Towards Multi-Body Analyses for Advanced Flexible Robotic Systems

Author(s):  
Mariapaola D’Imperio ◽  
Carlo Canali ◽  
Darwin Caldwell ◽  
Ferdinando Cannella ◽  
Cristiano Pizzamiglio ◽  
...  

Manufacturers answered to the global competition rise by increasing the efficiency of their development process by substituing the hardware tests with their virtual counterpart. Following the same idea, in this paper, the introduction of the virtual prototyping technique in the design of a complex robotic leg is proposed. The novelty of this work is double: the first motivation lies on the characteristic of the mechanism, since it is a FLEXible jumping LEG; the second one, instead, regards to the introduction of methods well known in other research field but rarely used in robotics. This paper describes the whole design process, while the assembly of the physical prototype, the control development and the experimental tests will be matters of future works.

2021 ◽  
Author(s):  
Simone Asci ◽  
Ketao Zhang

Abstract Among mobile robotic research field, legged locomotion is largely applied for advanced robotic systems due to the higher degree of versatility compared to wheeled robots, which allows them to successfully move and interact in unstructured environments; nevertheless, legged robots present several designing problems and require a much more complex control system. Based on an effective robotic leg, this paper presents a novel design, which integrates a cam joint, aimed to improve the versatility performances minimizing changes in the original model and without increasing the control complexity. Furthermore, the design strategy aims to exploit the coupled action of two actuators, which are disposed in a novel configuration so to gain versatility advantage while maintaining velocity performances of legs equipped with a single actuator. The model is presented through a kinematic analysis, followed by the simulation of the leg mechanism trajectory and a comparison with the original configuration.


Author(s):  
Miguel A. Naya ◽  
Javier Cuadrado

During the last years, our group has worked on real-time formulations for the dynamics of multi-body systems. Now, in order to find out whether such methods are suitable to address real industrial problems, we intend to develop control algorithms for a car on its computer model (virtual prototyping), and evaluate the performance of such controllers when implemented on the corresponding physical prototype. This paper addresses the first part of the work. Two maneuvers are to be considered: straight line and obstacle avoidance. The computer model of the car has been coded in Fortran language. Fuzzy logic has been chosen to design the control algorithms, which have been implemented on the Matlab environment. Several alternatives to connect Fortran and Matlab-based functions have been studied, concluding that the most appropriate election depends on the purpose being pursued: controller tuning or onboard use of an already tuned controller. Simulator capabilities have been given to the program by means of a realistic graphical output and game-type driving peripherals (steering wheel and pedals), so that comparison may be established between human and designed automatic control.


Author(s):  
Daniele Ludovico ◽  
Mariapaola D’Imperio ◽  
Ferdinando Cannella

Nowadays the robotic challenges are various and many of these are oriented towards bioinspired, safe and energy efficient solutions. Considering these needs, the authors propose the development of a flexible robotic leg as a first step in the design of a jumping humanoid robot. The virtual prototyping techniques played a key role in the identification of the optimal geometric and dynamic features of the leg, such as the length and thickness of the flexible link or the inertial properties of the whole system, and in the choice of the most suitable mechanical and electromechanical components. Several simulations were performed using the software MSC.Nastran® and MSC.Adams® - Matlab/Simulink® integrated environment and their results will be presented. Future works concern the assembly of a physical prototype and an extended campaign of experimental tests to collect data useful for validate the numerical models.


2021 ◽  
Vol 343 ◽  
pp. 08001
Author(s):  
Radovan Holubek ◽  
Róbert Bočák ◽  
Vanessa Prajová

Production requirements are growing and companies needs to adapt to the latest trends with state-of-art technologies. Virtual reality (VR) technology promises big changes in Industry sector, even this technology is still evolving. This immersive technology allows to visualization and interaction of complex engineering data in virtual environment, provide various inspection of 3D objects and allows to communicate changes on objects or process between production teams and customers. This paper discus about potential of VR systems in Industry and purpose of usage to improve development process and the use of this technology in the design of future robotic systems. The goal is to compare causal designing methods of robotic work station and method with using VR environment and their possibilities. Development supported by VR systems shortens preproduction phase and brings to user immersive experience with designing product or process without creating physical prototype or real production systems.


Author(s):  
Andrea CAPRA ◽  
Ana BERGER ◽  
Daniela SZABLUK ◽  
Manuela OLIVEIRA

An accurate understanding of users' needs is essential for the development of innovative products. This article presents an exploratory method of user centered research in the context of the design process of technological products, conceived from the demands of a large information technology company. The method is oriented - but not restricted - to the initial stages of the product development process, and uses low-resolution prototypes and simulations of interactions, allowing users to imagine themselves in a future context through fictitious environments and scenarios in the ambit of ideation. The method is effective in identifying the requirements of the experience related to the product’s usage and allows rapid iteration on existing assumptions and greater exploration of design concepts that emerge throughout the investigation.


2021 ◽  
Vol 18 (4) ◽  
pp. 857-871
Author(s):  
Elio Matteo Curcio ◽  
Giuseppe Carbone

AbstractThis paper addresses the design of a novel bionic robotic device for upper limb rehabilitation tasks at home. The main goal of the design process has been to obtain a rehabilitation device, which can be easily portable and can be managed remotely by a professional therapist. This allows to treat people also in regions that are not easily reachable with a significant cost reduction. Other potential benefits can be envisaged, for instance, in the possibility to keep social distancing while allowing rehabilitation treatments even during a pandemic spread. Specific attention has been devoted to design the main mechatronic components by developing specific kinematics and dynamics models. The design process includes the implementation of a specific control hardware and software. Preliminary experimental tests are reported to show the effectiveness and feasibility of the proposed design solution.


Author(s):  
Karl-H. Grote ◽  
Christiane Beyer

Abstract In socialistic countries, customer satisfaction and the market conditions were not of high priority: Some selected parts of the market products were of satisfactory costs and quality to customers. Quality and costs of a product decide on its success in the world-wide market. The wishes and expectations of the customer for a high-quality and low-priced product continue to grow, however, with the desire for faster availability of this product. The customer determines also the delivery time and other competitive factors as the durability of the product. At present the trend goes towards shorter product life cycles, which in turn requires reduced time spent on the product development. With these complex market requirements and growing diversity of the products the engineer faces new challenges in his development tasks. It can be paraphrased as follows: In reduced lifecycles a quality-assured and advantageous product has to be developed despite increasing complexity of the design and demands for reduction of material used, manpower and monetary spending. For the solution of this complex problem the following suggestions are tested and implemented: • Structured design process for the development process, • Simultaneous work where ever possible during the development stages, • Employment of modern resources for the product development, • Use of information technology and • Implementation of rapid prototyping for models and in secondary manufacturing processes. An important research field at the Department of Mechanical Engineering Design at the Otto-von-Guericke-University Magdeburg is research and further development of productive procedures and tools for the realization of a computer integrated product development process. This process includes the effective application of technologies to produce the prototypes for presentation, producibility analysis and production. Of particular interest is the closed process chain (loop) from Solid Modeling via Rapid Prototyping and 3D-Digitizing where the entry point of this process chain depends on the needs of the application or particular interest of the innovating company. Information for faster and more competitive preparation, verification and Re-Engineering of existing and established products, which have to be adjusted to the world-market needs, will be made available. The results of this applied research offer opportunities to display new developed products for the lagging industries in the former East Germany, and furthermore arranging for necessary venture capital to produce the product, to gain information about possible suppliers and manufacturing opportunities in order to minimize the investors’ risks of an enterprise.


Jurnal PenSil ◽  
2019 ◽  
Vol 8 (1) ◽  
pp. 24-30
Author(s):  
Gilang Mawardi ◽  
Tuti Iriani ◽  
Daryati Daryati

This research is a type of research and development that aims to produce products in the form of multimedia powerpoint-based learning media in Learning Competency courses. This development research is a Research and Development research method with the 4D (four-D) model. This research is basically done through four main stages, namely define process, design process, develop process, and disseminate process. However, the research only reaches the stage of the development process. This study uses a questionnaire as a tool to test the feasibility of the media through the validation of media experts and material experts. The results of development are multimedia powerpoint-based learning media products. Assessments by material expert lecturers get scores 4,27 categorized as "Very Good". An assessment by a media expert lecturer got a score of 3.31 which was categorized as "Quite Good". The results of the average assessment from material and media experts get the value "3,79" means that multimedia-based learning media is categorized as "Good.".


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