scholarly journals Intelligent Modularized Reconfigurable Mechanisms for Robots: Development and Experiment

2020 ◽  
Vol 33 (1) ◽  
Author(s):  
Wenfu Xu ◽  
Liang Han ◽  
Xin Wang ◽  
Han Yuan ◽  
Bin Liang

Abstract With the development of intelligent flexible manufacturing, traditional industrial manipulators with a single configuration are difficult to meet a variety of tasks. Reconfigurable robots have developed rapidly which could change their configurations and end effectors for different tasks. The reconfigurable connecting mechanism (RCM) is a core component of reconfigurable robots. In this paper, two types of intelligent modularized RCMs with light weight, high payload, and large pose (position and attitude) error tolerance are developed. One is driven by shape memory alloy (SMA) and recovery spring. It is locked by steel balls and key. The other is driven by electromagnetic coil and locked by permanent magnet and key. The locking principle, mechanical system and control system of the two RCMs are detailed introduced. Both of them meet the requirements of high precision and high payload in the industrial field. Finally, the developed RCMs are respectively integrated to a practical robot and experimented. The experiment results verified the performance of the two RCMs.

2020 ◽  
Author(s):  
Wenfu Xu ◽  
Liang Han ◽  
Xin Wang ◽  
Han Yuan ◽  
Bin Liang

Abstract With the development of intelligent flexible manufacturing, traditional industrial manipulators with a single configuration are difficult to meet a variety of tasks. Reconfigurable robots have developed rapidly which could change their configurations and end effectors for different tasks. The reconfigurable connecting mechanism (RCM) is a core component of reconfigurable robots. In this paper, two types of intelligent modularized RCMs with light weight, high payload, and large pose (position and attitude) error tolerance are developed. One is driven by shape memory alloy (SMA) and recovery spring. It is locked by steel balls and key. The other is driven by electromagnetic coil and locked by permanent magnet and key. The locking principle, mechanical system and control system of the two RCMs are detailed introduced. Both of them meet the requirements of high precision and high payload in the industrial field. Finally, the developed RCMs are respectively integrated to a practical robot and experimented. The experiment results verified the performance of the two RCMs.


2020 ◽  
Author(s):  
Wenfu Xu ◽  
Liang Han ◽  
Xin Wang ◽  
Han Yuan ◽  
Bin Liang

Abstract With the development of intelligent flexible manufacturing, traditional industrial manipulators with a single configuration are difficult to meet a variety of tasks. Reconfigurable robots have developed rapidly which could change their configurations and end effectors for different tasks. The reconfigurable connecting mechanism (RCM) is a core component of reconfigurable robots. In this paper, we developed two types of intelligent modularized RCMs with light weight, high payload, and large tolerance. One of them is driven by shape memory alloy (SMA) and recovery spring. It is locked by steel balls and key. The other is driven by electromagnetic coil and locked by permanent magnet and key. The locking principle, mechanical system and control system of the two RCMs are detailed. Both of them meet the requirements of high precision and high payload in the industrial field. Finally, the developed RCMs are respectively integrated to a practical robot and experimented. The experiment results verified the performance of the two RCMs.


1976 ◽  
Vol 20 (7) ◽  
pp. 149-153
Author(s):  
Jeri W. Brown

A major subsystem aboard the Shuttle Orbiter, the Remote Manipulator System (RMS) provides the capability to deploy and retrieve free-flying satellites, support attached payload operations, and aid in crewmember rescue from a disabled vehicle should the requirement arise. The Remote Manipulator System consists of 15.3-meter (50-foot) articulated booms, end effectors, operator workstation, and closed circuit video, power and control subsystems. The manipulator booms (or arms) and end effectors are located in the Orbiter payload bay and operated from inside the cabin by one crewmember. This paper is primarily concerned with the design and development of the RMS operator's workstation, the man-machine engineering features and interfaces, and man-in-the-loop simulations and testing results obtained to date by the National Aeronautics and Space Administration (NASA).


Author(s):  
David N. Kordonowy ◽  
Sydney A. Giblin

This paper describes how direct digital manufacturing mechanical properties can be analytically estimated for structural use and the associated analytical and test methods used in the design and fabrication of airframes manufactured using additive manufacturing. Complex shape structures, which are now possible using additive manufacturing, and their associated mechanical properties can be predicted in order to allow operationally safe and highly predictive structures to be fabricated. Direct digital manufacturing allows for much greater flexibility and control over the design of airframes, leading to more structurally efficient and capable airframes. These advantages are revealed by application of direct digital manufacturing methods on a series of fixed wing subsonic transport concept wind tunnel scale models that are carried out as a part of the NASA N+3 program, which is paving the way for next generation aircraft that are highly fuel efficient, low-noise, and low-emission. Verification of these methods through test shows excellent correlation that provides reliability in complex sparse filled additive manufacturing design. The outcome of this is a knowledge base, which can then be applied to a system in operation. The combined potential of a flexible manufacturing system and proven predictive analysis tools shorten development time and expand the opportunities for mass customization. These combined benefits enable industry to fabricate affordable highly optimized custom products while concurrently reducing the cycle times required to field new products.


Author(s):  
Abhinandan Jain

Operational space modeling and control are important techniques for robot manipulation. A key element of operational space control is the operational space inertia matrix (OSIM). The OSIM matrix represents a mapping between end-effector spatial forces and spatial accelerations and is configuration-dependent. In the case of multiple end-effectors, the OSIM also encapsulates the dynamics cross coupling between the end-effectors. The rich structure of the OSIM for tree systems has been exploited by researchers for analysis and the development of low-order computational algorithms. Extending such techniques to the OSIM for closed-chain robotic systems is the focus of this short paper. We derive explicit analytical expressions for the closed-chain OSIM that reveals its close relationship to an extended tree-system OSIM.


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