scholarly journals Analysis and experiments with a 3D printed walking robot to improve climbing obstacle

2020 ◽  
Vol 17 (3) ◽  
pp. 172988142092528
Author(s):  
Ivan Chavdarov ◽  
Aleksandar Krastev ◽  
Bozhidar Naydenov ◽  
Galia Pavlova
Keyword(s):  
Mobile Robots ◽  
Static Stability ◽  
Walking Robot ◽  
Baseline Model ◽  
Minimum Number ◽  
3D Printed ◽  
Different Shapes ◽  
Original Concept

The purpose of this work is to investigate the possibilities of climbing higher obstacles while maintaining the overall dimensions of a walking robot through design improvements and experiments. An original concept for the design of a walking robot with a minimum number of motors is presented. Geometric and force constraints for overcoming an obstacle and the conditions for maintaining static stability are determined. Experiments for overcoming a vertical obstacle are conducted with a 3D printed model. The 3D printed robot feet with different shapes and materials are used. The results of the experiments are presented graphically as a percentage of success against a baseline model. In this study, a dimensionless index to compare the height of the overcome obstacle and the dimensions of the robot is introduced. It allows to objectively compare the possibilities of overcoming obstacles between various types of mobile robots. Conclusions and guidelines for design improvements are made.

A Piezoelectrically Actuated Biomimetic Walking Robot

2006 ◽  
Vol 326-328 ◽  
pp. 1435-1438 ◽  
Author(s):  
Abdul A. Yumaryanto ◽  
Jae Bum An ◽  
Li Li Xin
Keyword(s):  
Mobile Robots ◽  
Piezoelectric Ceramic ◽  
Static Stability ◽  
The Other ◽  
Walking Robot ◽  
Fiber Reinforced ◽  
Fiber Reinforced Plastic ◽  
Composite Type ◽  
Reinforced Plastic ◽  
Tripod Gait

In this paper we present the design and prototype of a six-legged walking robot which uses Lightweight Piezoceramic Composite curved Actuator (LIPCA) as its actuator. LIPCA consists of multiple layers of glass/epoxy and carbon/epoxy that encapsulate a unimorph piezoelectric ceramic actuator. It uses lightweight fiber-reinforced plastic layers, and it is a lighter structure and generates a higher force and a larger displacement than other conventional piezo-composite type actuators. Like most six-legged walking insects including cockroaches, our robot uses the alternating tripod gait where the front and rear legs on the same side move together with the middle leg on the other side for its locomotion. Two LIPCA strips in different phases are used for actuating each tripod so that only one tripod may touch the ground ensuring static stability while walking. All the experiments with the prototype show that LIPCA can be used as an alternative actuator for small and light mobile robots.

scholarly journals Design and kinematics of a 3-D printed walking robot “Big Foot”, overcoming obstacles

2019 ◽  
Vol 16 (6) ◽  
pp. 172988141989132
Author(s):  
Ivan Chavdarov ◽  
Bozhidar Naydenov
Keyword(s):  
Control System ◽  
Walking Robots ◽  
Energy Losses ◽  
Simple Design ◽  
Walking Robot ◽  
Minimum Number ◽  
And Control ◽  
Original Concept ◽  
Dimensional Optimization

The proposed study presents an original concept for the design of a walking robot with a minimum number of motors. The robot has a simple design and control system, successfully moves by walking, avoids or overcomes obstacles using only two independently controlled motors. Described are basic geometric and kinematic dependencies related to its movement. It is proposed optimization of basic dimensions of the robot in order to reduce energy losses when moving on flat terrain. Developed and produced is a 3-D printed prototype of the robot. Simulation and experiments for overcoming an obstacle are presented. Trajectories and instantaneous velocities centers of links from the robot are experimentally determined. The phases of walking and the stages of overcoming an obstacle are described. The theoretical and experimental results are compared. The suggested dimensional optimization approaches to reduce energy loss and experimental determination of the instant center of rotation are also applicable to other walking robots.

Omnidirectional Static Walking of a Quadruped Robot on a Slope

2006 ◽  
Vol 18 (1) ◽  
pp. 51-58
Author(s):  
Lei Zhang ◽  
◽  
Shugen Ma ◽  
Yoshinori Honda ◽  
Kousuke Inoue ◽  
...  
Keyword(s):  
Stability Margin ◽  
Static Stability ◽  
Quadruped Robot ◽  
Body Posture ◽  
Gait Transition ◽  
Minimum Number ◽  
Motion Speed ◽  
Arbitrary Body ◽  
Time Required ◽  
Foot Position

We propose successive gait transition with arbitrary body posture to enable a quadruped robot to walk statically and omnidirectionally on a slope. Body posture is determined by rotation around 3 axes, roll, pitch, and yaw. Successive gait transition with a minimum number of steps on a slope is realizable using common foot position before and after gait transition. The time required to transit between gaits is reduced by carefully designing foot position in crawling and rotating while limiting foot reachable region on a slope. The robot thus walks into any direction with arbitrary body postures. In this study, we also verify a tradeoff relation between motion speed and body posture. Computer simulation and experiments verified the feasibility of our proposed method and the stability of gait transition based on static stability margin.

scholarly journals 3D Printed Tablets (Printlets) with Braille and Moon Patterns for Visually Impaired Patients

Pharmaceutics ◽  
2020 ◽  
Vol 12 (2) ◽  
pp. 172 ◽  
Author(s):  
Atheer Awad ◽  
Aliya Yao ◽  
Sarah J. Trenfield ◽  
Alvaro Goyanes ◽  
Simon Gaisford ◽  
...  
Keyword(s):  
Visual Impairment ◽  
Three Dimensional ◽  
Dosing Regimen ◽  
Self Administration ◽  
Improve Medication Adherence ◽  
Public Health Burden ◽  
Additional Information ◽  
3D Printed ◽  
Different Shapes ◽  
First Time

Visual impairment and blindness affects 285 million people worldwide, resulting in a high public health burden. This study reports, for the first time, the use of three-dimensional (3D) printing to create orally disintegrating printlets (ODPs) suited for patients with visual impairment. Printlets were designed with Braille and Moon patterns on their surface, enabling patients to identify medications when taken out of their original packaging. Printlets with different shapes were fabricated to offer additional information, such as the medication indication or its dosing regimen. Despite the presence of the patterns, the printlets retained their original mechanical properties and dissolution characteristics, wherein all the printlets disintegrated within ~5 s, avoiding the need for water and facilitating self-administration of medications. Moreover, the readability of the printlets was verified by a blind person. Overall, this novel and practical approach should reduce medication errors and improve medication adherence in patients with visual impairment.

scholarly journals Automated quality characterization of 3D printed bone scaffolds

2014 ◽  
Vol 1 (3) ◽  
pp. 194-201 ◽  
Author(s):  
Tzu-Liang Bill Tseng ◽  
Aditya Chilukuri ◽  
Sang C. Park ◽  
Yongjin James Kwon
Keyword(s):  
Automated Inspection ◽  
Tissue Engineering Scaffolds ◽  
Critical Dimensions ◽  
Bone Scaffolds ◽  
Quality Issue ◽  
Manual Inspection ◽  
3D Printed ◽  
Different Shapes

Abstract Optimization of design is an important step in obtaining tissue engineering scaffolds with appropriate shapes and inner microstructures. Different shapes and sizes of scaffolds are modeled using UGS NX 6.0 software with variable pore sizes. The quality issue we are concerned is the scaffold porosity, which is mainly caused by the fabrication inaccuracies. Bone scaffolds are usually characterized using a scanning electron microscope, but this study presents a new automated inspection and classification technique. Due to many numbers and size variations for the pores, the manual inspection of the fabricated scaffolds tends to be error-prone and costly. Manual inspection also raises the chance of contamination. Thus, non-contact, precise inspection is preferred. In this study, the critical dimensions are automatically measured by the vision camera. The measured data are analyzed to classify the quality characteristics. The automated inspection and classification techniques developed in this study are expected to improve the quality of the fabricated scaffolds and reduce the overall cost of manufacturing.

scholarly journals Stereolithography 3D-Printed Catalytically Active Devices in Organic Synthesis

Catalysts ◽  
2020 ◽  
Vol 10 (1) ◽  
pp. 109 ◽  
Author(s):  
Sergio Rossi ◽  
Alessandra Puglisi ◽  
Laura Maria Raimondi ◽  
Maurizio Benaglia
Keyword(s):  
Low Cost ◽  
Reaction Times ◽  
3D Printer ◽  
High Reproducibility ◽  
Active Devices ◽  
Surface Areas ◽  
Catalytically Active ◽  
3D Printed ◽  
Different Shapes ◽  
Design Software

This article describes the synthesis of stereolithography (SLA) 3D-printed catalyst-impregnated devices and their evaluation in the organocatalyzed Friedel–Crafts alkylation of N–Me–indole with trans-β-nitrostyrene. Using a low-cost SLA 3D printer and freeware design software, different devices were designed and 3D-printed using a photopolymerizable resin containing a thiourea-based organocatalyst. The architectural control offered by the 3D-printing process allows a straightforward production of devices endowed with different shapes and surface areas, with high reproducibility. The 3D-printed organocatalytic materials promoted the formation of the desired product up to a 79% yield, although with longer reaction times compared to reactions under homogeneous conditions.

A Miniature, 3D-Printed, Walking Robot With Soft Joints

2017 ◽  
Author(s):  
Anthony DeMario ◽  
Jianguo Zhao
Keyword(s):  
3D Printing ◽  
Numerical Method ◽  
Body Length ◽  
Soft Materials ◽  
Search And Rescue ◽  
Walking Robot ◽  
Miniature Robots ◽  
Revolute Joints ◽  
3D Printed ◽  
Locomotion Speed

Miniature robots have many applications ranging from military surveillance to search and rescue in disaster areas. Nevertheless, the fabrication of such robots has traditionally been labor-intensive and time-consuming. This paper proposes to directly leverage multi-material 3D printing (MM3P) to fabricate centimeter-scale robots by utilizing soft materials to create soft joints in replacement of revolute joints. We demonstrate the capability of MM3P by creating a miniature, four-legged walking robot. Moreover, we establish a numerical method based on the Psuedorigid-Body (PRB) 1R model to predict the motion of the leg mechanism with multiple soft joints. Experimental results verify the proposed numerical method. Meanwhile, a functional walking robot actuated by a single DC motor is demonstrated with a locomotion speed of one body length/sec. The proposed design, fabrication, and analysis for the walking robot can be readily applied to other robots that have mechanisms with soft joints.

scholarly journals Geometry Based Approach to Obstacle Avoidance of Triomnidirectional Wheeled Mobile Robotic Platform

2017 ◽  
Vol 2017 ◽  
pp. 1-10 ◽  
Author(s):  
Tesfaye Wakessa Gussu ◽  
Chyi-Yeu Lin
Keyword(s):  
Mobile Robots ◽  
Obstacle Avoidance ◽  
Empirical Approach ◽  
Free Motion ◽  
Robotic Platform ◽  
Ultrasonic Sensors ◽  
Multiple Sensors ◽  
Minimum Number ◽  
Suitable Combination ◽  
Robotic Platforms

Mobile robots undergo a collision-free autonomous motion by using the information obtained from a suitable combination of multiple sensors of same or different families. These sensors are often configured around the chassis of the robotic platform. However, little to no information is available as to how these sensors are configured on mobile robotic platforms and how many of these sensors to place on such platforms. Instead, an empirical approach is adopted. That is, the number of sensors of the same family or any type as well as combination of sensors for detecting obstacles is determined by experiment or information obtained from external sensors. This approach is often seen to be iterative and time consuming. In this paper, an approach for determining the minimum number of sensors and their spacing on the robotic platform is proposed so that mobile robots undergo collision-free motion. The effectiveness of the developed approach is experimentally tested by examining the obstacle avoidance capability of the triomnidirectional wheeled robotic platform based on a motion triggering signal obtained from a skirt of ultrasonic sensors only. It was observed that the newly developed approach allows this robotic platform to avoid obstacles effectively.

A Six-Legged Walking Robot as a Senior Design Project

1997 ◽  
Vol 25 (1) ◽  
pp. 61-71
Author(s):  
H. B. Gürocak ◽  
J. M. Ancona
Keyword(s):  
Mechanical Engineering ◽  
Design Criterion ◽  
Walking Robot ◽  
Research Committee ◽  
Design Project ◽  
Senior Design ◽  
The Pacific ◽  
Minimum Number ◽  
Leg Motion ◽  
The University

In this article the design of a six-legged walking robot as a mechanical engineering senior design project is presented. The design criterion was to use a minimum number of motors for leg motion while the robot would have the ability to turn when it ran into an object. The project proved to be a good example for the application of fundamental mechanical engineering concepts such as kinematics, statics and machine design. This project was funded by the Faculty Research Committee of the University of the Pacific.

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