Bio Scaffolds

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.

Download Full-text

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

ASEAN Engineering Journal ◽

10.11113/aej.v11.17865 ◽

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.

Download Full-text

Design, Modelling and Simulation of a Rotational Robotic Arm

Volume 2B: Advanced Manufacturing ◽

10.1115/imece2020-24584 ◽

2020 ◽

Author(s):

Bin Wei

Keyword(s):

Angular Velocity ◽

3D Model ◽

Modelling And Simulation ◽

Robotic Arm ◽

Forward Kinematics ◽

Position Vector ◽

Control Law ◽

Model Design ◽

End Effector ◽

Design And Optimization

Abstract In this paper, a rotational robotic arm is designed, modelled and optimized. The 3D model design and optimization are conducted by using SolidWorks. Forward kinematics are derived so as to determine the position vector of the end effector with respect to the base, and subsequently being able to calculate the angular velocity and torque of each joint. For the goal positioning problem, the PD control law is typically used in industry. It is employed in this application by using virtual torsional springs and frictions to generate the torques and to keep the system stable.

Download Full-text

Vision-Based Trajectory Generation for a Two-Link Robotic Arm Using Quadtree Decomposition and Curve Smoothing

Advanced Materials Research ◽

10.4028/www.scientific.net/amr.108-111.1439 ◽

2010 ◽

Vol 108-111 ◽

pp. 1439-1445

Author(s):

Shahed Shojaeipour ◽

Sallehuddin Mohamed Haris ◽

Ehsan Eftekhari ◽

Ali Shojaeipour ◽

Ronak Daghigh

Keyword(s):

Image Processing ◽

A Priori ◽

Trajectory Generation ◽

Robotic Arm ◽

Generation System ◽

End Effector ◽

Quadtree Decomposition ◽

Practical Applications ◽

Robot Trajectory ◽

Curve Smoothing

In this article, the development of an autonomous robot trajectory generation system based on a single eye-in-hand webcam, where the workspace map is not known a priori, is described. The system makes use of image processing methods to identify locations of obstacles within the workspace and the Quadtree Decomposition algorithm to generate collision free paths. The shortest path is then automatically chosen as the path to be traversed by the robot end-effector. The method was implemented using MATLAB running on a PC and tested on a two-link SCARA robotic arm. The tests were successful and indicate that the method could be feasibly implemented on many practical applications.

Download Full-text

Shape Optimum Design of Robotic Manipulators With Static Performance Criteria

13th Design Automation Conference: Volume 2 — Robotics, Mechanisms, and Machine Systems ◽

10.1115/detc1987-0061 ◽

1987 ◽

Author(s):

D. A. Saravanos ◽

J. S. Lamancusa ◽

H. J. Sommer

Keyword(s):

Finite Element ◽

Optimum Design ◽

Robotic Manipulators ◽

Performance Criterion ◽

Performance Criteria ◽

Robotic Arm ◽

Mass Ratio ◽

End Effector ◽

Vibrational Response ◽

Static Performance

Abstract The end effector deflections of robotic manipulators may be minimized by optimizing the geometric shape and the dimensions of their links. A multiple posture static performance criterion for the prediction of the shape optimum design is presented. An efficient optimization algorithm is developed for the solution of the problem using finite element modeling to predict the compliance of the robotic arm. The method is applied to an existing robotic arm, and the results demonstrate that simple alterations to the dimensions and the shape of the links can greatly improve, not only the stiffness, but also the stiffness/mass ratio and consequently the vibrational response of the manipulator structure.

Download Full-text

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

IEEE Latin America Transactions ◽

10.1109/tla.2020.9082919 ◽

2020 ◽

Vol 18 (05) ◽

pp. 907-913

Author(s):

J. Costa ◽

T. Machado ◽

M. Carneiro

Keyword(s):

Open Source ◽

Robotic Arm ◽

3D Printed

Download Full-text

Inverse Kinematics Modelling and Simulation for Upper Case Writing Robot Control Using ANFIS

Applied Mechanics and Materials ◽

10.4028/www.scientific.net/amm.836.37 ◽

2016 ◽

Vol 836 ◽

pp. 37-41 ◽

Cited By ~ 2

Author(s):

Adlina Taufik Syamlan ◽

Bambang Pramujati ◽

Hendro Nurhadi

Keyword(s):

Image Processing ◽

Character Recognition ◽

Inverse Kinematics ◽

Robot Control ◽

Industrial Revolution ◽

Training Data ◽

Robotic Arm ◽

End Effector ◽

Precision And Accuracy ◽

Case Writing

Robotics has lots of use in the industrial world and has lots of development since the industrial revolution, due to its qualities of high precision and accuracy. This paper is designed to display the qualities in a form of a writing robot. The aim of this study is to construct the system based on data gathered and to develop the control system based on the model. There are four aspects studied for this project, namely image processing, character recognition, image properties extraction and inverse kinematics. This paper served as discussion in modelling the robotic arm used for writing robot and generating theta for end effector position. Training data are generated through meshgrid, which is the fed through anfis.

Download Full-text

7-DOF Cable-Driven Humanoid Robotic Arm

Volume 6: 35th Mechanisms and Robotics Conference, Parts A and B ◽

10.1115/detc2011-48276 ◽

2011 ◽

Author(s):

Jun Ding ◽

Robert L. Williams

Keyword(s):

Linear Programming ◽

Robotic Arm ◽

Kinematics And Dynamics ◽

Dynamics Analysis ◽

Kinematics Analysis ◽

End Effector ◽

Motion Range ◽

Potential Benefits ◽

Redundant Mechanism ◽

Joint Limits

The purpose of this paper is to study a 7-DOF humanoid cable-driven robotic arm, implement kinematics and dynamics analysis, present different cable-driven designs and evaluate their merits and drawbacks. Since this is a redundant mechanism, kinematics optimization is used to avoid joint limits, singularities and obstacles. Cable kinematics analysis studies the relationships between cable length and the end-effector pose. This is a design modified from the literature. Several new designs are compared in pseudostatics analysis of the arm and a favorable design is suggested in terms of motion range and the cable tensions. Linear programming is used to optimize cable tensions. Dynamics analysis shows that the energy consumption of a cable-driven arm is much less than that of traditional motor-driven arm. Cable-driven robots have potential benefits but also some limitations.

Download Full-text