Design and Optimization of a Closed-Chain Mechanism for Constrained Position and Force Control

2004 ◽  
Vol 37 (14) ◽  
pp. 693-698
Author(s):  
A. Mesbah Nejad ◽  
M. Madani ◽  
M. Moallem ◽  
R.V. Patel
Keyword(s):  
Force Control ◽  
Chain Mechanism ◽  
Design And Optimization ◽  
Closed Chain

Modeling and prototyping of a soft closed-chain modular gripper

2019 ◽  
Vol 46 (1) ◽  
pp. 135-145 ◽  
Author(s):  
Muddasar Anwar ◽  
Toufik Al Khawli ◽  
Irfan Hussain ◽  
Dongming Gan ◽  
Federico Renda
Keyword(s):  
Mathematical Model ◽  
Degrees Of Freedom ◽  
Kinematic Model ◽  
Chain Structure ◽  
Mathematical Representation ◽  
Mathematical Framework ◽  
Complex Objects ◽  
Content Type ◽  
Design And Optimization ◽  
Closed Chain

Purpose This paper aims to present a soft closed-chain modular gripper for robotic pick-and-place applications. The proposed biomimetic gripper design is inspired by the Fin Ray effect, derived from fish fins physiology. It is composed of three axisymmetric fingers, actuated with a single actuator. Each finger has a modular under-actuated closed-chain structure. The finger structure is compliant in contact normal direction, with stiff crossbeams reorienting to help the finger structure conform around objects. Design/methodology/approach Starting with the design and development of the proposed gripper, a consequent mathematical representation consisting of closed-chain forward and inverse kinematics is detailed. The proposed mathematical framework is validated through the finite element modeling simulations. Additionally, a set of experiments was conducted to compare the simulated and prototype finger trajectories, as well as to assess qualitative grasping ability. Findings Key Findings are the presented mathematical model for closed-loop chain mechanisms, as well as design and optimization guidelines to develop controlled closed-chain grippers. Research limitations/implications The proposed methodology and mathematical model could be taken as a fundamental modular base block to explore similar distributed degrees of freedom (DOF) closed-chain manipulators and grippers. The enhanced kinematic model contributes to optimized dynamics and control of soft closed-chain grasping mechanisms. Practical implications The approach is aimed to improve the development of soft grippers that are required to grasp complex objects found in human–robot cooperation and collaborative robot (cobot) applications. Originality/value The proposed closed-chain mathematical framework is based on distributed DOFs instead of the conventional lumped joint approach. This is to better optimize and understand the kinematics of soft robotic mechanisms.

scholarly journals Adaptive hybrid position/force control of dual-arm cooperative manipulators with uncertain dynamics and closed-chain kinematics

2017 ◽  
Vol 354 (17) ◽  
pp. 7767-7793 ◽  
Author(s):  
Yi Ren ◽  
Zhengsheng Chen ◽  
Yechao Liu ◽  
Yikun Gu ◽  
Minghe Jin ◽  
...  
Keyword(s):  
Force Control ◽  
Uncertain Dynamics ◽  
Closed Chain ◽  
Dual Arm ◽  
Cooperative Manipulators

A new revolute robot manipulator adapting the closed-chain mechanism

2005 ◽  
Vol 22 (2) ◽  
pp. 99-109 ◽  
Author(s):  
Hyeung-Sik Choi ◽  
Jungmin Oh
Keyword(s):  
Robot Manipulator ◽  
Chain Mechanism ◽  
Closed Chain

Design and Implementation of a Control System for a Flexible Planar Manipulator

Volume 1 ◽  
2004 ◽  
Author(s):  
Adriano Biason ◽  
Alessandro Gasparetto ◽  
Marco Giovagnoni ◽  
Alberto Trevisani ◽  
Vanni Zanotto
Keyword(s):  
Dynamic Model ◽  
Pid Controller ◽  
Controller Synthesis ◽  
Test Case ◽  
Chain Mechanism ◽  
Design And Implementation ◽  
Practical Usefulness ◽  
Closed Chain ◽  
Engineering Environment ◽  
Complex Test

The need for light and flexible robots is greatly increasing in the industrial engineering environment. This paper presents the design and the implementation of a PID controller for a flexible planar manipulator. The controller synthesis and tuning is based on a very accurate dynamic model of the system and is applied to a significant test case, namely a five-bar closed-chain mechanism, driven by two electric motors. The chosen PID controller is described, and the experimental results are presented and discussed. The approach followed proves the practical usefulness of the dynamic model proposed even when applied to a complex test case.

Active Position and Vibration Control of a Flexible Links Mechanism Using Model-Based Predictive Control

2009 ◽  
Vol 132 (1) ◽  
Author(s):  
Paolo Boscariol ◽  
Alessandro Gasparetto ◽  
Vanni Zanotto
Keyword(s):  
Predictive Control ◽  
High Speed ◽  
Position Control ◽  
Robotic Manipulators ◽  
Chain Mechanism ◽  
Flexible Links ◽  
Model Based ◽  
Closed Chain ◽  
Link Flexibility ◽  
Constrained Model

In order to develop an efficient and fast position control for robotic manipulators, vibration phenomena have to be taken into account. Vibrations are mainly caused by the flexibility of manipulator linkages, especially when dealing with high-speed and lightweight robots. In this paper, a constrained model-based predictive control is employed for controlling both position and vibrations in a mechanism with high link flexibility. This kind of controller has so far been used mainly to control slow processes, but here simulation results that show its effectiveness in dealing with high-speed and nonlinear processes are presented. The mechanism chosen to evaluate the performances is a four-link closed chain mechanism laying on the horizontal plane and driven by a single torque-controlled electric motor.

scholarly journals Coordinated compliance control of dual-arm robot astronaut for payload operation

2021 ◽  
Vol 18 (3) ◽  
pp. 172988142110128
Author(s):  
Bingshan Hu ◽  
Lei Yan ◽  
Liangliang Han ◽  
Hongliu Yu
Keyword(s):  
Force Control ◽  
Position Control ◽  
Control Method ◽  
Constraint Equation ◽  
Control Mode ◽  
Control Methods ◽  
Compliance Control ◽  
Closed Chain ◽  
Dual Arm Robot ◽  
Dual Arm

Dual-arm robot astronaut has more general and dexterous operation ability than single-arm robot, and it can interact with astronaut more friendly. The robot will inevitably use both arms to grasp payloads and transfer them. The force control of the arms in closed chains is an important problem. In this article, the coordinated kinematic and dynamic equations of the dual-arm astronaut are established by considering the closed-chain constraint relationship. Two compliance control methods for dual-arm astronaut coordinated payload manipulating are proposed. The first method is called master–slave force control and the second is the shared force control. For the former, the desired path and operational force of the master arm should be given in advance and that of slave arm are calculated from the dual-arm robot closed-chain constraint equation. In the share control mode, the desired path and end operational force of dual arms are decomposed from the dual-arm robot closed-chain constraint equation directly and equally. Finally, the two control algorithms are verified by simulation. The results of analysis of variance of the simulation data show that the two control methods have no obvious difference in the accuracy of force control but the second control method has a higher position control accuracy, and this proves that the master–slave mode is better for tasks with explicit force distribution requirements and the shared force control is especially suitable for a high-precision requirement.

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