scholarly journals Stretchable origami robotic arm with omnidirectional bending and twisting

2021 ◽  
Vol 118 (36) ◽  
pp. e2110023118
Author(s):  
Shuai Wu ◽  
Qiji Ze ◽  
Jize Dai ◽  
Nupur Udipi ◽  
Glaucio H. Paulino ◽  
...  
Keyword(s):  
Robotic Systems ◽  
Robotic Arm ◽  
Small Scale ◽  
Magnetic Actuation ◽  
Working Mechanism ◽  
Digit Number ◽  
Robotic Arms ◽  
Multiple Unit ◽  
Embodied Intelligence ◽  
Double Digit

Inspired by the embodied intelligence observed in octopus arms, we introduce magnetically controlled origami robotic arms based on Kresling patterns for multimodal deformations, including stretching, folding, omnidirectional bending, and twisting. The highly integrated motion of the robotic arms is attributed to inherent features of the reconfigurable Kresling unit, whose controllable bistable deploying/folding and omnidirectional bending are achieved through precise magnetic actuation. We investigate single- and multiple-unit robotic systems, the latter exhibiting higher biomimetic resemblance to octopus’ arms. We start from the single Kresling unit to delineate the working mechanism of the magnetic actuation for deploying/folding and bending. The two-unit Kresling assembly demonstrates the basic integrated motion that combines omnidirectional bending with deploying. The four-unit Kresling assembly constitutes a robotic arm with a larger omnidirectional bending angle and stretchability. With the foundation of the basic integrated motion, scalability of Kresling assemblies is demonstrated through distributed magnetic actuation of double-digit number of units, which enables robotic arms with sophisticated motions, such as continuous stretching and contracting, reconfigurable bending, and multiaxis twisting. Such complex motions allow for functions mimicking octopus arms that grasp and manipulate objects. The Kresling robotic arm with noncontact actuation provides a distinctive mechanism for applications that require synergistic robotic motions for navigation, sensing, and interaction with objects in environments with limited or constrained access. Based on small-scale Kresling robotic arms, miniaturized medical devices, such as tubes and catheters, can be developed in conjunction with endoscopy, intubation, and catheterization procedures using functionalities of object manipulation and motion under remote control.

Automated liquid filling system with a robotic arm conveyor for small scale industries

2021 ◽  
Author(s):  
Abdulrazaq Nafiu Abubakar ◽  
Suman Lata Dhar ◽  
Abdullateef Abba Tijjani ◽  
Auwalu Muhammad Abdullahi
Keyword(s):  
Robotic Arm ◽  
Small Scale ◽  
Filling System ◽  
Small Scale Industries

Complete Accessibility of Oscillations in Robotic Systems by Orthogonal Projections

1990 ◽  
Vol 112 (2) ◽  
pp. 194-202 ◽  
Author(s):  
Sabri Tosunoglu ◽  
Shyng-Her Lin ◽  
Delbert Tesar
Keyword(s):  
Current Practice ◽  
Industrial Robot ◽  
Robotic Systems ◽  
Orthogonal Projections ◽  
Small Oscillations ◽  
Robotic Arms ◽  
Driven System ◽  
System Equations ◽  
Six Degree Of Freedom

The current practice of controller development for flexible robotic systems generally focuses on one-link robotic arms and is valid for small oscillations. This work addresses the control of n-link, serial, spatial robotic systems modeled with m1 joint and m2 link flexibilities such that n≥m1+m2. System compliance is modeled by local springs and nonactuated prismatic and revolute type pseudo joints. The coupled, nonlinear, error-driven system equations are derived for the complete model without linearization or neglecting certain terms. For this system, the complete accessibility of vibrations is studied by orthogonal projections. It is shown that under some configurations of a robotic system, the induced oscillations may not be accessible to the controller. Given accessibility, the controller developed in this work assures the global asymptotic stability of the system. Example numerical simulations are presented based on the model of a six-degree-of-freedom Cincinnati Milacron T3-776 industrial robot. One example models the system compliance in four joints, while another case study simulates four lateral link oscillations. These examples show that this controller, even under inaccurate payload description, eliminates the oscillations while tracking desired trajectories.

ROBOTS AND APPAREL MANUFACTURING

2021 ◽  
Vol 0 (15) ◽  
pp. 0-0
Author(s):  
Ahmet ÖZBEK ◽  
Oğuzhan PEKİNALP
Keyword(s):  
Quality Control ◽  
Humanoid Robot ◽  
Robotic Systems ◽  
Robotic Arm ◽  
Apparel Manufacturing ◽  
Robot Gripper ◽  
The People ◽  
Apparel Production ◽  
The Subject ◽  
Robot Technology

Aim: The main purpose of this manuscript is to examine the robot technologies developed or under development for use in apparel production. Then, based on the identified related robotic technologies, it is aimed to inform the apparel clothing companies about the latest status of robot technologies and to provide information about the identified shortcomings to the people or institutions interested in this field, leading to new studies. Method: Within the scope of the manuscript, the literature on the subject was searched. Results: As a result of the literature review, robotics developed or under development to perform fabric laying (PR2 robot, Gripper and Picking Pad), sewing (Kuka LWR 4 and Robotic Arm), ironing (Baxter and Humanoid robot TEO) and packaging (Robot Motoman SDA10D) technologies have been identified. However, no robot technology has been found for cutting and quality control processes. Conclusion: Although many robotic systems have been developed for use in the apparel production, it has been understood that new R&D studies are needed in this area in order for the production to be fully robotized.

scholarly journals Gesture Control of Robotic Arm

2017 ◽  
Vol 7 (1) ◽  
pp. 1
Author(s):  
Dharshan Y. ◽  
Vivek S. ◽  
Saranya S. ◽  
Aarthi V.R. ◽  
Madhumathi T.
Keyword(s):  
Batch Process ◽  
Robotic Arm ◽  
Robotic Arms ◽  
Key Technology ◽  
Cleaning Robot ◽  
Gesture Control ◽  
Major Chemical

<div><p><em>Robots have become a key technology in various fields. Robotic arms are mostly remote controlled by buttons or panels and sometimes in batch process they are autonomous. The usage of panel boards or control sticks includes a lot of hardwiring and subject to malfunction.  It also induces some stress on the operators. Hence major chemical industries like cosmetic manufacturing, paint manufacturing and Biosynthesis laboratory etc., which deals with hazardous environment due to the chemicals and other bio substances, involve humans for the processing. The aim is to reduce the bulk of wiring in the robotic arms and reduce the effort and number of operators in controlling the robotic arm operations. To implement gestures into the process this would be a major breakthrough. This can also be used as pick &amp; place robot, a cleaning robot in chemical industries where a human does not need to directly involved in the process of cleaning the chemicals and also for coating underground tanks.</em></p></div>

scholarly journals Artificial Intelligence-Driven Autonomous Robot for Precision Agriculture

2021 ◽  
Vol 24 (1) ◽  
pp. 48-54
Author(s):  
Ivan Beloev ◽  
Diyana Kinaneva ◽  
Georgi Georgiev ◽  
Georgi Hristov ◽  
Plamen Zahariev
Keyword(s):  
Artificial Intelligence ◽  
Precision Agriculture ◽  
Communication Systems ◽  
Robotic Systems ◽  
Small Scale ◽  
Construction Process ◽  
End User ◽  
Agricultural Robots ◽  
Agricultural Enterprises ◽  
Human Labour

AbstractIn the recent years, robotic systems became more advanced and more accessible. This has led to their slow, but stable integration and use in different processes and applications, including in the agricultural domain. Nowadays, agricultural robots are developed with the aim to replace the human labour in the otherwise exhausting, time-consuming or dangerous activities. Agricultural robotic systems provide many advantages, which can differ based on the type of the robot and its sensors, actuators and communication systems. This paper presents the design, the construction process, the main characteristics and the evaluation of a prototype of a small-scale agricultural robot that can be used for some of the simplest activities in agricultural enterprises. The robot is designed as an end-user autonomous mobile system, which is capable of self-localization and can map or inspect a specific farming area. The decision-making capabilities of the robot are based on artificial intelligence (AI) algorithms, which allow it to perform specific actions in accordance to the situation and the surrounding environment. The presented prototype is in its early development and evaluation stages and the paper concludes with discussions on the possible further improvements of the platform.

Trajectory Optimization and Simulation of Aerospace Robotic Arm

2013 ◽  
Vol 655-657 ◽  
pp. 1057-1060
Author(s):  
Li Jun Zong ◽  
Guang Kuo Wang ◽  
Xin Li ◽  
Lei Wang ◽  
Xiao Min Zhang ◽  
...  
Keyword(s):  
Trajectory Optimization ◽  
Inverse Kinematics ◽  
Aerospace Engineering ◽  
Robotic Arm ◽  
Robotic Arms ◽  
Kinematics Model ◽  
Six Dof ◽  
Optimization And Simulation ◽  
Vehicle Activity

Aerospace robotic arms have important applications in aerospace engineering (capture satellite, develop the technology of extra-vehicle activity (EVA), etc.) This paper first introduces the development and background of the Aerospace Robotic Arm. In later sections, a kinematics model of a Six-DOF manipulator is built based on DenavitHartenberg(D-H) method, then, the paper discusses an inverse kinematics solving method of the manipulator. At last, we show the simulation by integrating the use of SolidWorks, Matlab, and a number of their modules.

Fuzzy model predictive control for 2-DOF robotic arms

2018 ◽  
Vol 38 (5) ◽  
pp. 568-575 ◽  
Author(s):  
Weilin Yang ◽  
Wentao Zhang ◽  
Dezhi Xu ◽  
Wenxu Yan
Keyword(s):  
Model Predictive Control ◽  
Predictive Control ◽  
Fuzzy Model ◽  
Robotic Arm ◽  
Real Time System ◽  
Content Type ◽  
Loop Control ◽  
Robotic Arms ◽  
Intrinsic Nonlinearity ◽  
Robotic Arm Control

Purpose Robotic arm control is challenging due to the intrinsic nonlinearity. Proportional-integral-derivative (PID) controllers prevail in many robotic arm applications. However, it is usually nontrivial to tune the parameters in a PID controller. This paper aims to propose a model-based control strategy of robotic arms. Design/methodology/approach A Takagi–Sugeno (T-S) fuzzy model, which is capable of approximating nonlinear systems, is used to describe the dynamics of a robotic arm. Model predictive control (MPC) based on the T-S fuzzy model is considered, which optimizes system performance with respect to a user-defined cost function. Findings The control gains are optimized online according to the real-time system state. Furthermore, the proposed method takes into account the input constraints. Simulations demonstrate the effectiveness of the fuzzy MPC approach. It is shown that asymptotic stability is achieved for the closed-loop control system. Originality/value The T-S fuzzy model is discussed in the modeling of robotic arm dynamics. Fuzzy MPC is used for robotic arm control, which can optimize the transient performance with respect to a user-defined criteria.

scholarly journals A Novel Robotic Arm Design for Small Scale Industries Using myRIO

2018 ◽  
Vol 7 (4.6) ◽  
pp. 257
Author(s):  
M. Srilatha ◽  
R. Hemalatha
Keyword(s):  
Working Conditions ◽  
Raw Materials ◽  
Technological Development ◽  
Low Cost ◽  
Robotic Arm ◽  
Small Scale ◽  
Starting Point ◽  
Complete Automation ◽  
Human Effort ◽  
Small Scale Industries

In small-scale industries, under extreme working conditions, personnel are frequently involved in lifting and carrying raw materials, which is hazardous at times. Robot, a machine with intelligence can perform the same task with the help of control instructions fed by computer or remote control. Technological development in the area of robotics made it possible to design robotic arm with the same degree of precision as a replacement to the human intervention. This will introduce automation in small-scale industries, which saves time, reduces human effort and expenditure in production. Further, this will be a starting point for complete automation of entire process, which can be expensive and complicated. NI LabVIEW along with NI-myRIO can provide a better solution in designing a more precise and accurate robot in a very low cost, which is affordable by small-scale industries. NI-myRIO is used to generate and acquire signals for controlling and processing. Further it has an inbuilt processor and FPGA which has many reconfigurable analogue and digital features.  

scholarly journals Deep Reinforcement Learning for Soft, Flexible Robots: Brief Review with Impending Challenges

Robotics ◽  
2019 ◽  
Vol 8 (1) ◽  
pp. 4 ◽  
Author(s):  
Sarthak Bhagat ◽  
Hritwick Banerjee ◽  
Zion Ho Tse ◽  
Hongliang Ren
Keyword(s):  
Reinforcement Learning ◽  
Real World ◽  
Degrees Of Freedom ◽  
Review Article ◽  
Imitation Learning ◽  
Robotic Systems ◽  
Soft Robotics ◽  
Flexible Robots ◽  
Increasing Trend ◽  
Embodied Intelligence

The increasing trend of studying the innate softness of robotic structures and amalgamating it with the benefits of the extensive developments in the field of embodied intelligence has led to the sprouting of a relatively new yet rewarding sphere of technology in intelligent soft robotics. The fusion of deep reinforcement algorithms with soft bio-inspired structures positively directs to a fruitful prospect of designing completely self-sufficient agents that are capable of learning from observations collected from their environment. For soft robotic structures possessing countless degrees of freedom, it is at times not convenient to formulate mathematical models necessary for training a deep reinforcement learning (DRL) agent. Deploying current imitation learning algorithms on soft robotic systems has provided competent results. This review article posits an overview of various such algorithms along with instances of being applied to real-world scenarios, yielding frontier results. Brief descriptions highlight the various pristine branches of DRL research in soft robotics.

Ferromagnetic soft continuum robots

2019 ◽  
Vol 4 (33) ◽  
pp. eaax7329 ◽  
Author(s):  
Yoonho Kim ◽  
German A. Parada ◽  
Shengduo Liu ◽  
Xuanhe Zhao
Keyword(s):  
Great Promise ◽  
Small Scale ◽  
Magnetic Actuation ◽  
Continuum Robots ◽  
Active Steering ◽  
Ferromagnetic Domains ◽  
Continuum Robot ◽  
Constrained Environments ◽  
Soft Polymer ◽  
Minimally Invasive Robotic Surgery

Small-scale soft continuum robots capable of active steering and navigation in a remotely controllable manner hold great promise in diverse areas, particularly in medical applications. Existing continuum robots, however, are often limited to millimeter or centimeter scales due to miniaturization challenges inherent in conventional actuation mechanisms, such as pulling mechanical wires, inflating pneumatic or hydraulic chambers, or embedding rigid magnets for manipulation. In addition, the friction experienced by the continuum robots during navigation poses another challenge for their applications. Here, we present a submillimeter-scale, self-lubricating soft continuum robot with omnidirectional steering and navigating capabilities based on magnetic actuation, which are enabled by programming ferromagnetic domains in its soft body while growing hydrogel skin on its surface. The robot’s body, composed of a homogeneous continuum of a soft polymer matrix with uniformly dispersed ferromagnetic microparticles, can be miniaturized below a few hundreds of micrometers in diameter, and the hydrogel skin reduces the friction by more than 10 times. We demonstrate the capability of navigating through complex and constrained environments, such as a tortuous cerebrovascular phantom with multiple aneurysms. We further demonstrate additional functionalities, such as steerable laser delivery through a functional core incorporated in the robot’s body. Given their compact, self-contained actuation and intuitive manipulation, our ferromagnetic soft continuum robots may open avenues to minimally invasive robotic surgery for previously inaccessible lesions, thereby addressing challenges and unmet needs in healthcare.

Sign in / Sign up

Export Citation Format

Share Document