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

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.

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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

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Custom Design & Fabrication of 3D printed cast for ankle immobilisation

KnE Engineering ◽

10.18502/keg.v2i2.601 ◽

2017 ◽

Vol 2 (2) ◽

pp. 98 ◽

Cited By ~ 1

Author(s):

Guruprasad Kuppu Rao ◽

Tanmay Shah ◽

Vijay Dayanand Shetty ◽

B. Ravi

Keyword(s):

3D Printing ◽

Data Acquisition ◽

Bone Fracture ◽

Patient Specific ◽

Post Processing ◽

Tibia Bone ◽

Joint Injuries ◽

Custom Design ◽

Inner Surface ◽

3D Printed

<p>Management of bone and joint injuries is commonly done by immobilisation using plaster/fibreglass casts. This study describes design and fabrication of patient specific cast using 3D printing. The 3D printed cast while being patient friendly is superior to earlier casts in healing efficacy and hence redefines the joint immobilisation practice. We present here a case of “walk on brace” design and fabrication using 3D printing. The custom design of ankle immobilisation cast was done for an 18-year-old boy having tibia bone fracture during gymnastic activity. The workflow comprises of anatomical data acquisition, CAD, 3D printing, post processing and clinical approval for use. Additional features such as straps, anti-slip inner surface and tread for floor grip were incorporated in the design. </p>

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Design of the Robotic Arm Using 3D Printed Parts

Lecture Notes in Mechanical Engineering - Proceedings of the 7th International Conference on Industrial Engineering (ICIE 2021) ◽

10.1007/978-3-030-85233-7_45 ◽

2022 ◽

pp. 373-382

Author(s):

I. Bzhikhatlov ◽

P. Simonov

Keyword(s):

Robotic Arm ◽

3D Printed

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3D printed robotic arm with elements of artificial intelligence

Procedia Computer Science ◽

10.1016/j.procs.2020.09.013 ◽

2020 ◽

Vol 176 ◽

pp. 3741-3750

Author(s):

Rafał Siemasz ◽

Krzysztof Tomczuk ◽

Ziemowit Malecha

Keyword(s):

Artificial Intelligence ◽

Robotic Arm ◽

3D Printed

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

Volume 10: 44th Mechanisms and Robotics Conference (MR) ◽

10.1115/detc2020-22035 ◽

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.

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Development and Analysis of Robotic Arms for Humanoid Melo

Volume 4A: Dynamics, Vibration, and Control ◽

10.1115/imece2018-87987 ◽

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.

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

Journal of Mechanisms and Robotics ◽

10.1115/1.4050379 ◽

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.

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An Architecture for Hybrid Manufacturing Combining 3D Printing and CNC Machining

International Journal of Manufacturing Engineering ◽

10.1155/2016/8609108 ◽

2016 ◽

Vol 2016 ◽

pp. 1-12 ◽

Cited By ~ 5

Author(s):

Marcel Müller ◽

Elmar Wings

Keyword(s):

Additive Manufacturing ◽

Cnc Machining ◽

Numerical Control ◽

Manufacturing Processes ◽

Hybrid Manufacturing ◽

Cnc Machine ◽

Subtractive Manufacturing ◽

3D Printed ◽

One Machine ◽

Complex Parts

Additive manufacturing is one of the key technologies of the 21st century. Additive manufacturing processes are often combined with subtractive manufacturing processes to create hybrid manufacturing because it is useful for manufacturing complex parts, for example, 3D printed sensor systems. Currently, several CNC machines are required for hybrid manufacturing: one machine is required for additive manufacturing and one is required for subtractive manufacturing. Disadvantages of conventional hybrid manufacturing methods are presented. Hybrid manufacturing with one CNC machine offers many advantages. It enables manufacturing of parts with higher accuracy, less production time, and lower costs. Using the example of fused layer modeling (FLM), we present a general approach for the integration of additive manufacturing processes into a numerical control for machine tools. The resulting CNC architecture is presented and its functionality is demonstrated. Its application is beyond the scope of this paper.

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