1P1-S01 A Study on the Adjustment of Response at the End Effector of a Robotic Arm with a Biarticular Muscle Mechanism

2015 ◽  
Vol 2015 (0) ◽  
pp. _1P1-S01_1-_1P1-S01_4
Author(s):  
Takuma HASHIZUME ◽  
Yoshihiro NAKATA ◽  
Yuya OKADOME ◽  
Yutaka NAKAMURA ◽  
Hiroshi ISHIGURO
Keyword(s):  
Robotic Arm ◽  
End Effector ◽  
Biarticular Muscle

Design, Modelling and Simulation of a Rotational Robotic Arm

2020 ◽  
Author(s):  
Bin Wei
Keyword(s):  
Angular Velocity ◽  
3D Model ◽  
Modelling And Simulation ◽  
Robotic Arm ◽  
Forward Kinematics ◽  
Position Vector ◽  
Control Law ◽  
Model Design ◽  
End Effector ◽  
Design And Optimization

Abstract In this paper, a rotational robotic arm is designed, modelled and optimized. The 3D model design and optimization are conducted by using SolidWorks. Forward kinematics are derived so as to determine the position vector of the end effector with respect to the base, and subsequently being able to calculate the angular velocity and torque of each joint. For the goal positioning problem, the PD control law is typically used in industry. It is employed in this application by using virtual torsional springs and frictions to generate the torques and to keep the system stable.

scholarly journals DESIGN OF A 3D-PRINTED THREE-CLAW ROBOTIC GRIPPER END-EFFECTOR

2021 ◽  
Vol 11 (4) ◽  
pp. 70-79
Author(s):  
Dino Dominic Forte Ligutan ◽  
Argel Alejandro Bandala ◽  
Jason Limon Española ◽  
Richard Josiah Calayag Tan Ai ◽  
Ryan Rhay Ponce Vicerra ◽  
...  
Keyword(s):  
3D Printing ◽  
Polylactic Acid ◽  
Grip Force ◽  
Thermoplastic Polyurethane ◽  
Robotic Arm ◽  
End Effector ◽  
Design Considerations ◽  
3D Printed ◽  
Materials Used ◽  
Metal Work

The development of a novel 3D-printed three-claw robotic gripper shall be described in this paper with the goal of incorporating various design considerations. Such considerations include the grip reliability and stability, grip force maximization, wide object grasping capability. Modularization of its components is another consideration that allows its parts to be easily machined and reusable. The design was realized by 3D printing using a combination of tough polylactic acid (PLA) material and thermoplastic polyurethane (TPU) material. In practice, additional tolerances were also considered for 3D printing of materials to compensate for possible expansion or shrinkage of the materials used to achieve the required functionality. The aim of the study is to explore the design and eventually deploy the three-claw robotic gripper to an actual robotic arm once its metal work fabrication is finished.

Vision-Based Trajectory Generation for a Two-Link Robotic Arm Using Quadtree Decomposition and Curve Smoothing

2010 ◽  
Vol 108-111 ◽  
pp. 1439-1445
Author(s):  
Shahed Shojaeipour ◽  
Sallehuddin Mohamed Haris ◽  
Ehsan Eftekhari ◽  
Ali Shojaeipour ◽  
Ronak Daghigh
Keyword(s):  
Image Processing ◽  
A Priori ◽  
Trajectory Generation ◽  
Robotic Arm ◽  
Generation System ◽  
End Effector ◽  
Quadtree Decomposition ◽  
Practical Applications ◽  
Robot Trajectory ◽  
Curve Smoothing

In this article, the development of an autonomous robot trajectory generation system based on a single eye-in-hand webcam, where the workspace map is not known a priori, is described. The system makes use of image processing methods to identify locations of obstacles within the workspace and the Quadtree Decomposition algorithm to generate collision free paths. The shortest path is then automatically chosen as the path to be traversed by the robot end-effector. The method was implemented using MATLAB running on a PC and tested on a two-link SCARA robotic arm. The tests were successful and indicate that the method could be feasibly implemented on many practical applications.

Shape Optimum Design of Robotic Manipulators With Static Performance Criteria

1987 ◽  
Author(s):  
D. A. Saravanos ◽  
J. S. Lamancusa ◽  
H. J. Sommer
Keyword(s):  
Finite Element ◽  
Optimum Design ◽  
Robotic Manipulators ◽  
Performance Criterion ◽  
Performance Criteria ◽  
Robotic Arm ◽  
Mass Ratio ◽  
End Effector ◽  
Vibrational Response ◽  
Static Performance

Abstract The end effector deflections of robotic manipulators may be minimized by optimizing the geometric shape and the dimensions of their links. A multiple posture static performance criterion for the prediction of the shape optimum design is presented. An efficient optimization algorithm is developed for the solution of the problem using finite element modeling to predict the compliance of the robotic arm. The method is applied to an existing robotic arm, and the results demonstrate that simple alterations to the dimensions and the shape of the links can greatly improve, not only the stiffness, but also the stiffness/mass ratio and consequently the vibrational response of the manipulator structure.

Inverse Kinematics Modelling and Simulation for Upper Case Writing Robot Control Using ANFIS

2016 ◽  
Vol 836 ◽  
pp. 37-41 ◽  
Author(s):  
Adlina Taufik Syamlan ◽  
Bambang Pramujati ◽  
Hendro Nurhadi
Keyword(s):  
Image Processing ◽  
Character Recognition ◽  
Inverse Kinematics ◽  
Robot Control ◽  
Industrial Revolution ◽  
Training Data ◽  
Robotic Arm ◽  
End Effector ◽  
Precision And Accuracy ◽  
Case Writing

Robotics has lots of use in the industrial world and has lots of development since the industrial revolution, due to its qualities of high precision and accuracy. This paper is designed to display the qualities in a form of a writing robot. The aim of this study is to construct the system based on data gathered and to develop the control system based on the model. There are four aspects studied for this project, namely image processing, character recognition, image properties extraction and inverse kinematics. This paper served as discussion in modelling the robotic arm used for writing robot and generating theta for end effector position. Training data are generated through meshgrid, which is the fed through anfis.

7-DOF Cable-Driven Humanoid Robotic Arm

2011 ◽  
Author(s):  
Jun Ding ◽  
Robert L. Williams
Keyword(s):  
Linear Programming ◽  
Robotic Arm ◽  
Kinematics And Dynamics ◽  
Dynamics Analysis ◽  
Kinematics Analysis ◽  
End Effector ◽  
Motion Range ◽  
Potential Benefits ◽  
Redundant Mechanism ◽  
Joint Limits

The purpose of this paper is to study a 7-DOF humanoid cable-driven robotic arm, implement kinematics and dynamics analysis, present different cable-driven designs and evaluate their merits and drawbacks. Since this is a redundant mechanism, kinematics optimization is used to avoid joint limits, singularities and obstacles. Cable kinematics analysis studies the relationships between cable length and the end-effector pose. This is a design modified from the literature. Several new designs are compared in pseudostatics analysis of the arm and a favorable design is suggested in terms of motion range and the cable tensions. Linear programming is used to optimize cable tensions. Dynamics analysis shows that the energy consumption of a cable-driven arm is much less than that of traditional motor-driven arm. Cable-driven robots have potential benefits but also some limitations.

scholarly journals Operational space control of a lightweight robotic arm actuated by shape memory alloy wires: A comparative study

2017 ◽  
Vol 30 (9) ◽  
pp. 1368-1384 ◽  
Author(s):  
Serket Quintanar-Guzmán ◽  
Somasundar Kannan ◽  
Adriana Aguilera-González ◽  
Miguel A. Olivares-Mendez ◽  
Holger Voos
Keyword(s):  
Shape Memory Alloy ◽  
Shape Memory ◽  
Sliding Mode ◽  
Joint Space ◽  
Robotic Arm ◽  
Shape Memory Alloy Wire ◽  
Simulation Studies ◽  
End Effector ◽  
Alloy Wire ◽  
Operational Space

This article presents the design and control of a two-link lightweight robotic arm using shape memory alloy wires as actuators. Both a single-wire actuated system and an antagonistic configuration system are tested in open and closed loops. The mathematical model of the shape memory alloy wire, as well as the kinematics and dynamics of the robotic arm, are presented. The operational space control of the robotic arm is performed using a joint space control in the inner loop and closed-loop inverse kinematics in the outer loop. In order to choose the best joint space control approach, a comparative study of four different control approaches (proportional derivative, sliding mode, adaptive, and adaptive sliding mode control) is carried out for the proposed model. From this comparative analysis, the adaptive controller was chosen to perform operational space control. This control helps us to perform accurate positioning of the end-effector of shape memory alloy wire–based robotic arm. The complete operational space control was successfully tested through simulation studies performing position reference tracking in the end-effector space. Through simulation studies, the proposed control solution is successfully verified to control the hysteretic robotic arm.

scholarly journals Design of a Robotic Arm with Gripper & End Effector for Spot Welding

2013 ◽  
Vol 1 (3) ◽  
pp. 92-97 ◽  
Author(s):  
Puran Singh ◽  
Anil Kumar ◽  
Mahesh Vashisth
Keyword(s):  
Spot Welding ◽  
Robotic Arm ◽  
End Effector

scholarly journals Design Of 4DOF 3D Robotic Arm to Separate the Objects Using a Camera

2021 ◽  
Vol 3 (1) ◽  
pp. 27-35
Author(s):  
Akhmad Fahruzi ◽  
Bimo Satyo Agomo ◽  
Yulianto Agung Prabowo
Keyword(s):  
Inverse Kinematics ◽  
Robotic Arm ◽  
Robot Arm ◽  
Fixed Position ◽  
End Effector ◽  
Robotic Arms ◽  
Work Area ◽  
Intended Object ◽  
Place Of Origin ◽  
Prototype Design

Nowadays robotic arm is widely used in various industries, especially those engaged in manufacturing. Robotic arms are usually used to perform jobs such as picking up and moving goods from their place of origin to the location desired by the operator. In this study, a 3d 4 DOF (Degree of Freedom) robotic arm. The prototype was made to move goods with random coordinates to places or boxes whose coordinates were determined in advance. The robot can know the coordinates of the object to be taken or moved. The arm robot prototype design is completed with a camera connected to a computer, where the camera is installed statically (fixed position) above the robot's work area. The camera functions like image processing to detect the object's position by taking the coordinates of the object. Then the object coordinates will be input into inverse kinematics that will produce an angle in every point of the servo arm so that the position of the end effector on the robot arm can be founded and reach the intended object. From the results of testing and analysis, it was found that the error in the webcam test to detect object coordinates was 2.58%, the error in the servo motion test was 12.68%, and the error in the inverse kinematics test was 7.85% on the x-axis, the error was 6.31% on the y-axis and an error of 12.77% on the z-axis. The reliability of the whole system is 66.66%.

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