Development and analysis of a bio-inspired wire-driven variable stiffness double spring based tapered multi-section flexible robot

2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Alok Ranjan Sahoo ◽  
Pavan Chakraborty
Keyword(s):  
Inverse Kinematics ◽  
Kinematic Model ◽  
Variable Stiffness ◽  
Radius Of Curvature ◽  
Flexible Robot ◽  
Content Type ◽  
Cluttered Environments ◽  
Collapsed Buildings ◽  
Practical Implications ◽  
Robot Body

Purpose The purpose of this paper is to develop a tendon actuated variable stiffness double spring based continuously tapered multi-section flexible robot and study its capability to achieve the desired bending and compression for inspection in cluttered environments. Design/methodology/approach Spring-based continuum manipulators get compressed while actuated for bending. This property can be used for the advantage in cluttered environments if one is able to control both bending and compression. Here, this paper uses a mechanics based model to achieve the desired bending and compression. Moreover, this study tries to incorporate the tapered design to help in independent actuation of the distal sections with minimal effects on proximal sections. This study is also trying to incorporate the double spring based design to minimize the number of spacers in the robot body. Findings The model was able to produce desired curvature at the tip section with less than 4.62% error. The positioning error of the manipulator is nearly 3.5% which is at par with the state-of-the-art manipulators for search and rescue operations. It was also found that the use of double spring can effectively reduce the number of spacers required. It can be helpful in smooth robot to outer world interaction without any kink. From the experiments, it has been found that the error of the kinematic model decreases as one moves from high radius of curvature to low radius of curvature. Error is maximum when the radius of curvature is infinity. Practical implications The proposed manipulator can be used for search operations in cluttered environments such as collapsed buildings and maintenance of heavy machineries in industries. Originality/value The novelty of this paper lies in the design and the proposed kinematics inverse kinematics for a spring-based continuously tapered multi-section manipulator.

Accuracy estimation of a stretch-retractable single section continuum manipulator based on inverse kinematics

2019 ◽  
Vol 46 (5) ◽  
pp. 573-580
Author(s):  
Hao Wang ◽  
GuoHua Gao ◽  
Qixiao Xia ◽  
Han Ren ◽  
LianShi Li ◽  
...  
Keyword(s):  
Inverse Kinematics ◽  
Degrees Of Freedom ◽  
Kinematic Model ◽  
Content Type ◽  
Kinematics Model ◽  
Six Degrees Of Freedom ◽  
Single Section ◽  
Motion Range ◽  
Continuum Manipulator ◽  
Three Degrees Of Freedom

Purpose The purpose of this paper is to present a novel stretch-retractable single section (SRSS) continuum manipulator which owns three degrees of freedom and higher motion range in three-dimension workspace than regular single continuum manipulator. Moreover, the motion accuracy was analyzed based on the kinematic model. In addition, the experiments were carried out for validation of the theory. Design/methodology/approach A kinematics model of the SRSS continuum manipulator is presented for analysis on bending, rotating and retracting in its workspace. To discuss the motion accuracy of the SRSS continuum manipulator, the dexterity theory was introduced based on the decomposing of the Jacobian matrix. In addition, the accuracy of motion is estimated based on the inverse kinematics and dexterity theory. To verify the presented theory, the motion of free end was tracked by an electromagnetic positioning system. According to the comparison of experimental value and theoretical analysis, the free end error of SRSS continuum manipulator is less than 6.24 per cent in the region with favorable dexterity. Findings This paper presents a new stretch-retractable continuum manipulator that the structure was composed of several springs as the backbone. Thus, the SRSS continuum manipulator could own wide motion range depending on its retractable structure. Then, the motion accuracy character of the SRSS continuum manipulator in the different regions of its workspace was obtained both theoretically and experimentally. The results show that the high accuracy region distributes in the vicinity of the outer boundary of the workspace. The motion accuracy gradually decreases with the motion position approaching to the center of its workspace. Research limitations/implications The presented SRSS continuum manipulator owns three degrees of freedom. The future work would be focused on the two-section structure which will own six degrees of freedom. Practical implications In this study, the SRSS continuum manipulator could be extended to six degrees of freedom continuum robot with two sections that is less one section than regular six degrees of freedom with three single section continuum manipulator. Originality/value The value of this study is to propose a SRSS continuum manipulator which owns three degrees of freedom and could stretch and retract to expend workspace, for which the accuracy in different regions of the workspace was analyzed and validated based on the kinematics model and experiments. The results could be feasible to plan the motion space of the SRSS continuum manipulator for keeping in suitable accuracy region.

scholarly journals Motion optimization of humanoid mobile robot with high redundancy

2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Hongxing Wang ◽  
LianZheng Ge ◽  
Ruifeng Li ◽  
Yunfeng Gao ◽  
Chuqing Cao
Keyword(s):  
Mobile Robot ◽  
Theoretical Basis ◽  
Inverse Kinematics ◽  
Kinematic Model ◽  
Optimal Solution ◽  
Service Robot ◽  
Content Type ◽  
Kinematics Model ◽  
Motion Optimization

Purpose An optimal solution method based on 2-norm is proposed in this study to solve the inverse kinematics multiple-solution problem caused by a high redundancy. The current research also presents a motion optimization based on the 2-Norm of high-redundant mobile humanoid robots, in which a kinematic model is designed through the entire modeling. Design/methodology/approach The current study designs a highly redundant humanoid mobile robot with a differential mobile platform. The high-redundancy mobile humanoid robot consists of three modular parts (differential driving platform with two degrees of freedom (DOF), namely, left and right arms with seven DOF, respectively) and has total of 14 DOFs. Given the high redundancy of humanoid mobile robot, a kinematic model is designed through the entire modeling and an optimal solution extraction method based on 2-norm is proposed to solve the inverse kinematics multiple solutions problem. That is, the 2-norm of the angle difference before and after rotation is used as the shortest stroke index to select the optimal solution. The optimal solution of the inverse kinematics equation in the step is obtained by solving the minimum value of the objective function of a step. Through the step-by-step cycle in the entire tracking process, the kinematic optimization of the highly redundant humanoid robot in the entire tracking process is realized. Findings Compared with the before and after motion optimizations based on the 2-norm algorithm of the robot, its motion after optimization shows minimal fluctuation, improved smoothness, limited energy consumption and short path during the entire mobile tracking and operating process. Research limitations/implications In this paper, the whole kinematics model of the highly redundant humanoid mobile robot is established and its motion is optimized based on 2-norm, which provides a theoretical basis for the follow-up research of the service robot. Practical implications In this paper, the whole kinematics model of the highly redundant humanoid mobile robot is established and its motion is optimized based on 2-norm, which provides a theoretical basis for the follow-up research of the service robot. Social implications In this paper, the whole kinematics model of the highly redundant humanoid mobile robot is established and its motion is optimized based on 2-norm, which provides a theoretical basis for the follow-up research of the service robot. Originality/value Motion optimization based on the 2-norm of a highly redundant humanoid mobile robot with the entire modeling is performed on the basis of the entire modeling. This motion optimization can make the highly redundant humanoid mobile robot’s motion path considerably short, minimize energy loss and shorten time. These researches provide a theoretical basis for the follow-up research of the service robot, including tracking and operating target, etc. Finally, the motion optimization algorithm is verified by the tracking and operating behaviors of the robot and an example.

Energy efficient actuators with adjustable stiffness: a review on AwAS, AwAS-II and CompACT VSA changing stiffness based on lever mechanism

2015 ◽  
Vol 42 (3) ◽  
pp. 242-251 ◽  
Author(s):  
Amir Jafari ◽  
Nikos Tsagarakis ◽  
Darwin Caldwell
Keyword(s):  
Energy Efficient ◽  
Variable Stiffness ◽  
Content Type ◽  
Novel Technologies ◽  
Advantages And Disadvantages ◽  
In Series ◽  
Lever Mechanism ◽  
Institute Of Technology ◽  
Series Type ◽  
Practical Implications

Purpose This paper aims to discuss, analyze and compare members of a group of actuators with adjustable stiffness, namely: AwAS, AwAS-II and CompACT variable stiffness actuator (VSA) developed at Italian Institute of Technology (IIT). Design/methodology/approach These actuators are among series type of VSAs where one main motor is dedicated for link positioning and a secondary motor, in series with the first one, regulates the output link stiffness. Regulating the stiffness in this group of actuators is based on the lever concept. Initially, springs were moved along the lever to tune the stiffness while in the later versions stiffness was regulated through relocating pivot point along the lever. Findings This paper discusses how different mechanisms have been employed in realization of the lever concept in these actuators and what are the advantages and disadvantages of each realization. Practical implications Today’s robots are not supposed to be solid, isolated and rigid anymore but rather adaptive, cooperative and compliant entities in our daily life. The new attitudes demand for novel technologies substantially different from those developed for industrial domains both at the hardware and the software levels. This work presents latest three state-of-the-art actuators, developed at IIT, which are great answers to the needs of tomorrow’s robot. Originality/value These novel actuators are really ready for commercial exploitation, as they are compact and reliable. The main novelty is based on employing concept of lever mechanism for stiffness regulation. They have been designed and manufactured in a very professional and optimized way.

A united kinematic calibration method for a dual-machine system

2018 ◽  
Vol 38 (2) ◽  
pp. 226-238 ◽  
Author(s):  
Dan Zhao ◽  
Yunbo Bi ◽  
Yinglin Ke
Keyword(s):  
Design Methodology ◽  
Optimization Problem ◽  
Kinematic Model ◽  
Calibration Method ◽  
Machining Accuracy ◽  
Kinematic Calibration ◽  
Kinematic Parameters ◽  
Content Type ◽  
Machine System ◽  
Practical Implications

Purpose This paper aims to propose a united kinematic calibration method for a dual-machine system in automatic drilling and riveting. The method takes both absolute and relative pose accuracy into account, which will largely influence the machining accuracy of the dual-machine system and assembly quality. Design/methodology/approach A comprehensive kinematic model of the dual-machine system is established by the superposition of sub-models with pose constraints, which involves base frame parameters, kinematic parameters and tool frame parameters. Based on the kinematic model and the actual pose error data measured by a laser tracker, the parameters of coordinated machines are identified by the Levenberg–Marquardt method as a multi-objective nonlinear optimization problem. The identified parameters of the coordinated machines will be used in the control system. Findings A new calibration method for the dual-machine system is developed, including a comprehensive kinematic model and an efficient parameter identification method. The experiment results show that with the proposed method, the pose accuracy of the dual-machine system was remarkably improved, especially the relative position and orientation errors. Practical implications This method has been used in an aircraft assembly project. The calibrated dual-machine system shows a good performance on system coordination and machining accuracy. Originality/value This paper proposes a new method with high accuracy and efficiency for the dual-machine system calibration. The research can be extended to multi-machine and multi-robot fields to improve the system precision.

Inverse kinematics solution and posture optimization of a new redundant hybrid automatic fastening system for aircraft assembly

2019 ◽  
Vol 47 (1) ◽  
pp. 57-67
Author(s):  
Guowei Pan ◽  
Wenliang Chen ◽  
Hui Wang
Keyword(s):  
Inverse Kinematics ◽  
High Efficiency ◽  
Minimum Energy ◽  
Kinematic Model ◽  
Parallel Robot ◽  
Redundancy Resolution ◽  
Content Type ◽  
Aircraft Assembly ◽  
Multi Objective ◽  
Aircraft Manufacturing

Purpose The purpose of this paper is to use the redundancy of a new hybrid automatic fastening system (HAFS) for aircraft assembly in the best way. Design/methodology/approach First, the kinematic model of HAFS is divided into three sub-models, which are the upper/lower tool and parallel robot. With the geometric coordination relationship, a comprehensive kinematic model of the HAFS is built by mathematically assembling the sub-models based on the DH method. Then, a novel master-slave decoupling strategy for inverse kinematics solution is proposed. With the combination of the minimum energy consumption and the comfortable configuration, a multi-objective redundancy resolution method is developed to optimize the fastening configuration of the HAFS, which keep the HAFS away from the joint-limits and collision avoiding in the aircraft panel assembly process. Findings An efficient multi-objective posture optimization algorithm to use the redundancy in the best way is obtained. Simulation and an experiment are used to demonstrate the correctness of the proposed method. Moreover, the position and orientation errors of the drilling holes are within 0.222 mm and 0.356°, which are accurate enough for the automatic fastening in aircraft manufacturing. Practical implications This method has been used in the HAFS control system, and the practical results show the aircraft components can be fastened automatically through this method with high efficiency and high quality. Originality/value This paper proposes a comprehensive kinematic model and a novel decoupling strategy for inverse kinematic solution of the HAFS, which provides a reference to utilize the redundancy in the best way for a hybrid machine with redundant function.

Development of a novel robotic hand with soft materials and rigid structures

2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Yongyao Li ◽  
Ming Cong ◽  
Dong Liu ◽  
Yu Du ◽  
Minjie Wu ◽  
...  
Keyword(s):  
Control Strategies ◽  
Kinematic Model ◽  
Soft Materials ◽  
Robotic Hand ◽  
Complex Environments ◽  
Surface Geometry ◽  
Robotic Hands ◽  
Content Type ◽  
Enhancement Method ◽  
Practical Implications

Purpose Rigid robotic hands are generally fast, precise and capable of exerting large forces, whereas soft robotic hands are compliant, safe and adaptive to complex environments. It is valuable and challenging to develop soft-rigid robotic hands that have both types of capabilities. The paper aims to address the challenge through developing a paradigm to achieve the behaviors of soft and rigid robotic hands adaptively. Design/methodology/approach The design principle of a two-joint finger is proposed. A kinematic model and a stiffness enhancement method are proposed and discussed. The manufacturing process for the soft-rigid finger is presented. Experiments are carried out to validate the accuracy of the kinematic model and evaluate the performance of the flexible body of the finger. Finally, a robotic hand composed of two soft-rigid fingers is fabricated to demonstrate its grasping capacities. Findings The kinematic model can capture the desired distal deflection and comprehensive shape accurately. The stiffness enhancement method guarantees stable grasp of the robotic hand, without sacrificing its flexibility and adaptability. The robotic hand is lightweight and practical. It can exhibit different grasping capacities. Practical implications It can be applied in the field of industrial grasping, where the objects are varied in materials and geometry. The hand’s inherent characteristic removes the need to detect and react to slight variations in surface geometry and makes the control strategies simple. Originality/value This work proposes a novel robotic hand. It possesses three distinct characteristics, i.e. high compliance, exhibiting discrete or continuous kinematics adaptively, lightweight and practical structures.

Consumer value creation through WhatsApp use

2019 ◽  
Vol 32 (4) ◽  
pp. 455-471
Author(s):  
Jorge Cruz-Cárdenas ◽  
Jorge Guadalupe-Lanas ◽  
Ekaterina Zabelina ◽  
Andrés Palacio-Fierro ◽  
Margarita Velín-Fárez ◽  
...  
Keyword(s):  
Latin American ◽  
Value Creation ◽  
Emotional Support ◽  
Design Methodology ◽  
Instant Messaging ◽  
Role Performance ◽  
Content Type ◽  
Consumer Value ◽  
Depth Interviews ◽  
Practical Implications

Purpose The purpose of this paper is to understand in-depth how consumers create value in their lives using WhatsApp, the leading mobile instant messaging (MIM) application. Design/methodology/approach The study adopts the perspective of customer-dominant logic (CDL) and uses a qualitative multimethod design involving 3 focus groups and 25 subsequent in-depth interviews. The research setting was Ecuador, a Latin American country. Findings Analysis and interpretation of the participants’ stories made it possible to identify and understand the creation of four types of value: maintaining and strengthening relationships; improving role performance; emotional support; and entertainment and fun. In addition, the present study proposes a conceptual model of consumer value creation as it applies to MIM. Practical implications Understanding the way consumers create value in their lives using MIM is important not only for organizations that offer MIM applications, but also for those companies that develop other applications for mobile phones or for those who wish to use MIM as an electronic word-of-mouth vehicle. Originality/value The current study is one of the first to address the topic of consumer behavior in the use of technologies from the perspective of CDL; this perspective enables an integrated qualitative vision of value creation in which the consumer is the protagonist.

scholarly journals Advantages and potential challenges of data management in e-maintenance

2019 ◽  
Vol 25 (3) ◽  
pp. 378-396 ◽  
Author(s):  
Arian Razmi-Farooji ◽  
Hanna Kropsu-Vehkaperä ◽  
Janne Härkönen ◽  
Harri Haapasalo
Keyword(s):  
Data Management ◽  
Design Methodology ◽  
Management Practices ◽  
Future Research ◽  
Conceptual Approach ◽  
Content Type ◽  
Different Types ◽  
Maintenance Systems ◽  
Industry Leader ◽  
Practical Implications

Purpose The purpose of this paper is twofold: first, to understand data management challenges in e-maintenance systems from a holistically viewpoint through summarizing the earlier scattered research in the field, and second, to present a conceptual approach for addressing these challenges in practice. Design/methodology/approach The study is realized as a combination of a literature review and by the means of analyzing the practices on an industry leader in manufacturing and maintenance services. Findings This research provides a general understanding over data management challenges in e-maintenance and summarizes their associated proposed solutions. In addition, this paper lists and exemplifies different types and sources of data which can be collected in e-maintenance, across different organizational levels. Analyzing the data management practices of an e-maintenance industry leader provides a conceptual approach to address identified challenges in practice. Research limitations/implications Since this paper is based on studying the practices of a single company, it might be limited to generalize the results. Future research topics can focus on each of mentioned data management challenges and also validate the applicability of presented model in other companies and industries. Practical implications Understanding the e-maintenance-related challenges helps maintenance managers and other involved stakeholders in e-maintenance systems to better solve the challenges. Originality/value The so-far literature on e-maintenance has been studied with narrow focus to data and data management in e-maintenance appears as one of the less studied topics in the literature. This research paper contributes to e-maintenance by highlighting the deficiencies of the discussion surrounding the perspectives of data management in e-maintenance by studying all common data management challenges and listing different types of data which need to be acquired in e-maintenance systems.

Welcome to the marriage of human capability and artificial intelligence

2019 ◽  
Vol 19 (1) ◽  
pp. 10-14
Author(s):  
Ryan Scott ◽  
Malcolm Le Lievre
Keyword(s):  
Artificial Intelligence ◽  
Team Building ◽  
Workplace Change ◽  
Content Type ◽  
The Future ◽  
Human Capability ◽  
Mind Set ◽  
Future Work ◽  
Crucial Part ◽  
Practical Implications

Purpose The purpose of this paper is to explore insights methodology and technology by using behavioral to create a mind-set change in the way people work, especially in the age of artificial intelligence (AI). Design/methodology/approach The approach is to examine how AI is driving workplace change, introduce the idea that most organizations have untapped analytics, add the idea of what we know future work will look like and look at how greater, data-driven human behavioral insights will help prepare future human-to-human work and inform people’s work with and alongside AI. Findings Human (behavioral) intelligence will be an increasingly crucial part of behaviorally smart organizations, from hiring to placement to adaptation to team building, compliance and more. These human capability insights will, among other things, better prepare people and organizations for changing work roles, including working with and alongside AI and similar tech innovation. Research limitations/implications No doubt researchers across the private, public and nonprofit sectors will want to further study the nexus of human capability, behavioral insights technology and AI, but it is clear that such work is already underway and can prove even more valuable if adopted on a broader, deeper level. Practical implications Much “people data” inside organizations is currently not being harvested. Validated, scalable processes exist to mine that data and leverage it to help organizations of all types and sizes be ready for the future, particularly in regard to the marriage of human capability and AI. Social implications In terms of human capability and AI, individuals, teams, organizations, customers and other stakeholders will all benefit. The investment of time and other resources is minimal, but must include C-suite buy in. Originality/value Much exists on the softer aspects of the marriage of human capability and AI and other workplace advancements. What has been lacking – until now – is a 1) practical, 2) validated and 3) scalable behavioral insights tech form that quantifiably informs how people and AI will work in the future, especially side by side.

Perceived workplace gender-bias and psychological impact

2019 ◽  
Vol 43 (3/4) ◽  
pp. 339-353 ◽  
Author(s):  
Siham Lekchiri ◽  
Cindy Crowder ◽  
Anna Schnerre ◽  
Barbara A.W. Eversole
Keyword(s):  
Gender Bias ◽  
Critical Incident ◽  
Psychological Impact ◽  
Working Women ◽  
Content Type ◽  
Treatment Bias ◽  
Male Dominated ◽  
The Impact ◽  
Organizational Mechanisms ◽  
Practical Implications

Purpose The purpose of this paper is to explore the experiences of working women in a male-dominated country (Morocco) and unveil the unique challenges and everyday gender-bias they face, the psychological impact of the perceived gender-bias and, finally, identify a variety of coping strategies or combatting mechanisms affecting their motivation and retention in the workplace. Design/methodology/approach Empirical evidence was obtained using a qualitative research method. The Critical Incident Technique (CIT) was used to collect incidents recalled by women in the select institution reflecting their perceptions of their managers’ ineffective behaviors towards them and the impact of these behaviors. The critical incidents were inductively coded, and behavioral statements were derived from the coded data. Findings The qualitative data analysis led them to structure the data according to two theme clusters: The perceived gender-bias behaviors (Covert and evident personal and organizational behaviors) and Psychological impacts resulting from the perceived bias. These behavioral practices included abusive behaviors, unfair treatment, bias and lack of recognition. The psychological impact elements involved decreased productivity, depression, anxiety and low self-esteem. Practical implications Understanding these experiences can facilitate the identification of strategies geared towards the retention of women in the workforce, and Moroccan organizations can develop and implement strategies and policies that are geared towards eliminating gender-bias in the workplace and to retaining and motivating women who remain ambitious to work in male-dominated environments and cultures. Originality/value This paper provides evidence that sufficient organizational mechanisms to support women in male-dominated environments are still unavailable, leaving them to find the proper coping mechanisms to persevere and resist.

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