Design of intelligent controller for reduction of chattering phenomenon in robotic arm: A rapid prototyping

Modelangelo: a subtractive 5-axis robotic arm for rapid prototyping

Robotics and Computer-Integrated Manufacturing ◽

10.1016/j.rcim.2004.06.004 ◽

2005 ◽

Vol 21 (2) ◽

pp. 133-144 ◽

Cited By ~ 9

Author(s):

R.F. Hamade ◽

F. Zeineddine ◽

B. Akle ◽

A. Smaili

Keyword(s):

Rapid Prototyping ◽

Robotic Arm

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ModelAngelo: A Rapid Prototyping System for Polystyrene

Volume 2: 28th Design Automation Conference ◽

10.1115/detc2002/dac-34137 ◽

2002 ◽

Author(s):

Ahmad Smaili ◽

Ramsey Hemadeh ◽

Firas Zeineddine ◽

Barbar Akle

Keyword(s):

Rapid Prototyping ◽

Robotic Arm ◽

Cad Model ◽

Cnc Machine ◽

3D Cad ◽

Advantages And Disadvantages ◽

Heated Wire ◽

Software And Hardware ◽

Rapid Prototyping System

This paper presents a new complete CAD-driven rapid prototyping system for polystyrene. ModelAngelo, as it is called, consists of six subsystems featuring hardware and software. The system utilizes a virtual 3D CAD model to produce a set of commands used to control a 5-axis CNC Machine to move a heated-wire tool into a block of polystyrene to form the desired surface. The ultimate goal of ModelAngelo is to reach the stage of “what you see is what you get”. An overview of ModelAngelo system is first presented followed by a detailed discussion of ModelAngeloSoftware. The various mechanical subsystems responsible for realizing the final product are then described. Advantages and disadvantages of several tooltip designs are discussed and the best solution is selected. The main features of the robotic arm, which carry the tooltip is also discussed in detail. Finally ModelAngelo controller that manages the interaction between software and hardware is briefly highlighted and possible applications of ModelAngelo are suggested.

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Development of a Blanket Manipulation Tool for Satellite Servicing

Volume 2: 30th Annual Mechanisms and Robotics Conference, Parts A and B ◽

10.1115/detc2006-99204 ◽

2006 ◽

Author(s):

Thierry Laliberte´ ◽

Cle´ment M. Gosselin

Keyword(s):

Rapid Prototyping ◽

State Of The Art ◽

Mechanical Design ◽

Experimental Results ◽

Robotic Arm ◽

Rigid Surface ◽

Orbit Satellite ◽

Satellite Servicing ◽

Passive Compliance ◽

Robotic Tools

It is expected that unmanned on-orbit satellite servicing will soon become state-of-the-art operations. Such tasks will require new robotic tools. In this context, this paper presents the development of a grasping tool for the handling of satellitic thermal blankets. The mechanical design of the tool is first addressed. Mainly, actuated jaws adapted to grasp and lift a thermal blanket attached with velcros are developed. Also, passive compliance is included in order to cope with a position controlled robotic arm and a rigid surface. Then, sensing issues are discussed and included in the design. These features are integrated in a prototype mainly built of plastic by rapid prototyping. Finally, experimental results show that the tool developed in this work is capable of effectively removing thermal blankets.

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