Rapid prototyping design and control of tensegrity soft robot for locomotion

2014 ◽  
Author(s):  
Kyunam Kim ◽  
Adrian K. Agogino ◽  
Deaho Moon ◽  
Laqshya Taneja ◽  
Aliakbar Toghyan ◽  
...  
Keyword(s):  
Rapid Prototyping ◽  
Soft Robot ◽  
And Control

MOBILE ROBOT NAVIGATION CONTROL DESIGN USING VIRTUAL SIMULATOR WITH RAPID PROTOTYPING

2009 ◽  
Vol 06 (03) ◽  
pp. 181-191
Author(s):  
LEONIMER FLAVIO DE MELO ◽  
JOSE FERNANDO MANGILI
Keyword(s):  
Rapid Prototyping ◽  
Mobile Robot ◽  
Embedded System ◽  
Mobile Robots ◽  
Mobile Robot Navigation ◽  
Robotic Control ◽  
Dynamic Simulator ◽  
The Embedded System ◽  
And Control ◽  
Control Implementation

This paper presents the virtual environment implementation for simulation and design conception of supervision and control systems for mobile robots, that are capable to operate and adapt in different environments and conditions. The purpose of this virtual system is to facilitate the development of embedded architecture systems, emphasizing the implementation of tools that allow the simulation of the kinematic conditions, dynamic and control, with monitoring in real time of all important system points. For this, an open control architecture is proposed, integrating the two main techniques of robotic control implementation in the hardware level: systems microprocessors and reconfigurable hardware devices. The implemented simulator system is composed of a trajectory generating module, a kinematic and dynamic simulator module, and an analysis module of results and errors. All the kinematic and dynamic results obtained during the simulation can be evaluated and visualized in graphs and table formats in the results analysis module, allowing the improvement of the system, minimizing the errors with the necessary adjustments and optimization. For controller implementation in the embedded system, it uses the rapid prototyping which is the technology that allows in set, with the virtual simulation environment, the development of a controller project for mobile robots. The validation and tests had been accomplished with nonholonomic mobile robot models with differential transmission.

scholarly journals An ICT Prototyping Framework for the “Port of the Future”

Sensors ◽  
2021 ◽  
Vol 22 (1) ◽  
pp. 246
Author(s):  
Davide Barasti ◽  
Martina Troscia ◽  
Domenico Lattuca ◽  
Alexandr Tardo ◽  
Igor Barsanti ◽  
...  
Keyword(s):  
Information System ◽  
Information Systems ◽  
Rapid Prototyping ◽  
System Integration ◽  
State Of The Art ◽  
Focal Point ◽  
Digital Innovation ◽  
Port Authorities ◽  
And Control ◽  
The Ideal

Seaports are genuine, intermodal hubs connecting seaways to inland transport links, such as roads and railways. Seaports are located at the focal point of institutional, industrial, and control activities in a jungle of interconnected information systems. System integration is setting considerable challenges when a group of independent providers are asked to implement complementary software functionalities. For this reason, seaports are the ideal playground where software is highly composite and tailored to a large variety of final users (from the so-called port communities). Although the target would be that of shaping the Port Authorities to be providers of (digital) innovation services, the state-of-the-art is still that of considering them as final users, or proxies of them. For this reason, we show how a canonical cloud, virtualizing a distributed architecture, can be structured to host different, possibly overlapped, tenants, slicing the information system at the infrastructure, platform, and software layers. Resources at the infrastructure and platform layers are shared so that a variety of independent applications can make use of the local calculus and access the data stored in a Data Lake. Such a cloud is adopted by the Port of Livorno as a rapid prototyping framework for the development and deployment of ICT innovation services. In order to demonstrate the versatility of this framework, three case studies relating to as many prototype ICT services (Navigation Safety, e-Freight, and Logistics) released within three industrial tenants are here presented and discussed.

Controlling subterranean forces enables a fast, steerable, burrowing soft robot

2021 ◽  
Vol 6 (55) ◽  
pp. eabe2922
Author(s):  
Nicholas D. Naclerio ◽  
Andras Karsai ◽  
Mason Murray-Cooper ◽  
Yasemin Ozkan-Aydin ◽  
Enes Aydin ◽  
...  
Keyword(s):  
Granular Media ◽  
The Body ◽  
Nonlinear Dependence ◽  
Soft Robot ◽  
Flow Angle ◽  
Drag Forces ◽  
Tip Extension ◽  
Order Of Magnitude ◽  
Lift And Drag ◽  
And Control

Robotic navigation on land, through air, and in water is well researched; numerous robots have successfully demonstrated motion in these environments. However, one frontier for robotic locomotion remains largely unexplored—below ground. Subterranean navigation is simply hard to do, in part because the interaction forces of underground motion are higher than in air or water by orders of magnitude and because we lack for these interactions a robust fundamental physics understanding. We present and test three hypotheses, derived from biological observation and the physics of granular intrusion, and use the results to inform the design of our burrowing robot. These results reveal that (i) tip extension reduces total drag by an amount equal to the skin drag of the body, (ii) granular aeration via tip-based airflow reduces drag with a nonlinear dependence on depth and flow angle, and (iii) variation of the angle of the tip-based flow has a nonmonotonic effect on lift in granular media. Informed by these results, we realize a steerable, root-like soft robot that controls subterranean lift and drag forces to burrow faster than previous approaches by over an order of magnitude and does so through real sand. We also demonstrate that the robot can modulate its pullout force by an order of magnitude and control its direction of motion in both the horizontal and vertical planes to navigate around subterranean obstacles. Our results advance the understanding and capabilities of robotic subterranean locomotion.

scholarly journals Modular E-Textile Toolkit for Prototyping and Manufacturing

Proceedings ◽  
2021 ◽  
Vol 68 (1) ◽  
pp. 5
Author(s):  
Kamil Garbacz ◽  
Lars Stagun ◽  
Sigrid Rotzler ◽  
Markus Semenec ◽  
Malte von Krshiwoblozki
Keyword(s):  
Rapid Prototyping ◽  
Textile Industry ◽  
Electronic Textiles ◽  
Integration Process ◽  
Design Considerations ◽  
Research Institutes ◽  
Evaluation Phase ◽  
Close Cooperation ◽  
And Control ◽  
Art Schools

We present a novel E-textiles toolkit that can be used in the rapid prototyping of electronic textiles during the research and evaluation phase. The modular, Arduino-compatible toolkit incorporates various sensors and control and communication modules. The needs of fashion professionals have been considered during the conception of the toolkit, which was developed in close cooperation with partners from textile research institutes, the textile industry, art schools and design. After the initial manual prototyping, the toolkit modules can be directly transferred to reliable industrial integration using advanced machinery. To achieve this, we developed the E-textile Bonder, a machine capable of mechanically and electrically connecting modules to textiles with integrated conductors. This paper gives an overview of the toolkit as well as the design considerations discussed and implemented during the cooperation with textile industry stakeholders. Furthermore, the integration process with the E-Textile Bonder is described, and its advantages over other technologies are discussed.

scholarly journals Configuring of 3-axis vertical CNC Machine for Rapid Prototyping with two Translatory and one Rotary Axes

2020 ◽  
Vol 45 (1) ◽  
pp. 1-9
Author(s):  
Nikola Vorkapić ◽  
Saša Živanović ◽  
Nikola Slavković ◽  
Zoran Dimić ◽  
Branko Kokotović
Keyword(s):  
Rapid Prototyping ◽  
Virtual Machine ◽  
Cnc Machine Tool ◽  
Cnc Machine ◽  
Software Environment ◽  
Machine Model ◽  
Rotary Axes ◽  
Cylindrical Coordinate ◽  
G Code ◽  
And Control

This paper describes the configuration of a 3-axis vertical CNC machine tool for rapid prototyping with one rotary and two translational axes. The machine works in a polar-cylindrical coordinate system. The structure of the machine is C’OXZ. The virtual machine model is configured in the PTC Creo software environment. After configuring the virtual machine, the simulation of the CLFbased was performed in the mentioned software environments, and then the verification according to the G-code program in the Vericut software environment was performed. Programming and control of the configured prototype machine are realized in the LinuxCNC software environment, which is based on the PC platform. Also, in this paper, digital twin of machine realized in a python software environment is shown. The presented results show the proper functioning of the whole system.

Sign in / Sign up

Export Citation Format

Share Document