scholarly journals Research on modular implementation method of six-degree-of-freedom robotic arm

2021 ◽  
Vol 2125 (1) ◽  
pp. 012015
Author(s):  
JiaLei Su
Keyword(s):  
Degrees Of Freedom ◽  
Modular Design ◽  
Degree Of Freedom ◽  
Robotic Arm ◽  
Work Intensity ◽  
Six Degrees Of Freedom ◽  
Standard Interface ◽  
Implementation Method ◽  
Six Degree Of Freedom ◽  
Three Degrees Of Freedom

Abstract Single-joint modular design can reduce the work intensity of designers, and also can broaden the combination form of multi-degree-of-freedom robotic arm. In order to adapt to the changes of multiple degrees of freedom and multiple loads, this paper designs a series of standard modules with similar components and the same standard interface, but with different sizes only, and chooses different drive components according to the load when designing the size, and then designs the size of other parts according to the size of the drive components. The final combination of this series of modules into different degrees of freedom robotic arm, such as three degrees of freedom robotic arm, four degrees of freedom robotic arm or even six degrees of freedom robotic arm. In this paper, the most widely used six-degree-of-freedom robotic arm is used as an example, and a detailed design form is proposed.

scholarly journals Design and Calibration of a Hall Effect System for Measurement of Six-Degree-of-Freedom Motion within a Stacked Column

Sensors ◽  
2021 ◽  
Vol 21 (11) ◽  
pp. 3740
Author(s):  
Olafur Oddbjornsson ◽  
Panos Kloukinas ◽  
Tansu Gokce ◽  
Kate Bourne ◽  
Tony Horseman ◽  
...  
Keyword(s):  
Hall Effect ◽  
Degrees Of Freedom ◽  
Reactor Core ◽  
Degree Of Freedom ◽  
Life Extension ◽  
Scale Model ◽  
Design Development ◽  
Seismic Safety ◽  
Six Degrees Of Freedom ◽  
Six Degree Of Freedom

This paper presents the design, development and evaluation of a unique non-contact instrumentation system that can accurately measure the interface displacement between two rigid components in six degrees of freedom. The system was developed to allow measurement of the relative displacements between interfaces within a stacked column of brick-like components, with an accuracy of 0.05 mm and 0.1 degrees. The columns comprised up to 14 components, with each component being a scale model of a graphite brick within an Advanced Gas-cooled Reactor core. A set of 585 of these columns makes up the Multi Layer Array, which was designed to investigate the response of the reactor core to seismic inputs, with excitation levels up to 1 g from 0 to 100 Hz. The nature of the application required a compact and robust design capable of accurately recording fully coupled motion in all six degrees of freedom during dynamic testing. The novel design implemented 12 Hall effect sensors with a calibration procedure based on system identification techniques. The measurement uncertainty was ±0.050 mm for displacement and ±0.052 degrees for rotation, and the system can tolerate loss of data from two sensors with the uncertainly increasing to only 0.061 mm in translation and 0.088 degrees in rotation. The system has been deployed in a research programme that has enabled EDF to present seismic safety cases to the Office for Nuclear Regulation, resulting in life extension approvals for several reactors. The measurement system developed could be readily applied to other situations where the imposed level of stress at the interface causes negligible material strain, and accurate non-contact six-degree-of-freedom interface measurement is required.

The St. Petersburg Wrist: A Prototype Powered Flexion Wrist Unit

2008 ◽  
Author(s):  
Kathryn J. De Laurentis ◽  
Sam L. Phillips
Keyword(s):  
Degrees Of Freedom ◽  
Degree Of Freedom ◽  
Six Degrees Of Freedom ◽  
Important Addition ◽  
Powered Prosthesis ◽  
Six Degree Of Freedom ◽  
Flexion And Extension

This is the presentation of a prototype wrist, which has powered rotation and flexion. Powered flexion is an important addition to an externally powered prosthesis. Flexion and extension, along with rotation give the prosthesis two additional degrees of freedom, which when added to degrees of freedom for the shoulder and elbow yield a six-degree of freedom system. Six-degrees of freedom are important because they allow placement of the hand throughout the entire workspace. Without flexion, amputees cannot reach some positions, and must use compensatory motions for many other movements.

Six Degree-of-Freedom Haptic System as a Desktop Virtual Prototyping Interface

1999 ◽  
Author(s):  
Abbe Cohen ◽  
Elaine Chen
Keyword(s):  
Virtual Environment ◽  
Collision Detection ◽  
Degrees Of Freedom ◽  
Virtual Prototyping ◽  
Degree Of Freedom ◽  
Haptic Interface ◽  
Complex Object ◽  
Six Degrees Of Freedom ◽  
Torque Response ◽  
Six Degree Of Freedom

Abstract This paper describes a new six degree of freedom haptic interface with a large translational and rotational range of motion. The 6DOF haptic interface is demonstrated with an example industrial-scale virtual prototyping simulation which shows a moderately complex object Interacting with an arbitrarily complex virtual environment, using a full-service collision detection and response package to calculate the force and torque response in all six degrees of freedom.

scholarly journals A Six Degree-of-Freedom Haptic Device Based on the Orthoglide and a Hybrid Agile Eye

2006 ◽  
Author(s):  
Damien Chablat ◽  
Philippe Wenger
Keyword(s):  
Degrees Of Freedom ◽  
Degree Of Freedom ◽  
Haptic Device ◽  
Parallel Mechanisms ◽  
Real Time Control ◽  
Time Control ◽  
Rotational Motions ◽  
Six Degree Of Freedom ◽  
Rotary Motor ◽  
Three Degrees Of Freedom

This paper is devoted to the kinematic design of a new six degree-of-freedom haptic device using two parallel mechanisms. The first one, called orthoglide, provides the translation motions and the second one, called agile eye, produces the rotational motions. These two motions are decoupled to simplify the direct and inverse kinematics, as it is needed for real-time control. To reduce the inertial load, the motors are fixed on the base and a transmission with two universal joints is used to transmit the rotational motions from the base to the end-effector. Two alternative wrists are proposed (i), the agile eye with three degrees of freedom or (ii) a hybrid wrist made by the assembly of a two-dof agile eye with a rotary motor. The last one is optimized to increase its stiffness and to decrease the number of moving parts.

scholarly journals Research on Trajectory Planning of Six Degrees of Freedom Robot

2019 ◽  
Vol 25 ◽  
pp. 01010
Author(s):  
Hao Zhou
Keyword(s):  
Trajectory Planning ◽  
Degrees Of Freedom ◽  
Simulation Analysis ◽  
Industrial Robot ◽  
Research Direction ◽  
Industrial Robots ◽  
Degree Of Freedom ◽  
Continuous Development ◽  
Six Degrees Of Freedom ◽  
Six Degree Of Freedom

With the continuous development of industrial automation, the demand for industrial robots in the manufacturing field is gradually increasing. In order to meet the needs of different occasions and functions, the planning of the trajectory of the robot becomes the research direction of the six-degree-of-freedom robot. The research object of this paper is a six-degree-of-freedom industrial robot. According to engineering needs, a structure of a handling robot is designed. The kinematics of the robot and its trajectory planning are studied, and the simulation analysis is made.

Accuracy Analysis of Machining Trajectory Contemplating Workpiece Dislocation on a Six Degree of Freedom Machining Bed

2020 ◽  
pp. 095440622097404
Author(s):  
Muhammad Faizan Shah ◽  
Zareena Kausar ◽  
Muhammad Umer Farooq ◽  
Liaquat Ali Khan ◽  
Syed Saad Farooq
Keyword(s):  
Material Removal ◽  
Degrees Of Freedom ◽  
Inverse Kinematic ◽  
Degree Of Freedom ◽  
Machining Accuracy ◽  
Leg Length ◽  
Computation Model ◽  
Six Degrees Of Freedom ◽  
Six Degree Of Freedom

Machining is material removal from a workpiece. Current spindle technologies allow the material to be removed very quickly but unfortunately this compromises the accuracy of the desired machined trajectory on the workpiece. Proposed solution to the problem is restricting motion of the tool and giving rotation to the workpiece. This paper presents analysis of the accuracy of trajectory of material removal from a workpiece, such that the workpiece rotates with six degrees of freedom, in the presence of error generated due to an offset of the workpiece from centre of the moving platform of the machining bed. The kinematics of the machining bed is, therefore, modeled using as inverse kinematic formulation applying geometric and vector addition method. The mechanism outputs three rotational and three translational motions. The leg length for each of six legs of the bed is computed individually. Moreover, workpiece position offset error is modelled to find actual leg lengths of the bed. Finally accuracy computation model is proposed to analyse the accuracy of the final trajectory of the motion of the workpiece. The models are verified in simulation for a trajectory and validated experimentally on a six degree of freedom (6DOF) machining bed. The results reveal maximum inaccuracy in machining trajectory to be 1% in experiments while less than 1% in simulation. This verifies quality of the mechanism and efficacy of the proposed 6DOF machining bed in machining accuracy.

Accelerometer correction for the dynamic analysis of damped multi-degree of freedom systems

1969 ◽  
Vol 59 (4) ◽  
pp. 1591-1598
Author(s):  
G. A. McLennan
Keyword(s):  
Dynamic Response ◽  
Dynamic Analysis ◽  
Degrees Of Freedom ◽  
Degree Of Freedom ◽  
Exact Method ◽  
Three Degrees Of Freedom

Abstract An exact method is developed to eliminate the accelerometer error in dynamic response calculations for damped multi-degree of freedom systems. It is shown that the exact responses of a system can be obtained from the approximate responses which are conventionally calculated from an accelerogram. Response calculations were performed for two typical systems with three degrees of freedom for an assumed pseudo-earthquake. The results showed that the approximate responses may contain large errors, and that the correction developed effectively eliminates these errors.

Experimental and Numerical Hydrodynamic Modeling of an Underwater Manipulator

2001 ◽  
Author(s):  
A. Khanicheh ◽  
A. Tehranian ◽  
A. Meghdari ◽  
M. S. Sadeghipour
Keyword(s):  
Drag Coefficient ◽  
Dynamic Modeling ◽  
Hydrodynamic Model ◽  
Degrees Of Freedom ◽  
Added Mass ◽  
Hydrodynamic Modeling ◽  
Degree Of Freedom ◽  
Experimental Results ◽  
Underwater Manipulator ◽  
Three Degrees Of Freedom

Abstract This paper presents the kinematics and dynamic modeling of a three-link (3-DOF) underwater manipulator where the effects of hydrodynamic forces are investigated. In our investigation, drag and added mass coefficients are not considered as constants. In contrast, the drag coefficient is a variable with respect to all relative parameters. Experiments were conducted to validate the hydrodynamic model for a one degree-of-freedom manipulator up to a three degrees-of-freedom manipulator. Finally, the numerical and experimental results are compared and thoroughly discussed.

Design of a Teaching Robot with Three Degrees of Freedom

2012 ◽  
Vol 619 ◽  
pp. 325-328
Author(s):  
You Jun Huang ◽  
Ze Lun Li ◽  
Zhi Cheng Huang
Keyword(s):  
Degrees Of Freedom ◽  
Low Cost ◽  
Degree Of Freedom ◽  
Good Repeatability ◽  
Main Components ◽  
Opening And Closing ◽  
Three Degree Of Freedom ◽  
Three Degrees Of Freedom ◽  
Application Prospects

A teaching robot with three degree of freedom is designed. The three degrees of freedom are: waist rotation, lifting and stretching of the arm and opening and closing of the gripper. The designs of the main components are: a mobile chassis, parallel rails, horizontal rails and manipulator. The teaching robot designed has the features of low cost, easy to regulation, good repeatability and it has good promotion and application prospects in the field of teaching.

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