scholarly journals Algae Harvesting from Large Outdoor Ponds Using a Novel Parallel Robot System

2018 ◽  
Vol 6 (1) ◽  
pp. 38-42
Author(s):  
Robert L. Williams II ◽  
Jesus Pagan
Keyword(s):  
Parallel Robot ◽  
Robot System

Study of the Kinematics for the Serial Robot on the Controllable Polishing Force

2013 ◽  
Vol 454 ◽  
pp. 114-117 ◽  
Author(s):  
Miao Yu ◽  
Xin An
Keyword(s):  
Mechanical Characteristics ◽  
Parallel Robot ◽  
Constant Load ◽  
Robot Arm ◽  
Robot System ◽  
Functional Load ◽  
Mechanics Model ◽  
Polishing Force ◽  
Serial Robot ◽  
Multi Robot

This paper puts forward a multi-robot system which is made up of the MOTOMAN - HP3 serial robot and NPT800 parallel robot. Based on the mechanics model and dynamics equations that are established of the robot, the mechanical characteristics of the end for the grinding are analyzed. By applying the constant load and the functional load on the polishing end, the force and torque diagram for each of the robot arm joint are obtained. In the end, the conclusion that the force and the torque of the first joint is the largest can be obtained and the force of joint can keep the good constancy.

The Study on the Communication of the Multi-Robot Polishing System by the ACO Mode

2013 ◽  
Vol 712-715 ◽  
pp. 2264-2267 ◽  
Author(s):  
Miao Yu ◽  
Xin An ◽  
Jing Ji
Keyword(s):  
Communication Protocol ◽  
Parallel Robot ◽  
Robot System ◽  
Serial Robot ◽  
Status Information ◽  
Communication Needs ◽  
The Stability ◽  
Robot Position ◽  
Mutual Communication ◽  
Multi Robot

This paper compiles the program to control the multi-robot polishing system by the ACO (ant colony optimization) mode and adopts the communication protocol between the robots of multi-robot polishing system. Then, based on the multi-robot system which is made up of the MOTOMAN - HP3 serial robot and NPT800 parallel robot, the mutual communication can be accomplished by two robots and the robot position and status information can be transported with programming of the blackboard structure. The experiments show that the communication protocol can enforce communication of the computer between the multi--robot. It can achieve the stability and higher instantaneity. It has met the communication needs of the multi-robot.

Experimental Research on Force/Position Control of a Wire-Driven Parallel Rehabilitative Robot

2011 ◽  
Vol 138-139 ◽  
pp. 68-73 ◽  
Author(s):  
Ke Yi Wang ◽  
Fang Chao Ma ◽  
Meng Hao ◽  
Li Xun Zhang ◽  
Pan Liu
Keyword(s):  
Position Control ◽  
Parallel Robot ◽  
Force Balance ◽  
Robot System ◽  
End Effector ◽  
Wire Tension ◽  
Parallel Control ◽  
The Wire ◽  
And Control ◽  
Force Balance Equation

During rehabilitative training, a 3-DOF wire-driven parallel robot driven was designed to coordinate and control the trainer pelvis movement. Based on the force balance equation of the end-effector, the stiffness problem about the robot system was analyzed and one kind of force/position parallel control strategy was proposed that the position loop would realize the end-effector motion trajectory, and the force loop would control the wire tension. The experimental results have shown that the robot systematic stiffness is related with the wire tension and can be changed to realize the compliance control of the robot system by adjusting the wire tension.

Study on Multidisciplinary Design Optimization of 3-RRS Parallel Robot

2012 ◽  
Vol 214 ◽  
pp. 919-923
Author(s):  
Jing Zhang ◽  
Bai Lin Li
Keyword(s):  
Genetic Algorithm ◽  
Quadratic Programming ◽  
Design Optimization ◽  
Sequential Quadratic Programming ◽  
Multidisciplinary Design Optimization ◽  
Main Idea ◽  
Parallel Robot ◽  
Collaborative Optimization ◽  
Multidisciplinary Design ◽  
Robot System

The paper aims to apply the idea of multidisciplinary design optimization to the design of robot system. The main idea of collaborative optimization is introduced. The collaborative optimization frame of 3-RRS parallel robot is analyzed. With the method of genetic algorithm and Sequential Quadratic Programming, the investigation is made on the executing collaborative optimization of working stroke, driving performance and hydraulic components. The numerical results indicate that the collaborative optimization can be successfully applied to dealing with the complex robot system, and lay a foundation to solve more complex mechanical system.

Investigation on the Vibration of High Speed Cable Robot Manipulation due to Tension Around Drum

2019 ◽  
Author(s):  
Jinwoo Jung ◽  
Jinlong Piao ◽  
Eunpyo Choi ◽  
Jong-Oh Park ◽  
Chang-Sei Kim
Keyword(s):  
High Speed ◽  
Parallel Robot ◽  
Parallel Robots ◽  
Rigid Base ◽  
Robot System ◽  
Vibration Problem ◽  
Cable Robot ◽  
Pick And Place ◽  
Flexible Cables ◽  
Pick And Place Operation

Abstract A cable-driven parallel robot (CDPR) consists of an end-effector, flexible lightweight cables, pulleys, winches, and a rigid base frame. As opposed to the rigid links of the traditional serial robots and parallel robots, the flexible lightweight cables allow the CDPR to easily achieve the high speed, heavy payload manipulation, and scalable workspace. Especially, the conventional high-speed pick and place operation can be realized due to the lightweight of its flexible cables. However, the flexibility of the lightweight cables can introduce a considerable vibration problem to the high speed cable robot system. One of main causes can be a cable tension difference between initial pre-tension and winding tension around a drum of the winch-motor actuator. To effectively investigate the effect of the tension around the drum on the high speed manipulation of the cable robot system, the spatial eight-cable high speed cable robot was reduced to the horizontal two cable system. The reduction of the number of the cable enables us to minimize the influences from the other factors such as the cable sagging and the geometric errors. A series of experiments was conducted using the combinations of the low and high initial pre-tensions and low and high tensions around the drum. The experimental results clearly show that the low tension around the drum can cause the vibration problem during the high speed pick and place operation. Also, it demonstrates that securing the drum tension similar to the initial pre-tension can effectively reduce the magnitude of the vibration.

A hybrid robot system for CT-guided surgery

Robotica ◽  
2009 ◽  
Vol 28 (2) ◽  
pp. 253-258 ◽  
Author(s):  
Da Liu ◽  
Tianmiao Wang ◽  
Can Tang ◽  
Fan Zhang
Keyword(s):  
Degrees Of Freedom ◽  
Screw Theory ◽  
Parallel Robot ◽  
Robot System ◽  
Ct Guided ◽  
Guided Surgery ◽  
Innovative Methods ◽  
Spatial Registration ◽  
Serial Robot ◽  
Clinical Experiment

SUMMARYThe common serial robot or parallel robot is difficult to implement for CT-guided surgery in a limited workspace. A novel hybrid robot with 9 degrees of freedom is presented in this paper, whose detailed structure is analysed based on screw theory and displacement manifold (DM). The dexterity of the hybrid robot is provided in terms of Riemann manifold (RM). Besides, DICOM (digital imaging communications in medicine) image processing, spatial registration and 3D dynamic reconstruction in the operation planning subsystem are analysed, in which some innovative methods are introduced. Meanwhile, the architecture of the CT-guided hybrid robot system and its subsystems are proposed. Simulative clinical experiment showed that the locating precision of the hybrid robot reaches 1.08 mm, which can meet the requirement of CT-guided surgery.

The Collaboration Control for the Multi-Robot Polishing System

2012 ◽  
Vol 430-432 ◽  
pp. 1826-1829 ◽  
Author(s):  
Miao Yu ◽  
Hui Ping Liu ◽  
Jing Ji
Keyword(s):  
Parallel Robot ◽  
Robot System ◽  
Serial Robot ◽  
Multi Agent ◽  
Status Information ◽  
Robot Position ◽  
Polishing Tool ◽  
Mutual Communication ◽  
Robot Communication ◽  
Multi Robot

This paper puts forward a multi-Agent alliance control model that is made up of the series robot Agent, the parallel moving platform Agent and the polishing tool system Agent and so on by the MAS theory. Based on the multi-robot system which is made up of the MOTOMAN - HP3 serial robot and NPT800 parallel robot, the MOTOMAN-HP3 serial robot communication, the NPT800 parallel robot of motion control and communication between two robots are introduced respectively. In the end, the mutual communication can be accomplished by two robots and the robot position and status information can be transported with programming of the win socket. The satisfied polishing effect on the curved surfaces can be obtained and the demand of the polishing can be achieved by the MAS.

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