Mechanical Design of a New Anthropomorphic Robot for Fastening in Wing-Box

2021 ◽  
Author(s):  
Jiefeng Jiang ◽  
Fengfeng (Jeff) Xi ◽  
Jingjing You ◽  
Qunxing Xue
Keyword(s):  
Mechanical Design ◽  
Humanoid Robots ◽  
Industrial Robots ◽  
Frame Structure ◽  
Human Arm ◽  
Size Constraints ◽  
Geometric Relation ◽  
Narrow Space ◽  
Set Up ◽  
Wing Box

Abstract The fastener installation in the wing-box faces with narrow space, and it has to be done manually at present. Since manual labor has size constraints, the efficiency is low, and there may be assembly quality instability, it urgently needs automation. Automatic fastening assembly using a robot undoubtedly is an appropriate solution. The existing industrial robots, snake robots, humanoid robots can not meet the fastening assembly requirements in the wing-box. We develop a new anthropomorphic robot with multiple links to perform the inner fastening. A prismatic pair is employed to fit the arm links entering into the wing-box. A shaft with 360 degrees rotation liked human shoulder is introduced to meet the circumferential positioning around the process hole. Arm links are used for robotic end effector reaching the local fastening site. Based on the limitation of assembly position in the wing-box, the link lengths are considered and determined. By using the geometric relation with the link lengths, the joint angle variables are presented. Then, S shape arm link is designed for the compact requirement and the dimensions are determined based on the cross-section of human arm. Finally, stable frame structure is set up through the rear door frame and the bridge beam, and the whole robot is integrated.

scholarly journals Implementation of Soft-Lithography Techniques for Fabrication of Bio-Inspired Multi-Layer Dielectric Elastomer Actuators with Interdigitated Mechanically Compliant Electrodes

Actuators ◽  
2018 ◽  
Vol 7 (4) ◽  
pp. 73 ◽  
Author(s):  
Mert Corbaci ◽  
Wayne Walter ◽  
Kathleen Lamkin-Kennard
Keyword(s):  
Soft Lithography ◽  
Skeletal Muscles ◽  
Actuation Voltage ◽  
Transition Process ◽  
Humanoid Robots ◽  
Dielectric Elastomer ◽  
Industrial Robots ◽  
Artificial Muscles ◽  
Dielectric Elastomer Actuators ◽  
Soft Actuators

Advancements in software engineering have enabled the robotics industry to transition from the use of giant industrial robots to more friendly humanoid robots. Soft robotics is one of the key elements needed to advance the transition process by providing a safer way for robots to interact with the environment. Electroactive polymers (EAPs) are one of the best candidate materials for the next generation of soft robotic actuators and artificial muscles. Lightweight dielectric elastomer actuators (DEAs) provide optimal properties such as high elasticity, rapid response rates, mechanical robustness and compliance. However, for DEAs to become widely used as artificial muscles or soft actuators, there are current limitations, such as high actuation voltage requirements, control of actuation direction, and scaling, that need to be addressed. The authors’ approach to overcome the drawbacks of conventional DEAs is inspired by the natural skeletal muscles. Instead of fabricating a large DEA device, smaller sub-units can be fabricated and bundled together to form larger actuators, similar to the way myofibrils form myocytes in skeletal muscles. The current study presents a novel fabrication approach, utilizing soft lithography and other microfabrication techniques, to allow fabrication of multilayer stacked DEA structures, composed of hundreds of micro-sized DEA units.

Efficient Actor-Critic Reinforcement Learning With Embodiment of Muscle Tone for Posture Stabilization of the Human Arm

2021 ◽  
Vol 33 (1) ◽  
pp. 129-156
Author(s):  
Masami Iwamoto ◽  
Daichi Kato
Keyword(s):  
Reinforcement Learning ◽  
Muscle Tone ◽  
Muscle Tension ◽  
Experimental Studies ◽  
Control Policy ◽  
Humanoid Robots ◽  
Pedunculopontine Tegmental Nucleus ◽  
Learning Efficiency ◽  
Human Arm ◽  
Posture Stabilization

This letter proposes a new idea to improve learning efficiency in reinforcement learning (RL) with the actor-critic method used as a muscle controller for posture stabilization of the human arm. Actor-critic RL (ACRL) is used for simulations to realize posture controls in humans or robots using muscle tension control. However, it requires very high computational costs to acquire a better muscle control policy for desirable postures. For efficient ACRL, we focused on embodiment that is supposed to potentially achieve efficient controls in research fields of artificial intelligence or robotics. According to the neurophysiology of motion control obtained from experimental studies using animals or humans, the pedunculopontine tegmental nucleus (PPTn) induces muscle tone suppression, and the midbrain locomotor region (MLR) induces muscle tone promotion. PPTn and MLR modulate the activation levels of mutually antagonizing muscles such as flexors and extensors in a process through which control signals are translated from the substantia nigra reticulata to the brain stem. Therefore, we hypothesized that the PPTn and MLR could control muscle tone, that is, the maximum values of activation levels of mutually antagonizing muscles using different sigmoidal functions for each muscle; then we introduced antagonism function models (AFMs) of PPTn and MLR for individual muscles, incorporating the hypothesis into the process to determine the activation level of each muscle based on the output of the actor in ACRL. ACRL with AFMs representing the embodiment of muscle tone successfully achieved posture stabilization in five joint motions of the right arm of a human adult male under gravity in predetermined target angles at an earlier period of learning than the learning methods without AFMs. The results obtained from this study suggest that the introduction of embodiment of muscle tone can enhance learning efficiency in posture stabilization disorders of humans or humanoid robots.

Navigational Analysis of Multiple Humanoids Using a Hybridized Rule Base-Sugeno Fuzzy Controller

2020 ◽  
Vol 17 (04) ◽  
pp. 2050017
Author(s):  
Manoj Kumar Muni ◽  
Dayal R. Parhi ◽  
Priyadarshi Biplab Kumar ◽  
Asita Kumar Rath
Keyword(s):  
Performance Enhancement ◽  
Fuzzy Controller ◽  
Fuzzy Model ◽  
Humanoid Robots ◽  
Rule Base ◽  
Turning Angle ◽  
Cluttered Environments ◽  
Hybrid Controller ◽  
Final Output ◽  
Set Up

This paper describes a rule base-Sugeno fuzzy hybrid controller for path planning of single as well as multiple humanoid robots in cluttered environments. Initially, sensor outputs regarding the obstacle distances are used as inputs to the rule base model, and turning angle is obtained as the output. The rule-based analysis is used for training the fuzzy controller with membership functions. The output from the rule base model along with other regular inputs is supplied to a Sugeno fuzzy model, and effective turning angle is obtained as the final output to avoid the obstacles present in the environment and navigate the humanoids safely to their target points. The proposed hybrid controller is tested on a V-REP simulation platform, and the simulation results are validated in an experimental set-up. To avoid the possibility of any inter-collision during navigation of multiple humanoids on a common platform, a Petri-net scheme is integrated along with the proposed hybrid model. Finally, the results obtained from simulation and experimental platforms are compared against each other with proper agreement and minimal percentage of deviations. To validate the proposed controller, it has also been tested against another existing navigational approach, and satisfactory performance enhancement has been observed.

New 3-DOFs Hybrid Mechanism for Ankle and Wrist of Humanoid Robot: Modeling, Simulation, and Experiments

2011 ◽  
Vol 133 (2) ◽  
Author(s):  
Samer Alfayad ◽  
Fethi B. Ouezdou ◽  
Faycal Namoun
Keyword(s):  
Degrees Of Freedom ◽  
Humanoid Robot ◽  
Power Transmission ◽  
Mechanical Design ◽  
Humanoid Robots ◽  
Classical Solutions ◽  
Kinematic Modeling ◽  
New Class ◽  
Hybrid Mechanism ◽  
And Control

This paper deals with the design of a new class of hybrid mechanism dedicated to humanoid robotics application. Since the designing and control of humanoid robots are still open questions, we propose the use of a new class of mechanisms in order to face several challenges that are mainly the compactness and the high power to mass ratio. Human ankle and wrist joints can be considered more compact with the highest power capacity and the lowest weight. The very important role played by these joints during locomotion or manipulation tasks makes their design and control essential to achieve a robust full size humanoid robot. The analysis of all existing humanoid robots shows that classical solutions (serial or parallel) leading to bulky and heavy structures are usually used. To face these drawbacks and get a slender humanoid robot, a novel three degrees of freedom hybrid mechanism achieved with serial and parallel substructures with a minimal number of moving parts is proposed. This hybrid mechanism that is able to achieve pitch, yaw, and roll movements can be actuated either hydraulically or electrically. For the parallel submechanism, the power transmission is achieved, thanks to cables, which allow the alignment of actuators along the shin or the forearm main axes. Hence, the proposed solution fulfills the requirements induced by both geometrical, power transmission, and biomechanics (range of motion) constraints. All stages including kinematic modeling, mechanical design, and experimentation using the HYDROïD humanoid robot’s ankle mechanism are given in order to demonstrate the novelty and the efficiency of the proposed solution.

scholarly journals Recent Developments Regarding Painting Robots for Research in Automatic Painting, Artificial Creativity, and Machine Learning

2020 ◽  
Vol 10 (10) ◽  
pp. 3396
Author(s):  
Jörg Marvin Gülzow ◽  
Patrick Paetzold ◽  
Oliver Deussen
Keyword(s):  
Low Cost ◽  
Lessons Learned ◽  
Industrial Robots ◽  
Control Interface ◽  
Creativity Research ◽  
Recent Developments ◽  
Scripting Language ◽  
Artificial Creativity ◽  
Set Up ◽  
Robotic Painting

E-David (Electronic Drawing Apparatus for Vivid Image Display) is a system for controlling a variety of painting machines in order to create robotic paintings. This article summarizes the hardware set-up used for painting, along with recent developments, lessons learned from past painting machines, as well as plans for new approaches. We want to apply e-David as a platform for research towards improving automatic painting and to explore machine creativity. We present different painting machines, from small low-cost plotters to large industrial robots, and discuss the benefits and limitations of each type of platform and present their applicability to different tasks within the domain of robotic painting and artificial creativity research. A unified control interface with a scripting language allows users a simplified usage of different e-David-like machines. Furthermore, we present our system for automated stroke experimentation and recording, which is an advance towards allowing the machine to autonomously learn about brush dynamics. Finally, we also show how e-David can be used by artists “in the field” for different exhibitions.

Analysis of Position for the 4-PUU Parallel Manipulator

2012 ◽  
Vol 220-223 ◽  
pp. 1757-1760
Author(s):  
Shu Hua Sun
Keyword(s):  
Machine Tools ◽  
Parallel Manipulator ◽  
Three Dimensional ◽  
Parallel Robots ◽  
Industrial Robots ◽  
Rehabilitation Robot ◽  
Analytic Geometry ◽  
Forward Solution ◽  
Numerical Examples ◽  
Set Up

An original 4-PUU parallelManipulator with three-dimensional translations and one rotational motion about Z axis was presented. Its positional inverse modals were set up by using the conversion of coordinates and projection in analytic geometry, and the method of the forward solution of theManipulator and corresponding numerical examples were given.This methods were verified by using MATLAB software,which can provide the basis for studying the parallel robots work space. And it has wide application in the fields of industrial robots, micromanipulators, virtual axis machine tools, damping platform, rehabilitation robot and other fields.

Virtual Designing of Robotic Workstations

2016 ◽  
Vol 844 ◽  
pp. 31-37
Author(s):  
Łukasz Sobaszek ◽  
Arkadiusz Gola ◽  
Jozef Varga
Keyword(s):  
Production Process ◽  
Virtual Environment ◽  
Industrial Robots ◽  
Basic Information ◽  
Manufacturing Companies ◽  
Work Analysis ◽  
Constant Increase ◽  
The Future ◽  
Set Up

The number of companies that decide to employ industrial robots to facilitate their production process is on the constant increase. Implementation of such solutions requires deep analysis of manifold aspects of such an endeavour. Apart from the economical face of the problem, there appear issues connected with integration of robots with the existing manufacturing infrastructure. Hence software enabling simulation and analysis of a robot work in the future environment is in demand. The following article is devoted to the problem of virtual designing of robotic workstations. The work presents basic information regarding application of robots in manufacturing companies and introduces typical software for simulation and programming of industrial robots. What is more, the process of designing a virtual environment and conducting analysis of robot work analysis is presented based on the laboratory set-up with Kawasaki RS003N robot. Finally, other examples of virtually designed robotic workstations are introduced.

Human Hand Movement Analysis Using Principle Component Analysis Classifier

2013 ◽  
Vol 284-287 ◽  
pp. 3126-3130 ◽  
Author(s):  
Ching Yee Yong ◽  
Rubita Sudirman ◽  
Nasrul Humaimi Mahmood ◽  
Kim Mey Chew
Keyword(s):  
Hand Movement ◽  
Arm Movement ◽  
Movement Analysis ◽  
Human Motion ◽  
Human Hand ◽  
Human Arm ◽  
Set Up ◽  
And Behavior ◽  
Adequate Internal Consistency

This study investigates and acts as a trial clinical outcome for human motion and behavior analysis in order to investigate human arm movement during jogging and walking. It was developed to analyze and access the quality of human motion that can be used in hospitals, clinics and human motion researches. It aims to establish how widespread the movement and motion of arm will bring to effect of human in life. An experiment was set up in a laboratory environment with conjunction of analyzing human motion and its behavior. The instruments demonstrate adequate internal consistency of optimum scatter plot in gyroscope and accelerometer for pattern classification. PCA used in this study was successfully differentiate and classify

Research on Tractor of Coal Mine Horizontal Belt Extension Transfer Machine

2013 ◽  
Vol 791-793 ◽  
pp. 750-753
Author(s):  
Ping Huai Mao ◽  
Bing Zhai ◽  
Jing Xi Li
Keyword(s):  
Coal Mine ◽  
Frame Structure ◽  
Main Function ◽  
Working Process ◽  
Loading Problem ◽  
Use Efficiency ◽  
Set Up ◽  
D Model ◽  
Direct Use ◽  
Machine Structure

Coal mine horizontal belt extension transfer machine is designed in order to solve the mine loading efficiency is not high; especially the most loading mechanical failed to solve continuous loading problem. This machine can also load a whole column tramcars and tramcars without modification with direct use, efficiency improve obviously. This paper first introduces transfer machine structure and working process, and introduces its important part tractor, structure and main function; Then as the main force of tractor parts, we frame for stress analysis, and set up the frame of 3-D model; Finally put the model into ANSYS of its structure statics analysis, and according to the result of analysis frame structure optimization. We will use the same approach to the design of tractor other components, finally complete the complete tractor. Through the study of tractor, summarizes the design methods for other similar mechanical similar provide a theory basis for the design.

Rc Infilled Frame: Shaking Table Tests on a Full Scale Model

2007 ◽  
Vol 347 ◽  
pp. 285-290
Author(s):  
Elena Candigliota ◽  
Alain Le Maoult
Keyword(s):  
Research Program ◽  
Structural Characteristics ◽  
Seismic Intensity ◽  
Full Scale ◽  
Shaking Table ◽  
Frame Structure ◽  
Scale Model ◽  
Limit States ◽  
Infilled Frame ◽  
Set Up

Tests on shaking table have been carried out on a 3D full scale infilled r.c. frame specimen (55 tons). These tests have been performed by the EMSI Laboratory of C.E.A. Saclay (France) together with a research team of the Universities of Chieti-Pescara (Italy), Roma Tre (Italy) and Patras (Greece). These tests are included in Ecoleader European research program. Many characterization tests of infill components (mortar and bricks) have been performed in the SCAM Laboratory of the University of Chieti-Pescara while tests on masonry walls were made in the laboratory of University of Rome 3. The structure represents the first floor of a two floors frame structure previously tested. The mockup is a full-scale one storey rc infilled frame with four columns, 3 meters high, with about 4 meters side square floor and infilled with double bricks wall. The main aim is to get information about the behavior of real structures. The instrumentation with about one hundred channels was set up to measure the rc frame response and the different behavior of the double walls during the tests. First, monodirectional and bidirectional tests at low seismic intensity (0.10 g and 0.15 g PGA levels) have been performed on the bare frame in order to characterize its structural characteristics and to check the design provisions. Then, the bare frame has been infilled and other tests have carried out at increasing seismic intensity in order to define its serviceability and ultimate limit states. Monodirectional and bidirectional tests up to 0.45 g PGA level were carried out. The last sequence included a monodirectional test on the infilled frame with only two walls. The high seismic input (0.55 g PGA level) was parallel to the direction of the walls. In this paper, research program and some main test results are presented.

Sign in / Sign up

Export Citation Format

Share Document