Design Methodology for Robotic Manipulator for Overground Physical Interaction Tasks

2020 ◽  
Vol 12 (4) ◽  
Author(s):  
Sambad Regmi ◽  
Yun Seong Song
Keyword(s):  
Dynamic Characteristics ◽  
Design Methodology ◽  
Design Method ◽  
Mechanical Impedance ◽  
Robotic Arm ◽  
Physical Interaction ◽  
Robot Arm ◽  
Robotic Arms ◽  
Mathematical Simulations ◽  
Early Design Phase

Abstract We present a new design method that is tailored for designing a physical interactive robotic arm for overground physical interaction. Designing such robotic arms present various unique requirements that differ from existing robotic arms, which are used for general manipulation, such as being able to generate required forces at every point inside the workspace and/or having low intrinsic mechanical impedance. Our design method identifies these requirements and categorizes them into kinematic and dynamic characteristics of the robot and then ensures that these unique considerations are satisfied in the early design phase. The robot’s capability for use in such tasks is analyzed using mathematical simulations of the designed robot, and discussion of its dynamic characteristics is presented. With our proposed method, the robot arm is ensured to perform various overground interactive tasks with a human.

scholarly journals Design Of 4DOF 3D Robotic Arm to Separate the Objects Using a Camera

2021 ◽  
Vol 3 (1) ◽  
pp. 27-35
Author(s):  
Akhmad Fahruzi ◽  
Bimo Satyo Agomo ◽  
Yulianto Agung Prabowo
Keyword(s):  
Inverse Kinematics ◽  
Robotic Arm ◽  
Robot Arm ◽  
Fixed Position ◽  
End Effector ◽  
Robotic Arms ◽  
Work Area ◽  
Intended Object ◽  
Place Of Origin ◽  
Prototype Design

Nowadays robotic arm is widely used in various industries, especially those engaged in manufacturing. Robotic arms are usually used to perform jobs such as picking up and moving goods from their place of origin to the location desired by the operator. In this study, a 3d 4 DOF (Degree of Freedom) robotic arm. The prototype was made to move goods with random coordinates to places or boxes whose coordinates were determined in advance. The robot can know the coordinates of the object to be taken or moved. The arm robot prototype design is completed with a camera connected to a computer, where the camera is installed statically (fixed position) above the robot's work area. The camera functions like image processing to detect the object's position by taking the coordinates of the object. Then the object coordinates will be input into inverse kinematics that will produce an angle in every point of the servo arm so that the position of the end effector on the robot arm can be founded and reach the intended object. From the results of testing and analysis, it was found that the error in the webcam test to detect object coordinates was 2.58%, the error in the servo motion test was 12.68%, and the error in the inverse kinematics test was 7.85% on the x-axis, the error was 6.31% on the y-axis and an error of 12.77% on the z-axis. The reliability of the whole system is 66.66%.

scholarly journals Modeling Method of Autonomous Robot Manipulator Based on D-H Algorithm

2021 ◽  
Vol 2021 ◽  
pp. 1-10
Author(s):  
Jie Cai ◽  
Jinlian Deng ◽  
Wei Zhang ◽  
Weisheng Zhao
Keyword(s):  
Robot Manipulator ◽  
Algebraic Method ◽  
Modeling Method ◽  
Inverse Solution ◽  
Geometric Method ◽  
Experimental Simulation ◽  
Robotic Arm ◽  
Robot Arm ◽  
Robotic Arms ◽  
Joint Variable

With the continuous development of science and technology, robotics is widely used in various fields. In recent years, more and more research studies have been done on the control of autonomous robotic manipulators. How to quickly, accurately, and smoothly grasp objects has always been a difficult point of research. As the robot’s executive mechanism, the robot arm plays an important role in whether the robot can complete a specific task. Therefore, the research on the robot arm is also the main topic in the development of robot technology. The control theory, kinematics, and human-computer interaction of robotic arms are the focus of the research in the field of robotic arms. Based on the above background, the research content of this paper is the research on the modeling method of autonomous robotic manipulator based on D-H algorithm. This paper uses D-H modeling method to model a four-degree-of-freedom robotic arm and gives the forward kinematics equation of the robotic arm. The inverse solution of the manipulator was given by the method and the geometric method, and the joint variable values were calculated. Finally, through experimental simulation, the experimental results show that the inverse solution of the end position of the machine by the geometric method is in the range of 2∼4 mm, and the inverse solution of the end position of the machine by the algebraic method is in the range of 6∼14 mm. It is more accurate to find the inverse solution of the geometrical method of the manipulator than the algebraic method.

scholarly journals Toward mission-dependent long robotic arm enhancement: design method of flying watch attachment allocation based on thrust drivability

2021 ◽  
Vol 8 (1) ◽  
Author(s):  
Siyi Pan ◽  
Gen Endo
Keyword(s):  
Design Method ◽  
Automated Design ◽  
Human Experience ◽  
Robotic Arm ◽  
End Effector ◽  
Robotic Arms ◽  
Performance Metric ◽  
Compensation Mechanisms ◽  
Reaction Forces ◽  
External Forces

AbstractLong robotic arms are useful for many applications such as nuclear plant decommissioning, inspection, and firefighting. A major problem for designing and operating long robotic arms is that even small end effector reaction forces and arm gravity can result in large loads on proximal arm joints because of long moment arms. To solve that problem, previous researches focus on specifically designed long arms with certain compensation mechanisms. However, those specialized arm designs are difficult to be applied to existing long robotic arms and to be customized for different missions. To overcome those two drawbacks, we recently proposed a watch-like thrust-generating modular device, called flying watch, with the following two major advantages. Firstly, flying watch can be attached to different kinds of existing long robotic arms and generate thrusts to enhance arm strength. And we have proposed a thrust planning method for flying watch in our previous work. Secondly, since different flying watch attachment allocations can enhance the same robotic arm in different ways, flying watch attachment allocations can be customized to meet the needs of a specific mission. However, up to now, customizing flying watch attachment allocations to different missions is still based on human experience and there is no clear performance metric and automated design method for flying watch attachment allocation. To facilitate mission-dependent long arm enhancement, in this paper, we first propose a novel performance metric, called thrust drivability, which measures the ability of a flying watch attachment allocation to counteract unexpected end effector reaction forces. Then based on thrust drivability, we propose an automated design method, called Allocation Optimization based on Weighted Situations (AOWS), for generating mission-dependent flying watch attachment allocations counteracting both unexpected and known external forces. Simulations show that AOWS based allocation designs can counteract both known and unexpected external forces much better than human-experience-based allocation designs.

Development of an Affordable 7-DOF Robotic Arm for Education in Mechanisms and Robotics

2016 ◽  
Author(s):  
Stylianos Kavousanakis ◽  
Anthony H. Jones ◽  
Stefan Kenway ◽  
Guowu Wei
Keyword(s):  
Low Cost ◽  
Industrial Applications ◽  
Structure Design ◽  
Robotic Arm ◽  
Robot Arm ◽  
Level Control ◽  
Robotic Arms ◽  
Postgraduate Level ◽  
Automation And Control ◽  
And Robotics

Although there are a number of commercialized 7-DoF robotic arms that are suitable for industrial applications and project research use, the high cost of such robotic arms has impeded the hands-on sessions constructed in the undergraduate and postgraduate level courses/modules for the purpose of studying, understanding and investigating of the redundant 7-DoF robotic arm for the education in mechanisms and robotics. In order to provide an affordable solution, this paper presents the development of a low-cost module-based 7-DoF robotic arm. Structure design of the robot arm is introduced and its kinematics is formulated based on product of exponentials representation. By using 3D printing system, the proposed robotic arm is then fabricated and assembled, and integrated with servo motors and Arduino low-level control kits, a functionally feasible prototype is developed. Tests are subsequently carried out so as to check the performance of the proposed robotic arm and to identify errors and defects for improving and optimizing the design. Integrating with MATLAB Robotic Toolbox and Arduino low-cost control platform, the robotic arm presented in this paper can be used for the purpose of mechanisms and robotics education in the courses such as robotic kinematics, automation and control, and robotic programming and planning.

Accessible Region and Synthesis of Robot Arms

1981 ◽  
Vol 103 (4) ◽  
pp. 803-811 ◽  
Author(s):  
Y. C. Tsai ◽  
A. H. Soni
Keyword(s):  
Closed Loop ◽  
Robotic Arm ◽  
Robot Arm ◽  
Robotic Arms ◽  
Cam Mechanism ◽  
Design Charts ◽  
Accessible Region ◽  
Special Cases ◽  
Cam Follower ◽  
Synthesis Procedure

The present paper deals with the study of determining accessible region for two and three-link robotic arms with pin-joints. Based on the derivation of the loci-curves traced by a two-link robotic arm, design charts are developed. Such design charts are utilized in determining the accessible regions of a three-link robotic arm. Following the analysis of the accessible regions of two and three-link robotic arms, the paper presents a synthesis procedure to synthesize two and three-link robotic arms. Given a set of end-positions of a two or three-link robot arm, the proposed synthesis procedure will yield the dimensions and the location of the robot arm which will enclose within its accessible region the design points. The same synthesis procedure is proposed to trace a specific planar point-path. The present paper further examines the potential application of the synthesis procedure of two and three-link robotic arms in synthesizing a closed-loop mechanism for point-path generation. The two-link robotic arm is examined for the case where the end positions lie on a fixed circle. This case leads to the synthesis of a four-bar mechanism for a special point-path curve. The synthesis procedure may be extended from the four-bar synthesis to a cam-follower (non-circular-cam) system where the follower is the two link robotic arm. A further extension of this procedure is demonstrated in synthesizing analytically the dual-cam mechanisms derived from the stephenson six-link mechanism. The present investigation examines all three possible cases of dual-cam mechanisms. For special cases, it is demonstrated that such dual-cam mechanism may be degenerated to synthesize a mechanism with one cam pair.

ROBOTIC ARM COLLISION REACTION STRATEGIES FOR SAFE HUMAN–ROBOT INTERACTION WITHOUT TORQUE SENSORS

2019 ◽  
Vol 19 (07) ◽  
pp. 1940034 ◽  
Author(s):  
TIAN XU ◽  
JIZHUANG FAN ◽  
QIANQIAN FANG ◽  
JIE ZHAO ◽  
YANHE ZHU
Keyword(s):  
Collision Detection ◽  
Mechanical Impedance ◽  
Human Robot Interaction ◽  
Robotic Arm ◽  
Physical Interaction ◽  
Human Being ◽  
Robot Interaction ◽  
Motor Torque ◽  
Inertia Matrix ◽  
Generalized Momentum

Three kinds of collision reaction strategies for increasing safety during human and robot interactions without relying on torque sensors are proposed in this paper. In the proposed algorithms, motor torque is estimated by driver current. The generalized momentum observer is used for collision detection, which does not need joints acceleration information and calculates the inverse of the inertia matrix. Three different collision reaction strategies, going away, dragging by hands and mechanical impedance developed in this paper, aim to enhance safety to humans during physical interaction with robots. For verifying the efficiency of the proposed algorithms, experiments are tested between a 1-DOF manipulator system and a human being. At last, the experiments’ results show that the proposed collision reaction algorithms are effective.

Development of High-Speed Response Electromagnetic Linear Actuator Using for Pneumatic Control Valve

2014 ◽  
Vol 532 ◽  
pp. 41-45 ◽  
Author(s):  
Myung Jin Chung
Keyword(s):  
Optimal Design ◽  
Dynamic Characteristics ◽  
High Speed ◽  
Design Method ◽  
Control Valve ◽  
Design Parameters ◽  
Linear Actuator ◽  
Analytic Model ◽  
Electromagnetic Linear Actuator ◽  
Quadratic Programming Method

Analytic model of electromagnetic linear actuator in the function of electric and geometric parameters is proposed and the effects of the design parameters on the dynamic characteristics are analyzed. To improve the dynamic characteristics, optimal design is conducted by applying sequential quadratic programming method to the analytic model. This optimal design method aims to minimize the response time and maximize force efficiency. By this procedure, electromagnetic linear actuator having high-speed characteristics is developed.

Hybrid Neural-Fuzzy Controller for Motorized Robot Arm

2011 ◽  
Vol 403-408 ◽  
pp. 5068-5075
Author(s):  
Fatma Zada ◽  
Shawket K. Guirguis ◽  
Walied M. Sead
Keyword(s):  
Fuzzy Logic ◽  
Design Methodology ◽  
Fuzzy Logic Controller ◽  
Fuzzy Controller ◽  
System Response ◽  
Robot Arm ◽  
Neural Controller ◽  
Hybrid Controller ◽  
Neural Fuzzy ◽  
Transient And Steady State

In this study, a design methodology is introduced that blends the neural and fuzzy logic controllers in an intelligent way developing a new intelligent hybrid controller. In this design methodology, the fuzzy logic controller works in parallel with the neural controller and adjusting the output of the neural controller. The performance of our proposed controller is demonstrated on a motorized robot arm with disturbances. The simulation results shows that the new hybrid neural -fuzzy controller provides better system response in terms of transient and steady-state performance when compared to neural or fuzzy logic controller applications. The development and implementation of the proposed controller is done using the MATLAB/Simulink toolbox to illustrate the efficiency of the proposed method.

Industrial part localization and grasping using a robotic arm guided by 2D monocular vision

2018 ◽  
Vol 45 (6) ◽  
pp. 794-804 ◽  
Author(s):  
Zhaohui Zheng ◽  
Yong Ma ◽  
Hong Zheng ◽  
Yu Gu ◽  
Mingyu Lin
Keyword(s):  
Camera Calibration ◽  
High Precision ◽  
Calibration Method ◽  
Monocular Vision ◽  
Robotic Arm ◽  
Robot Arm ◽  
Content Type ◽  
Calibration Algorithm ◽  
Target Locating ◽  
Practical Implications

Purpose The welding areas of the workpiece must be consistent with high precision to ensure the welding success during the welding of automobile parts. The purpose of this paper is to design an automatic high-precision locating and grasping system for robotic arm guided by 2D monocular vision to meet the requirements of automatic operation and high-precision welding. Design/methodology/approach A nonlinear multi-parallel surface calibration method based on adaptive k-segment master curve algorithm is proposed, which improves the efficiency of the traditional single camera calibration algorithm and accuracy of calibration. At the same time, the multi-dimension feature of target based on k-mean clustering constraint is proposed to improve the robustness and precision of registration. Findings A method of automatic locating and grasping based on 2D monocular vision is provided for robot arm, which includes camera calibration method and target locating method. Practical implications The system has been integrated into the welding robot of an automobile company in China. Originality/value A method of automatic locating and grasping based on 2D monocular vision is proposed, which makes the robot arm have automatic grasping function, and improves the efficiency and precision of automatic grasp of robot arm.

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