An Extendable Continuum Robot Arm to Deal with a Confined Space Having Discontinuous Contact Area

2021 ◽  
pp. 265-273
Author(s):  
Daisuke Matsuura ◽  
Ryota Shioya ◽  
H. Harry Asada ◽  
Yukio Takeda
Keyword(s):  
Contact Area ◽  
Robot Arm ◽  
Confined Space ◽  
Continuum Robot

scholarly journals Development of Continuum Robot Arm and Gripper for Harvesting Cherry Tomatoes

2019 ◽  
Author(s):  
Azamat Yeshmukhametov ◽  
Koichi Koganezawa ◽  
Zholdas Buribayev ◽  
Yedilkhan Amirgaliyev ◽  
Yoshio Yamamoto
Keyword(s):  
Machine Learning ◽  
Recognition System ◽  
Stem Cutting ◽  
Robot Arm ◽  
Design And Development ◽  
Challenging Issue ◽  
Continuum Robot ◽  
Unstructured Environment ◽  
Backbone Structure ◽  
Cherry Tomatoes

Designing and development of agricultural robot is always a challenging issue, because of robot intends to work an unstructured environment and at the same time, it should be safe for the surrounded plants. Therefore, traditional robots cannot meet the high demands of modern challenges, such as working in confined and unstructured workspaces. Based on current issues, we developed a new tomato harvesting wire-driven discrete continuum robot arm with a flexible backbone structure for working in confined and extremely constrained spaces. Moreover, we optimized a tomato detaching process by using newly designed gripper with passive stem cutting function. Moreover, by designing the robot we also developed ripe tomato recognition by using machine learning. This paper explains the proposed continuum robot structure, gripper design, and development of tomato recognition system.

scholarly journals Novel Design of a Soft Lightweight Pneumatic Continuum Robot Arm with Decoupled Variable Stiffness and Positioning

Soft Robotics ◽  
2018 ◽  
Vol 5 (1) ◽  
pp. 54-70 ◽  
Author(s):  
Maria Elena Giannaccini ◽  
Chaoqun Xiang ◽  
Adham Atyabi ◽  
Theo Theodoridis ◽  
Samia Nefti-Meziani ◽  
...  
Keyword(s):  
Variable Stiffness ◽  
Robot Arm ◽  
Continuum Robot ◽  
Novel Design

scholarly journals Criteria for the design of an educational robotics platform

Athenea ◽  
2020 ◽  
Vol 1 (1) ◽  
pp. 29-40
Author(s):  
Omar Flor ◽  
Mauricio Fuentes ◽  
Carlos Toapanta
Keyword(s):  
Mobile Robot ◽  
International Symposium ◽  
Latin American ◽  
Mobile Robotics ◽  
Structure Design ◽  
Robot Arm ◽  
Confined Space ◽  
International Conference ◽  
Ieee International Conference ◽  
Robot Platform

This document explains the criteria, considerations and formulations used for the design of the main components of a mobile platform with a robotic arm. This type of robot is one of the most used in the educational field, it facilitates learning and allows the incorporation of control strategies for navigation. Aspects of resistance of materials useful for branches of engineering that lack bases on mechanics are raised. Keywords: Design; robot; platform; educational. References [1]O. Flor, W. Hernandez, O. Vargas, A. Mendez, O. Sergiyenko and V. Tyrsa, "Construction of a Robotic Platform of Differential Type for First-Year Students of Electronic Engineering", International Symposium on Power Electronics, Electrical Drives, Automation and Motion (SPEEDAM), Sorrento, Italy, 2020, pp. 538-543, doi: 10.1109/SPEEDAM48782.2020.9161870. [2]O. Flor, “Building a mobile robot”, Education for the future, 2020 [Online] Available: https://omarflor2014. wixsite.com/misitio. [Last Access: February 10, 2020]. [3]A. Ollero, “ROBÓTICA: Manipuladores y robots móviles, Marcombo Boixareu Editores, 2001, Chapters 1-2 (pp. 1-37), Chapter 4 (pp. 85-87), Chapter 9 (pp. 258-267), and Chapter 10 (pp. 303-327). [4]K. Pitti, L. Muñoz, I. Moreno, J. Serracín, “La robótica educativa, una herramienta para la enseñanza-aprendizaje de las ciencias y tecnologías”, Researchgate, pp. 74-90, 2012. [5]E. Ruiz, R. Acuña, N. Certad, A. Terrones and M. E. Cabrera, "Development of a Control Platform for the Mobile Robot Roomba Using ROS and a Kinect Sensor", 2013 Latin American Robotics Symposium and Competition, Arequipa, 2013, pp. 55-60. doi: 10.1109/LARS.2013.57J. [6]J. Wu, C. Lv, L. Zhao, R. Li and G. Wang, "Design and implementation of an omnidirectional mobile robot platform with unified I/O interfaces," 2017 IEEE International Conference on Mechatronics and Automation (ICMA), Takamatsu, 2017, pp. 410-415. doi: 10.1109/ICMA.2017.8015852. [7]M. Ali, W. Yusoff, Z. Hamedon, M. Yussof and M. Mailah, Mechatronic design and development of an autonomous mobile robotics system for road marks painting, IEEE Industrial Electronics and Applications Conference, 2016, pp. 336-341, doi: 10.1109/IEACON.2016.8067401. [8]H. Guo , K. Su , K. Hsia , and J. Wang , Development of the mobile robot with a robot arm, Proceedings IEEE International Conference on Industrial Technology (ICIT), Taipei, Taiwan, 2016, pp. 1648-1653. [9]R. A. Orozco-Velázquez et al., Ackerman Mobile Robot with Arm,International Conference on Mechatronics, Electronics and Automotive Engineering (ICMEAE), Cuernavaca, 2016, pp. 55-60, doi: 10.1109/ICMEAE. 2016.019. [10]A. Razak et al., Mobile robot structure design, modeling and simulation for confined space application, 2nd IEEE International Symposium on Robotics and Manufacturing Automation (ROMA), 2016 Ipoh, 2016, pp. 1-5. doi: 10.1109/ROMA.2016.7847808.  

scholarly journals Recent Advances in Design and Actuation of Continuum Robots for Medical Applications

Actuators ◽  
2020 ◽  
Vol 9 (4) ◽  
pp. 142
Author(s):  
Yong Zhong ◽  
Luohua Hu ◽  
Yinsheng Xu
Keyword(s):  
Degrees Of Freedom ◽  
Engineering Ethics ◽  
The Body ◽  
Confined Space ◽  
Medical Field ◽  
Continuum Robots ◽  
Surgical Interventions ◽  
New Methods ◽  
Continuum Robot ◽  
The Continuum

Traditional rigid robot application in the medical field is limited due to the limited degrees of freedom caused by their material and structure. Inspired by trunk, tentacles, and snakes, continuum robot (CR) could traverse confined space, manipulate objects in complex environment, and conform to curvilinear paths in space. The continuum robot has broad prospect in surgery due to its high dexterity, which can reach circuitous areas of the body and perform precision surgery. Recently, many efforts have been done by researchers to improve the design and actuation methods of continuum robots. Several continuum robots have been applied in clinic surgical interventions and demonstrated superiorities to conventional rigid-link robots. In this paper, we provide an overview of the current development of continuum robots, including the design principles, actuation methods, application prospect, limitations, and challenge. And we also provide perspective for the future development. We hope that with the development of material science, Engineering ethics, and manufacture technology, new methods can be applied to manufacture continuum robots for specific surgical procedures.

scholarly journals A Novel Discrete Wire-Driven Continuum Robot Arm with Passive Sliding Disc: Design, Kinematics and Passive Tension Control

Robotics ◽  
2019 ◽  
Vol 8 (3) ◽  
pp. 51 ◽  
Author(s):  
Yeshmukhametov ◽  
Koganezawa ◽  
Yamamoto
Keyword(s):  
Inverse Kinematics ◽  
Tension Control ◽  
Passive Tension ◽  
Robot Arm ◽  
Continuum Robot ◽  
Continuum Structure ◽  
Forward And Inverse Kinematics ◽  
The Wire ◽  
Pushing And Pulling ◽  
The Continuum

Wire-driven continuum manipulators are gaining more attention due to their flexibility and dexterity features. In comparison with traditional manipulators, the continuum structure is compliant and safe for human tissue and is able to easily adapt to the unstructured environment. Despite its advantages, wire-driven mechanisms have a serious problem with tension. While pushing and pulling, the wire loses tension, which leads to an ineffective way of driving the pulleys. Therefore, in this research, we propose a novel discrete continuum robot arm with a passive pre-tension mechanism that avoids the wire tension problem. Moreover, this paper will describe the backbone design of the discrete continuum arm and pre-tension mechanism structure, as well as forward and inverse kinematics and kinetic solutions, with simulation results.

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