Design of the Robotic Arm Using 3D Printed Parts

2022 ◽  
pp. 373-382
Author(s):  
I. Bzhikhatlov ◽  
P. Simonov
Keyword(s):  
Robotic Arm ◽  
3D Printed

scholarly journals DESIGN OF A 3D-PRINTED THREE-CLAW ROBOTIC GRIPPER END-EFFECTOR

2021 ◽  
Vol 11 (4) ◽  
pp. 70-79
Author(s):  
Dino Dominic Forte Ligutan ◽  
Argel Alejandro Bandala ◽  
Jason Limon Española ◽  
Richard Josiah Calayag Tan Ai ◽  
Ryan Rhay Ponce Vicerra ◽  
...  
Keyword(s):  
3D Printing ◽  
Polylactic Acid ◽  
Grip Force ◽  
Thermoplastic Polyurethane ◽  
Robotic Arm ◽  
End Effector ◽  
Design Considerations ◽  
3D Printed ◽  
Materials Used ◽  
Metal Work

The development of a novel 3D-printed three-claw robotic gripper shall be described in this paper with the goal of incorporating various design considerations. Such considerations include the grip reliability and stability, grip force maximization, wide object grasping capability. Modularization of its components is another consideration that allows its parts to be easily machined and reusable. The design was realized by 3D printing using a combination of tough polylactic acid (PLA) material and thermoplastic polyurethane (TPU) material. In practice, additional tolerances were also considered for 3D printing of materials to compensate for possible expansion or shrinkage of the materials used to achieve the required functionality. The aim of the study is to explore the design and eventually deploy the three-claw robotic gripper to an actual robotic arm once its metal work fabrication is finished.

Implementation and Validation of Thor 3D Printed Open Source Robotic Arm

2020 ◽  
Vol 18 (05) ◽  
pp. 907-913
Author(s):  
J. Costa ◽  
T. Machado ◽  
M. Carneiro
Keyword(s):  
Open Source ◽  
Robotic Arm ◽  
3D Printed

scholarly journals HydraX, a 3D printed robotic arm for Hybrid Manufacturing. Part I: Custom Design, Manufacturing and Assembly

2020 ◽  
Vol 51 ◽  
pp. 103-108
Author(s):  
Agathoklis A. Krimpenis ◽  
Vasileios Papapaschos ◽  
Evgenios Bontarenko
Keyword(s):  
Robotic Arm ◽  
Hybrid Manufacturing ◽  
Custom Design ◽  
3D Printed

scholarly journals 3D printed robotic arm with elements of artificial intelligence

2020 ◽  
Vol 176 ◽  
pp. 3741-3750
Author(s):  
Rafał Siemasz ◽  
Krzysztof Tomczuk ◽  
Ziemowit Malecha
Keyword(s):  
Artificial Intelligence ◽  
Robotic Arm ◽  
3D Printed

A Continuously Tunable Stiffness Arm With Cable-Driven Mechanisms for Safe Physical Human-Robot Interaction

2020 ◽  
Author(s):  
Yu She ◽  
Zhaoyuan Gu ◽  
Siyang Song ◽  
Hai-Jun Su ◽  
Junmin Wang
Keyword(s):  
Variable Stiffness ◽  
Human Robot Interaction ◽  
Robotic Arm ◽  
Robot Arm ◽  
Robot Interaction ◽  
Safety Issues ◽  
Compliant Joints ◽  
Mechanical Compliance ◽  
3D Printed ◽  
Tunable Stiffness

Abstract In this paper, we present a continuously tunable stiffness arm for safe physical human-robot interactions. Compliant joints and compliant links are two typical solutions to address safety issues for physical human-robot interaction via introducing mechanical compliance to robotic systems. While extensive studies explore variable stiffness joints/actuators, variable stiffness links for safe physical human-robot interactions are much less studied. This paper details the design and modeling of a compliant robotic arm whose stiffness can be continuously tuned via cable-driven mechanisms actuated by a single servo motor. Specifically, a 3D printed compliant robotic arm is prototyped and tested by static experiments, and an analytical model of the variable stiffness arm is derived and validated by testing. The results show that the lateral stiffness of the robot arm can achieve a variety of 221.26% given a morphing angle of 90°. The study demonstrates that the compliant link design could be a promising approach to address safety concerns for safe physical human-robot interactions.

Development and Analysis of Robotic Arms for Humanoid Melo

2018 ◽  
Author(s):  
He Shen ◽  
Salvador Rojas ◽  
Eduardo Molina ◽  
Francisco Moxo Galicia ◽  
Ni Li
Keyword(s):  
Low Cost ◽  
Degree Of Freedom ◽  
Robotic Arm ◽  
Design Development ◽  
Brushless Dc Motors ◽  
Robotic Arms ◽  
Brushless Dc ◽  
Dc Motors ◽  
Comparable Performance ◽  
3D Printed

A robotic arm is one of the most sophisticated components of a humanoid, due to its complexity in multi-degree-of-freedom actuation and sensing, size and weight constraints, and requirement for object manipulation. This paper talks about the design, development, and verification of a low-cost, light-weight robotic manipulator that can achieve anthropomorphic movements. The 5 degree-of-freedom robotic arm has a fully extended length of 31 – inches and weight of 7 - pounds. The joints of the arm were fabricated using mainly 3D printed parts using Polylactic Acid and Nylon and linked with carbon fiber tubing. The arm is actuated by 2 servo motors at the distal joint and 3 brushless DC motors at the proximal joints. All joints of the arm perform at zero backlash through harmonic gear boxes, which are also assembled mainly from 3D printed parts. The robotic arm has demonstrated a comparable performance to similar robotic arms on the market with significantly reduced cost.

Design, Modeling, and Manufacturing of a Variable Lateral Stiffness Arm via Shape Morphing Mechanisms

2021 ◽  
pp. 1-15
Author(s):  
Yu She ◽  
Zhaoyuan Gu ◽  
Siyang Song ◽  
Hai-Jun Su ◽  
Junmin Wang
Keyword(s):  
Variable Stiffness ◽  
Robotic Arm ◽  
Lateral Stiffness ◽  
Robot Arm ◽  
Safety Issues ◽  
Shape Morphing ◽  
Compliant Joints ◽  
Mechanical Compliance ◽  
3D Printed ◽  
Tunable Stiffness

Abstract In this paper, we present a continuously tunable stiffness arm for safe physical human-robot interactions. Compliant joints and compliant links are two typical solutions to address safety issues for physical human-robot interactions via introducing mechanical compliance to robotic systems. While extensive studies explore variable stiffness joints/actuators, variable stiffness links for safe physical human-robot interactions are much less studied. This paper details the design and modeling of a compliant robotic arm whose stiffness can be continuously tuned via cable-driven mechanisms actuated by a single servo motor. Specifically, a 3D printed compliant robotic arm is prototyped and tested by static experiments, and an analytical model of the variable stiffness arm is derived and validated by testing. The results show that the lateral stiffness of the robot arm can achieve a variety of 221.26 % given a morphing angle of 90°. The variable stiffness arm design developed in this study could be a promising approach to address safety concerns for safe physical human-robot interactions.

scholarly journals HydraX, a 3D printed robotic arm for Hybrid Manufacturing. Part II: Control, Calibration & Programming

2020 ◽  
Vol 51 ◽  
pp. 109-115
Author(s):  
Vasileios Papapaschos ◽  
Evgenios Bontarenko ◽  
Agathoklis A. Krimpenis
Keyword(s):  
Robotic Arm ◽  
Hybrid Manufacturing ◽  
3D Printed

scholarly journals Reachy, a 3D-Printed Human-Like Robotic Arm as a Testbed for Human-Robot Control Strategies

2019 ◽  
Vol 13 ◽  
Author(s):  
Sébastien Mick ◽  
Mattieu Lapeyre ◽  
Pierre Rouanet ◽  
Christophe Halgand ◽  
Jenny Benois-Pineau ◽  
...  
Keyword(s):  
Robot Control ◽  
Control Strategies ◽  
Robotic Arm ◽  
3D Printed

scholarly journals Bio Scaffolds

2021 ◽  
pp. 316-329
Author(s):  
N. Alima ◽  
R. Snooks ◽  
J. McCormack
Keyword(s):  
Color Variation ◽  
Robotic Arm ◽  
Natural Growth ◽  
Feedback Controls ◽  
Natural Behavior ◽  
End Effector ◽  
Biodegradable Scaffolds ◽  
Mycelia Growth ◽  
3D Printed ◽  
Computer Vision Systems

Abstract‘Bio Scaffolds’ explores a series of design tectonics that emerge from a co-creation between human, machine and natural intelligences. This research establishes an integral connection between form and materiality by enabling biological materials to become a co-creator within the design and fabrication process. In this research paper, we explore a hybrid between architectural aesthetics and biological agency by choreographing natural growth through form. ‘Bio Scaffolds’ explores a series of 3D printed biodegradable scaffolds that orchestrate both Mycelia growth and degradation through form. A robotic arm is introduced into the system that can respond to the organism’s natural behavior by injecting additional Mycelium culture into a series of sacrificial frameworks. Equipped with computer vision systems, feedback controls, scanning processes and a multi-functional end-effector, the machine tends to nature by reacting to its patterns of growth, moisture, and color variation. Using this cybernetic intelligence, developed between human, machine, and Mycelium, our intention is to generate unexpected structural and morphological forms that are represented via a series of 3D printed Mycelium enclosures. ‘Bio Scaffolds’ explores an interplay between biological and computational complexity through non anthropocentric micro habitats.

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