Shape Optimum Design of Robotic Manipulators With Static Performance Criteria

1987 ◽  
Author(s):  
D. A. Saravanos ◽  
J. S. Lamancusa ◽  
H. J. Sommer
Keyword(s):  
Finite Element ◽  
Optimum Design ◽  
Robotic Manipulators ◽  
Performance Criterion ◽  
Performance Criteria ◽  
Robotic Arm ◽  
Mass Ratio ◽  
End Effector ◽  
Vibrational Response ◽  
Static Performance

Abstract The end effector deflections of robotic manipulators may be minimized by optimizing the geometric shape and the dimensions of their links. A multiple posture static performance criterion for the prediction of the shape optimum design is presented. An efficient optimization algorithm is developed for the solution of the problem using finite element modeling to predict the compliance of the robotic arm. The method is applied to an existing robotic arm, and the results demonstrate that simple alterations to the dimensions and the shape of the links can greatly improve, not only the stiffness, but also the stiffness/mass ratio and consequently the vibrational response of the manipulator structure.

Teaching Manipulator Kinematics by Painting With Light

2011 ◽  
Author(s):  
Michael Shomin ◽  
Jonathan Fiene
Keyword(s):  
Inverse Kinematics ◽  
Three Dimensional ◽  
Robotic Manipulators ◽  
Video Camera ◽  
Robotic Arm ◽  
End Effector ◽  
Teaching Platform ◽  
Manipulator Arm ◽  
Servo Controller ◽  
Six Degree Of Freedom

In this paper, we examine the creation and benefits of a new teaching platform to introduce and reinforce the key concepts of robotic manipulators in an introductory-level robotics course. This system combines a vintage PUMA 260 six-degree-of-freedom robotic arm with modern control circuitry and a Matlab API. The API operates as a servo controller for the robot, thereby allowing students to apply their knowledge of inverse kinematics to a real manipulator arm. To further motivate the exploration of manipulators, we have developed an open-ended project where students engage in the art of three-dimensional light painting. To facilitate this activity, a tricolor LED has been affixed to the end-effector of the robot. With a digital SLR camera, we take a long-exposure photograph as the robot is driven through a trajectory, effectively painting a picture with the end effector. We have also developed a method to quickly assemble pseudo-long-exposure photographs and videos using an inexpensive video camera. We believe this novel setup and project are an effective way to engage and motivate students to learn the underlying math and dynamics of robotic manipulators.

scholarly journals Bio-inspired kinematical control of redundant robotic manipulators

2016 ◽  
Vol 36 (2) ◽  
pp. 200-215 ◽  
Author(s):  
Ali Leylavi Shoushtari ◽  
Stefano Mazzoleni ◽  
Paolo Dario
Keyword(s):  
Control Algorithm ◽  
Design Methodology ◽  
Three Dimensional ◽  
Robotic Manipulators ◽  
Robotic Arm ◽  
Kinematic Redundancy ◽  
End Effector ◽  
Content Type ◽  
Tracking Tasks ◽  
Two Degree Of Freedom

Purpose This paper aims to propose an innovative kinematic control algorithm for redundant robotic manipulators. The algorithm takes advantage of a bio-inspired approach. Design/methodology/approach A simplified two-degree-of-freedom model is presented to handle kinematic redundancy in the x-y plane; an extension to three-dimensional tracking tasks is presented as well. A set of sample trajectories was used to evaluate the performances of the proposed algorithm. Findings The results from the simulations confirm the continuity and accuracy of generated joint profiles for given end-effector trajectories as well as algorithm robustness, singularity and self-collision avoidance. Originality/value This paper shows how to control a redundant robotic arm by applying human upper arm-inspired concept of inter-joint dependency.

Analisis Kegagalan Boom Crane dan Pencegahannya

2014 ◽  
Vol 10 (1) ◽  
pp. 19
Author(s):  
Elvis Adril ◽  
Nasirwan - ◽  
Tri Wibowo ◽  
Julnaidi -
Keyword(s):  
Finite Element Method ◽  
Finite Element ◽  
Chemical Composition ◽  
Optimum Design ◽  
Root Cause ◽  
Main Equipment ◽  
Hardness Tests ◽  
Photo Documentation ◽  
Crawler Crane ◽  
Boom Crane

Sleeve (Boom) on Crawler Crane is the main equipment that serves the weight at the time of appointment (Hoisting).The problem which is founded is a fracture at the boom while lift 6 Tons of weight while the optimum design of equipment is 50 tons. The aim of this research is to found the root cause of the fracture by using photo documentation fractografi (microfractografi and macrofractografi), and hardness tests, and test the chemical composition at the surface faults boom crane. We used Finite element method (FEM) to form simulated load. The results is that the porblem accured because of error while read the load chart and error in SOP

Optimization of the Wrist Pin End of an Automobile Engine Connecting Rod With an Interference Fit

1990 ◽  
Vol 112 (3) ◽  
pp. 406-412 ◽  
Author(s):  
Vijay Sarihan ◽  
Ji Oh Song
Keyword(s):  
Finite Element ◽  
Optimum Design ◽  
Three Dimensional ◽  
Stress Singularity ◽  
Design Strategy ◽  
Structural Components ◽  
Connecting Rod ◽  
Fem Model ◽  
Automobile Engine ◽  
Interference Fit

Current design procedures for complicated three-dimensional structural components with component interactions may not necessarily result in optimum designs. The wrist pin end design of the connecting rod with an interference fit is governed by the stress singularity in the region where the wrist pin breaks contact with the connecting rod. Similar problems occur in a wide variety of structural components which involve interference fits. For a better understanding of the problems associated with obtaining optimum designs for this important class of structural interaction only the design problems associated with the wrist pin end of the rod are addressed in this study. This paper demonstrates a procedure for designing a functional and minimum weight wrist pin end of an automobile engine connecting rod with an interference fit wrist pin. Current procedures for Finite Element Method (FEM) model generation in complicated three-dimensional components are very time consuming especially in the presence of stress singularities. Furthermore the iterative nature of the design process makes the process of developing an optimum design very expensive. This design procedure uses a generic modeler to generate the FEM model based on the values of the design variables. It uses the NASTRAN finite element program for structural analysis. A stress concentration factor approach is used to obtain realistic stresses in the region of the stress singularity. For optimization, the approximate optimization strategy in the COPES/CONMIN program is used to generate an approximate design surface, determine the design sensitivities for constrained function minimization and obtain the optimum design. This proposed design strategy is fully automated and requires only an initial design to generate the optimum design. It does not require analysis code modifications to compute the design sensitivities and requires very few costly NASTRAN analyses. The connecting rod design problem was solved as an eight design variable problem with five constraints. A weight reduction of nearly 27 percent was achieved over an existing design and required only thirteen NASTRAN analyses. It is felt that this design strategy can be effectively used in an engineering environment to generate optimum designs of complicated three-dimensional components.

scholarly journals Stiffness Modeling of Robotic-Manipulators Under Auxiliary Loadings

2012 ◽  
Author(s):  
Alexandr Klimchik ◽  
Anatol Pashkevich ◽  
Stéphane Caro ◽  
Damien Chablat
Keyword(s):  
Robotic Manipulators ◽  
Computationally Efficient ◽  
End Effector ◽  
Efficient Procedure ◽  
Stiffness Modeling ◽  
Cartesian Stiffness Matrix ◽  
Different Types ◽  
Mapping Equation ◽  
Linear Force ◽  
Cartesian Stiffness

The paper focuses on the extension of the virtual-joint-based stiffness modeling technique for the case of different types of loadings applied both to the robot end-effector and to manipulator intermediate points (auxiliary loading). It is assumed that the manipulator can be presented as a set of compliant links separated by passive or active joints. It proposes a computationally efficient procedure that is able to obtain a non-linear force-deflection relation taking into account the internal and external loadings. It also produces the Cartesian stiffness matrix. This allows to extend the classical stiffness mapping equation for the case of manipulators with auxiliary loading. The results are illustrated by numerical examples.

Design, Modelling and Simulation of a Rotational Robotic Arm

2020 ◽  
Author(s):  
Bin Wei
Keyword(s):  
Angular Velocity ◽  
3D Model ◽  
Modelling And Simulation ◽  
Robotic Arm ◽  
Forward Kinematics ◽  
Position Vector ◽  
Control Law ◽  
Model Design ◽  
End Effector ◽  
Design And Optimization

Abstract In this paper, a rotational robotic arm is designed, modelled and optimized. The 3D model design and optimization are conducted by using SolidWorks. Forward kinematics are derived so as to determine the position vector of the end effector with respect to the base, and subsequently being able to calculate the angular velocity and torque of each joint. For the goal positioning problem, the PD control law is typically used in industry. It is employed in this application by using virtual torsional springs and frictions to generate the torques and to keep the system stable.

New repetitive motion planning scheme with cube end-effector planning precision for redundant robotic manipulators

Robotica ◽  
2021 ◽  
pp. 1-22
Author(s):  
Limin Shen ◽  
Yuanmei Wen
Keyword(s):  
Theoretical Analysis ◽  
Motion Planning ◽  
Robotic Manipulators ◽  
Robotic Manipulator ◽  
Repetitive Motion ◽  
End Effector ◽  
Difference Formula ◽  
Planning Scheme ◽  
Simulation Results ◽  
The Difference

Abstract Repetitive motion planning (RMP) is important in operating redundant robotic manipulators. In this paper, a new RMP scheme that is based on the pseudoinverse formulation is proposed for redundant robotic manipulators. Such a scheme is derived from the discretization of an existing RMP scheme by utilizing the difference formula. Then, theoretical analysis and results are presented to show the characteristic of the proposed RMP scheme. That is, this scheme possesses the characteristic of cube pattern in the end-effector planning precision. The proposed RMP scheme is further extended and studied for redundant robotic manipulators under joint constraint. Based on a four-link robotic manipulator, simulation results substantiate the effectiveness and superiority of the proposed RMP scheme and its extended one.

scholarly journals Research on a 3-DOF Motion Device Based on the Flexible Mechanism Driven by the Piezoelectric Actuators

Micromachines ◽  
2018 ◽  
Vol 9 (11) ◽  
pp. 578 ◽  
Author(s):  
Bingrui Lv ◽  
Guilian Wang ◽  
Bin Li ◽  
Haibo Zhou ◽  
Yahui Hu
Keyword(s):  
Finite Element Analysis ◽  
Finite Element ◽  
Three Dimensional ◽  
Machining Process ◽  
Element Analysis ◽  
3D Motion ◽  
Compliance Modeling ◽  
The Matrix ◽  
Static Performance ◽  
Flexible Mechanism

This paper describes the innovative design of a three-dimensional (3D) motion device based on a flexible mechanism, which is used primarily to produce accurate and fast micro-displacement. For example, the rapid contact and separation of the tool and the workpiece are realized by the operation of the 3D motion device in the machining process. This paper mainly concerns the device performance. A theoretical model for the static performance of the device was established using the matrix-based compliance modeling (MCM) method, and the static characteristics of the device were numerically simulated by finite element analysis (FEA). The Lagrangian principle and the finite element analysis method for device dynamics are used for prediction to obtain the natural frequency of the device. Under no-load conditions, the dynamic response performance and linear motion performance of the three directions were tested and analyzed with different input signals, and three sets of vibration trajectories were obtained. Finally, the scratching experiment was carried out. The detection of the workpiece reveals a pronounced periodic texture on the surface, which verifies that the vibration device can generate an ideal 3D vibration trajectory.

scholarly journals DESIGN OF A 3D-PRINTED THREE-CLAW ROBOTIC GRIPPER END-EFFECTOR

2021 ◽  
Vol 11 (4) ◽  
pp. 70-79
Author(s):  
Dino Dominic Forte Ligutan ◽  
Argel Alejandro Bandala ◽  
Jason Limon Española ◽  
Richard Josiah Calayag Tan Ai ◽  
Ryan Rhay Ponce Vicerra ◽  
...  
Keyword(s):  
3D Printing ◽  
Polylactic Acid ◽  
Grip Force ◽  
Thermoplastic Polyurethane ◽  
Robotic Arm ◽  
End Effector ◽  
Design Considerations ◽  
3D Printed ◽  
Materials Used ◽  
Metal Work

The development of a novel 3D-printed three-claw robotic gripper shall be described in this paper with the goal of incorporating various design considerations. Such considerations include the grip reliability and stability, grip force maximization, wide object grasping capability. Modularization of its components is another consideration that allows its parts to be easily machined and reusable. The design was realized by 3D printing using a combination of tough polylactic acid (PLA) material and thermoplastic polyurethane (TPU) material. In practice, additional tolerances were also considered for 3D printing of materials to compensate for possible expansion or shrinkage of the materials used to achieve the required functionality. The aim of the study is to explore the design and eventually deploy the three-claw robotic gripper to an actual robotic arm once its metal work fabrication is finished.

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