan Labat. "Digital tools as part of a robotic system for adaptive manipulation and welding of objects." ACTA IMEKO 11, no. 3 (August 19, 2022): 1. http://dx.doi.org/10.21014/acta_imeko.v11i3.1271.
Full textAbstract:
<span>The aim of this article is to describe the design and verification of digital tools usable for sharing information within a team of workers and machines that manage and execute production carried out by a robotic system. The basic method is to define the structure of the digital tool and data flows necessary to enable an exchange of data needed to perform robotic manipulation and robotic welding of variable products minimizing at the same time strenuous human activity. The proposed structure of data interconnects a set of intelligent sensors with control of 18 degrees of freedom of 3 robotic manipulators, a welding device, and a production information system. Part of the work was also to verify the functionality of the proposed structure of the digital tools. In the first phase, simulations using a digital twin prototype of the workplace for robotic manipulation and robotic welding were performed to verify the functionality the digital tools. Subsequently, a digital tool was tested in the environment of a real prototype workplace for robotic manipulation and robotic welding. Simulation results and data obtained from the prototype tests proved the functionality of the digital tool inclusive of the production information system.</span>
35
Shaji, Ashwin K., and Rinku Dhiman. "Gesture Controlled Robotic Hand Using RF Unit and Accelerometer." International Journal of Research in Engineering, Science and Management 3, no. 11 (November 30, 2020): 125–27. http://dx.doi.org/10.47607/ijresm.2020.387.
Full textAbstract:
In the race of man v/s machine, automation comes as a companion of man and machine. Taking the technology to the next level from the mobile driven world to an automation driven world, will increase manufacturers their production rates, productivity and efficiency with materials, product quality, and worker safety. From ancient times the ingenuity and the brain power human beings have astonished researchers with engineering and mechanical marvels like the wheel, bow and arrow, cross bows, etc. What started from the wheel did not end there but evolved into the complex mechatronics systems that we see around us today. The robotics is one such human marvel that will be one-day equal human beings themselves. The robots thus have far more use in the daily life than any other systems. The robotics and automation is a rising piece of technology which could lessen the loads of work and solve the problems exponentially. As robotics is finding its place on every sector in this globe, the aim this project is to introduce robotics in the field of industry. The title of the system is ‘Gesture controlled robotic arm’. The aim of the system is to provide safety and to increase productivity in our industries. The research project should be designed in such a way that it should occupy minimum space, should possess high maneuverability and high agility. The project in discussion is types of robots which needs minimum space and are proved to be highly maneuverable and highly agile. The robot contains two main units, one is the robotic arm and second is the data glove with accelerometer using a RF controller. The robotic arm unit is responsible for the hand functions of the whole structure of the robot. The data glove is responsible for the input feedback to the robotic arm. The robotic unit will be controlled by an Arduino platform to improve its stability. The angle tilt will be measured using ADXL335 sensor. The ADXL335 uses angle, tilt and yaw values with Arduino for data transfer. Through advanced primary and secondary research techniques, system implementation hurdles and potential risks involved in developing such a system are identified. The project is fully planned using advanced project management techniques like PERT chart and Gantt chart in order to identify the critical activities and the timeline related with it.
36
Zhao, Wenjing, Aiguo Ming, and Makoto Shimojo. "Development of High-Performance Soft Robotic Fish by Numerical Coupling Analysis." Applied Bionics and Biomechanics 2018 (November 27, 2018): 1–12. http://dx.doi.org/10.1155/2018/5697408.
Full textAbstract:
To design a soft robotic fish with high performance by a biomimetic method, we are developing a soft robotic fish using piezoelectric fiber composite (PFC) as a flexible actuator. Compared with the conventional rigid robotic fish, the design and control of a soft robotic fish are difficult due to large deformation of flexible structure and complicated coupling dynamics with fluid. That is why the design and control method of soft robotic fish have not been established and they motivate us to make a further study by considering the interaction between flexible structure and surrounding fluid. In this paper, acoustic fluid-structural coupling analysis is applied to consider the fluid effect and predict the dynamic responses of soft robotic fish in the fluid. Basic governing equations of soft robotic fish in the fluid are firstly described. The numerical coupling analysis is then carried out based on different structural parameters of soft robotic fish. Through the numerical analysis, a new soft robotic fish is finally designed, and experimental evaluation is performed. It is confirmed that the larger swimming velocity and better fish-like swimming performance are obtained from the new soft robotic fish. The new soft robotic fish is developed successfully for high performance.
37
Boyraz, Pinar, Svenja Tappe, Tobias Ortmaier, and Annika Raatz. "Design of a low-cost tactile robotic sleeve for autonomous endoscopes and catheters." Measurement and Control 53, no. 3-4 (January 24, 2020): 613–26. http://dx.doi.org/10.1177/0020294019895303.
Full textAbstract:
Recent developments in medical robotics have been significant, supporting the minimally invasive operation requirements, such as smaller devices and more feedback available to surgeons. Nevertheless, the tactile feedback from a catheter or endoscopic type robotic device has been restricted mostly on the tip of the device and was not aimed to support the autonomous movement of the medical device during operation. In this work, we design a robotic sheath/sleeve with a novel and more comprehensive approach, which can function for whole body or segment-based feedback control as well as diagnostic purposes. The robotic sleeve has several types of piezo-resistive pressure and extension sensors, which are embedded at several latitudes and depths of the silicone substrate. The sleeve takes the human skin as a biological model for its structure. It has a better tactile sensation of the inner tissues in the torturous narrow channels such as cardiovascular or endoluminal tracts in human body and thus can be used to diagnose abnormalities. In addition to this capability, using the stretch sensors distributed alongside its body, the robotic sheath/sleeve can perceive the ego-motion of the robotic backbone of the catheter and can act as a position feedback device. Because of the silicone substrate, the sleeve contributes toward safety of the medical device passively by providing a compliant interface. As an active safety measure, the robotic sheath can sense blood clots or sudden turns inside a channel and by modifying the local trajectory and can prevent embolisms or tissue rupture. In the future, advanced manufacturing techniques will increase the capabilities of the tactile robotic sleeve.
38
Ordoñez-Avila, José Luis, I. A. Magomedov, and A. M. Bagov. "Robotic wheel structures and their industrial applications based on motion simulations." Journal of Physics: Conference Series 2094, no. 4 (November 1, 2021): 042093. http://dx.doi.org/10.1088/1742-6596/2094/4/042093.
Full textAbstract:
Abstract The following work was done to analyze mobile structures with different arrangements of wheels. Software package Solidworks was utilized in modeling and analysis of the structures. Eight mobile structures were built by rearranging the placement of both driven and free wheels. Each structure has its own unique placement of wheels, hence giving the opportunity to understand the influence of the wheels’ placement on the functionality of the whole structure in terms of speed, stability, and other parameters. Therefore, eight mobile structures were analyzed, and the results were gathered. Adding more driven wheels or free wheels does not improve the performance of the mobile structures. The outcomes of the results illustrated that structure 6 tends to be more positive in terms of energy consumption, torque, and stability. Hence, adding more driven wheels does not improve the performance of the mobile structures.
39
Ferreira, N. M. Fonseca, André Araujo, M. S. Couceiro, and David Portugal. "Intensive summer course in robotics – Robotcraft." Applied Computing and Informatics 16, no. 1/2 (May 1, 2018): 155–79. http://dx.doi.org/10.1016/j.aci.2018.04.005.
Full textAbstract:
This paper describes a two-month summer intensive course designed to introduce participants with a hands-on technical craft on robotics and to acquire experience in the low-level details of embedded systems. Attendants started this course with a brief introduction to robotics; learned to draw, design and create a personalized 3D structure for their mobile robotic platform and developed skills in embedded systems. They were familiarize with the practices used in robotics, learning to connect all sensors and actuator, developing a typical application on differential kinematic using Arduino, exploring ROS features under Raspberry Pi environment and Arduino – Raspberry Pi communication. Different paradigms and some real applications and programming were addressed on the topic of Artificial Intelligence. Throughout the course, participants were introduced to programming languages (including Python and C++), advanced programming concepts such as ROS, basic API development, system concepts such as I2C and UART serial interfaces, PWM motor control and sensor fusion to improve robotic navigation and localization. This paper describes not just the concept, layout and methodology used on RobotCraft 2017 but also presents the participants knowledge background and their overall opinions, leading to focus on lessons learned and suggestions for future editions.
40
Takada, Yogo, Keisuke Koyama, and Takahiro Usami. "Robotic Fish." Journal of Robotics and Mechatronics 26, no. 3 (June 20, 2014): 391–93. http://dx.doi.org/10.20965/jrm.2014.p0391.
Full textAbstract:
<div class=""abs_img""><img src=""[disp_template_path]/JRM/abst-image/00260003/13.jpg"" width=""300"" />Structure of BREAM </span></div> Based on our robotic fish studies since 2003, this paper introduces a FPGA offline control underwater searcher (FOCUS) and a bream robot equipped with advanced mechanism (BREAM). The performance of the first FOCUS prototype, built in 2011, is now being improved. FOCUS has 2 cameras and fieldprogrammable gate arrays (FPGAs) with high arithmetic processing capabilities. The appearance of the FOCUS is so cute. The two FOCUS types now available are an autonomous underwater vehicle (AUV) and a remotely operated vehicle (ROV). BREAM, in contrast, is an entertainment robot prototype designed for Asutamuland Tokushima exhibition. BREAM has four joints based on analytical computational fluid dynamics (CFD) results showing that robotic fish with multiple joints achieve better propulsion performance than that with single joint. Two of the four joints are used for propulsion and two are used for turning the prototype. RC-FOCUS is also exhibited at Asutamuland Tokushima, together with BREAM. </span>
41
Ghayoor, F. "A MATLAB-based virtual robotics laboratory: Demonstrated by a two-wheeled inverted pendulum." International Journal of Electrical Engineering & Education 57, no. 4 (December 3, 2018): 301–20. http://dx.doi.org/10.1177/0020720918816006.
Full textAbstract:
In this paper, a procedure for designing a MATLAB-based virtual robotics laboratory is described that provides a realistic three-dimensional animation for the robot’s motion. The proposed laboratory allows students to obtain the linear model and stability condition of a robotic system, without getting involved in its mathematical modeling. The structure of a two-wheeled inverted pendulum robot has been used for demonstrating the laboratory’s features. As part of this virtual experiment, design and evaluation of proportional–integral–derivative, model predictive control, and fuzzy controllers for maintaining the two-wheeled inverted pendulum’s balance are considered. A set of graphical–user interfaces is designed for providing the interaction with the system. This virtual lab is readily extensible for other robotics structures and controllers, and its output data is promptly available for further analysis by other MATLAB toolboxes.
42
Zhang, Xiang, Twan Capehart, and Carl A. Moore. "Design and Analysis of a Novel Variable Stiffness Joint for Robot." MATEC Web of Conferences 249 (2018): 03005. http://dx.doi.org/10.1051/matecconf/201824903005.
Full textAbstract:
As people pay more attention to the safety of human-robotic interaction, the flexibility of machine joints is becoming more and more important. To address the needs of future robotic applications, many kinds of variable stiffness mechanisms have been designed by scientists. But most of the structures are complex. By studying and comparing many different mechanism designs of variable stiffness joint, we recognize the need to miniaturization and reduce weight of variable stiffness joints with high frequency operation. To address this, need a continuously Variable Compliant Joint (CVCJ) was designed. The core of the joint is based on the structure of the spherical continuously variable transmission (SCVT) which is the catalyst to change the stiffness continuously and smoothly. In this paper, we present a compact variable stiffness joint structure to meet the volume and weight requirements of the future robotic systems. We show the connection between the joint stiffness coefficient and the structure parameters by making mathematical analysis, modelling and simulation for the system to verify the ability to satisfy the base application requirements of the compliant joint.
43
Safi, Seyed Majid, Hossein Amirabadi, Iraj Lirabi, Khalil Khalili, and Saeed Rahnama. "A New Approach for Chatter Prediction in Robotic Milling Based on Signal Processing in Time Domain." Applied Mechanics and Materials 346 (August 2013): 45–51. http://dx.doi.org/10.4028/www.scientific.net/amm.346.45.
Full textAbstract:
Robotic machining is an attractive, cost-effective, and flexible alternative for basic machining applications. Having these characteristics, industrial robots are assumed to be the next generation of machine tools. But, due to weaker structure of robotic manipulators in comparison to conventional CNC machines, robotic machining processes are more subject to unwanted detrimental vibrations. At this work, simulations are realized in Time-Domain using the linearized robot structure model as transfer function of chatter block diagram and end milling force as machining force model. This article presents a new technique for simulating and analyzing the possibility of happening chatter vibrations at different values of machining parameters considering structure and configuration of the studied robot. Results show that limit of chatter occurrence is dramatically affected by changing robotic machining configuration.
44
Yin, Haibin, Shansheng Huang, Mingchang He, and Junfeng Li. "A unified design for lightweight robotic arms based on unified description of structure and drive trains." International Journal of Advanced Robotic Systems 14, no. 4 (July 1, 2017): 172988141771638. http://dx.doi.org/10.1177/1729881417716383.
Full textAbstract:
This article presents a unified design for lightweight robotic arms based on a unified description of structure and drive trains. In the unified design, the drive trains and structural dimensions are parameterized as design variables, and a major objective minimizes the total mass of robotic arms satisfying the constraint conditions and design criteria. To implement the optimization problem, a mapping relationship between mass and torque of drive trains is introduced as their power–density curves, which enable a unified description of structure and drive trains combining with the dynamics of robotic arms. In this implementation of unified design, there are two modules: structure optimization and drive trains design. The finite element method with nonlinear programming by quadratic Lagrange algorithm is adopted to implement the structure optimization. Moreover, the dynamic analysis in MSC ADAMS is achieved to design the drive trains of robotic arms. This method could uniformly evaluate all components of robotic arms in mass and continuously search the global optimal results. Finally, a design example on this unified design is compared with a referenced design to illustrate the validity and advantage of the proposed scheme.
45
Kovács, László, and Dávid Polonkai. "Event sequence segmentation for parallel processes." Production Systems and Information Engineering 10, no. 2 (2022): 52–63. http://dx.doi.org/10.32968/psaie.2022.2.5.
Full textAbstract:
The robotic process mining focuses on the analysis of historical process sequences in order to build up a process model for the investigated field. One of the main tasks in robotic process mining is the construction of process schema for the input sequences. Usual methods are able to generate models using only baseline graph structures. In order to support high level structures like parallelism, the input event sequence structure must support additional attributes on the events. This paper presents a novel approach on sequence segmentation providing an intermediate graph structure which can be used to mine complex graph patterns. The tested prototype system contains a Python-based implementation of the proposed algorithm. In the paper, some tests are shown to illustrate the suitability of the proposed model.
46
Kosowatz, John. "Robo-Rehab." Mechanical Engineering 140, no. 02 (February 1, 2018): 40–43. http://dx.doi.org/10.1115/1.2018-feb-3.
Full textAbstract:
This article describes the features of a soft robotic device being developed by researchers that could give patients a quicker boost toward manipulating their fingers to hold and grasp items. The device controls the level of force applied and sends data back for evaluation and combines hard and soft robotic elements. Actuator sections are placed over individual joints and connected through a glove. Using advances in laminating materials and working with compression molding and other fabrication techniques the research and development team is combining the mechanics of hard robotics with soft robotics. The device relies on proprietary, bellow-type soft actuator sections that are placed over individual joints and connected through a soft and rigid hybrid structure, or glove. Additionally, the device controls the level of force applied and sends data back for evaluation by a technician or therapist. The researchers say it will allow therapists to work with more people and to care for them remotely, providing portability and allowing patients to rehab without having to travel to an office.
47
Shusterman, Dmitry, and Glenn R. Widmann. "Force control of robotic manipulators with structured uncertainties using variable structure control." Robotics and Computer-Integrated Manufacturing 9, no. 2 (April 1992): 169–80. http://dx.doi.org/10.1016/0736-5845(92)90009-u.
Full text
48
Reinhardt, Dagmar, Ninotschka Titchkosky, Chris Bickerton, Rodney Watt, Dylan Wozniak-O’Connor, Christhina Candido, Densil Cabrera, Mitchell Page, and Sascha Bohnenberger. "Towards onsite, modular robotic carbon-fibre winding for an integrated ceiling structure." Construction Robotics 3, no. 1-4 (September 12, 2019): 23–40. http://dx.doi.org/10.1007/s41693-019-00019-3.
Full textAbstract:
Abstract Among current adoptions of standard industrial robotic arms for automation and mass customisation in the building industry, robotic fabrication is of interest for bespoke manufacturing and advancing mobile and onsite construction processes. The use of robotic arms can be of significance particularly where access and site conditions limit further construction of building elements to be inserted in an existing architectural fabric. This paper introduces research and development of robotic carbon-fibre winding of an integrated ceiling structure to support open and flexible workspaces scenarios. The project Systems Reef 1.0 explores the potential and viability for an integrated infrastructure that expands standard office-ceiling grid systems to support flexible workspace scenario and the agency of networked, dynamic and self-organising teams. To this extent, multiple soffit-hung, rotational and retractable data booms provide fibre-optic data, electrical cabling and integrated lighting. Through geometrically complex, fibre-reinforced building elements that are robotically manufactured onsite, a new distribution system for data and light can be provided to support individual and multi-group collaborations in a contemporary open-plan office for maximum flexibility. In this paper, we discuss research into the development of robotic carbon-fibre threading sequences and physical demonstrators for an integrated ceiling structure that takes into account local ceiling constraints. Using a KUKA KR10 industrial robot and mobile platform, carbon-fibre threading prototypes were integrated with onsite conditions and synthesised in four physical demonstrators that support data provision for flexible desking in open-plan office environment where prefabrication of large-sized building modules is restricted due to access constraints. The paper discusses challenges in integrating robotic carbon-fibre threading, data-driven occupancy, structural performance and results for workspace flexibility, and concludes with an outlook towards future potentials.
49
Leinen, Philipp, Malte Esders, Kristof T. Schütt, Christian Wagner, Klaus-Robert Müller, and F. Stefan Tautz. "Autonomous robotic nanofabrication with reinforcement learning." Science Advances 6, no. 36 (September 2020): eabb6987. http://dx.doi.org/10.1126/sciadv.abb6987.
Full textAbstract:
The ability to handle single molecules as effectively as macroscopic building blocks would enable the construction of complex supramolecular structures inaccessible to self-assembly. The fundamental challenges obstructing this goal are the uncontrolled variability and poor observability of atomic-scale conformations. Here, we present a strategy to work around both obstacles and demonstrate autonomous robotic nanofabrication by manipulating single molecules. Our approach uses reinforcement learning (RL), which finds solution strategies even in the face of large uncertainty and sparse feedback. We demonstrate the potential of our RL approach by removing molecules autonomously with a scanning probe microscope from a supramolecular structure. Our RL agent reaches an excellent performance, enabling us to automate a task that previously had to be performed by a human. We anticipate that our work opens the way toward autonomous agents for the robotic construction of functional supramolecular structures with speed, precision, and perseverance beyond our current capabilities.
50
Galin, R. R., V. V. Serebrennyj, G. K. Tevyashov, and A. A. Shiroky. "Human-robot Interaction in Collaborative Robotic Systems." Proceedings of the Southwest State University 24, no. 4 (February 4, 2021): 180–99. http://dx.doi.org/10.21869/2223-1560-2020-24-4-180-199.
Full textAbstract:
Purpose or research is to find solvable tasks for increasing the effectiveness of collaborative interaction between people and robots in ergatic robotic systems, or, in other words, in collaborative robotic systems. Methods. A comprehensive analysis of works published in highly rated peer-reviewed open-access scientific publications was carried out to achieve this goal. Main terms and concepts of collaborative robotics are described in § 1 and their current understanding in the research community is also described. The structure of workspaces in interaction zone of a person and robot is described. The criteria for assigning robot to the class of collaborative ones are also described. The criteria for safe interaction of a person and robot in a single workspace is described in § 2. Various grounds for classifying human-robot interactions in collaborative RTAs are described in § 3. Results. A significant part of published works about collaborative robotics is devoted to the organization of safe man and robot interaction. Less attention is paid to the effectiveness improvement of such interaction. An up-to-date task in the problem of efficiency improvement of collaborative robotic systems is the identification of tasks that have already been solved in other areas - in particular, in the field of organizational systems management. The possibility of using the term "team" for collaborative robots in a collaborative PTC is stated in § 4. A formal problem setting of optimal distribution in teamwork of collaborative robots, similar to the problem of heterogeneous team formation in the theory of organizational systems management is proposed in § 5. Conclusions. Proposed task setting of optimal distribution of works in collaborative robots’ team shows possibility of using results obtained in group of mathematical models of commands formation and functioning for control of collaborative robotic systems in order to increase efficiency of people and robots interaction. It is prospectively to continue the search for adapting models and governance mechanisms to the theory of organizational system management and integrated activities methodology.