scholarly journals A Study on the Cooperative Kinematic Inter-operation of 2-Axis (Tilting/Rolling) Additional Axes with a 6-Axis Articulated Robot Using Simulink of MATLABⓇ and RecurdynⓇ

2021 ◽  
Vol 20 (4) ◽  
pp. 16-23
Author(s):  
Seung-Min Bae ◽  
◽  
Won-Jee Chung ◽  
Seong-Hoon Noh
Keyword(s):  
Articulated Robot

A Review on Various Methodologies for AC Duct Cleaning

2020 ◽  
Vol 07 (3&4) ◽  
pp. 1-5
Author(s):  
Soyab A Jamadar ◽  
Keyword(s):  
Air Quality ◽  
Indoor Air Quality ◽  
Indoor Air ◽  
Health Issues ◽  
Conventional System ◽  
Rectangular Shape ◽  
Inspection Robot ◽  
Different Types ◽  
Robot Systems ◽  
Articulated Robot

Cleaning of the AC ducts is the need because it creates problems such as the bad indoor air quality which results in health issues and it also causes the large maintenance of the system. The uncleaned air ducts become home for fungi, dust and harmful microbial. The causes and effects of this thing are mentioned following. The AC ducts can be cleaned through various methodologies i.e. conventional and by using robots. In the conventional system, there is manual cleaning by using some equipment. Cleaning the ducts by using robots would be a good solution for this. Different types of robot systems i.e. crawling robot, articulated robot and inspection robot are deployed for the application. There are different types of robots and their equipment according to size and type of duct. The cleaning of rectangular shape ducts is quite difficult than others. Finally, it results that cleaning ducts is the most important thing and using robots is the best methodology for it.

Analisis ruang kerja dan gaya statis robot DD-1

2019 ◽  
Vol 7 (2) ◽  
pp. 623
Author(s):  
Anwar Anwar
Keyword(s):  
Articulated Robot

Robot DD-1 dirancang untuk pemindahan bahan-bahan kimia berbahaya di laboratorium. DD-1 dirancbng dengan menggunakan type SCARA (Selective Compliant Articulated Robot for Assembly). Robot ini dirancang dengan menggunakanbantuan beberapa software sehingga dapat diperoleh hasil desain dan perhitungan yang akurat. Hasil yang diperoleh dari hasil proses perancangan diperoleh nilai defleksi yang cukup kaku dengan nilai defleksi maksimum 0,0033407 mm tanpa beban 0,070555 mm dengan beban dalam arah z. Kata Kunci :    Link, Joint, Gaya, Momen,Inersia,Torsi, Defleksi,Batang Puntir

scholarly journals Modeling in ADAMS of a 6R industrial robot

2018 ◽  
Vol 184 ◽  
pp. 02006
Author(s):  
Mariana Ratiu ◽  
Alexandru Rus ◽  
Monica Loredana Balas
Keyword(s):  
Dynamic Analysis ◽  
Industrial Robot ◽  
Kinematic Model ◽  
Future Research ◽  
Robot Motion ◽  
Cad Model ◽  
3D Cad ◽  
Revolute Joints ◽  
Real Model ◽  
Articulated Robot

In this paper, we present the first steps in the process of the modeling in ADAMS MBS of MSC software of the mechanical system of an articulated robot, with six revolute joints. The geometric 3D CAD model of the robot, identical to the real model, in the PARASOLID format, is imported into ADAMS/View and then are presented the necessary steps for building the kinematic model of the robot. We conducted this work, in order to help us in our future research, which will consist of kinematic and dynamic analysis and optimization of the robot motion.

scholarly journals Learning-driven Coarse-to-Fine Articulated Robot Tracking

2019 ◽  
Author(s):  
Christian Rauch ◽  
Vladimir Ivan ◽  
Timothy Hospedales ◽  
Jamie Shotton ◽  
Maurice Fallon
Keyword(s):  
Robot Tracking ◽  
Articulated Robot ◽  
Coarse To Fine

Compensations of the Discontinuous Nonlinearities in the Independent Joints Control of an Articulated Robot

2013 ◽  
Vol 430 ◽  
pp. 135-142
Author(s):  
Danut Receanu
Keyword(s):  
Industrial Robot ◽  
Linear Control ◽  
Torsional Vibrations ◽  
Low Speed ◽  
Discontinuous Nonlinearities ◽  
Articulated Robot

The paper presents the nonlinear torsional vibrations control of the joints in an articulated industrial robot, in Simulink /MATLAB. In this case, it is considered the classical linear control combined with compensations of the natural discontinuous nonlinearities in a robot with low speed.

Adding flexibility to the links of a rigid-link dynamic model of an articulated robot

Robotica ◽  
1989 ◽  
Vol 7 (2) ◽  
pp. 165-168 ◽  
Author(s):  
A. Bodner
Keyword(s):  
Computational Complexity ◽  
Dynamic Model ◽  
Euler Equations ◽  
Inverse Dynamics ◽  
Small Degree ◽  
End Effector ◽  
Rigid Link ◽  
Link Model ◽  
Articulated Robot ◽  
Special Case

SUMMARYA method was developed that takes into account flexibility of robot links in the inverse dynamics calculations. This method uses the Newton-Euler equations and is applicable for special case systems that allow for only a small degree of flexibility. Application of the method should improve the accuracy of the position of the end effector during motion of the robot.The results of this study show that the method can be based entirely on an existing rigid-link model with only minimal changes required as additions. The computational complexity of the method is discussed briefly as well and indicates an increase of computations of slightly more than a factor of two as compared to a rigid-link model for the same robot geometry.

scholarly journals An integrated system design interface for operating 8-DoF robotic arm

2022 ◽  
Author(s):  
Madhav Rao
Keyword(s):  
Upper Limb ◽  
System Integration ◽  
Integrated System ◽  
Microsoft Kinect ◽  
Robotic Arm ◽  
Robot Arm ◽  
Game Engine ◽  
Kinematic Modeling ◽  
Articulated Robot ◽  
Integrated System Design

This study examines the system integration of a game engine with robotics middleware to drive an 8 degree offreedom (DoF) robotic upper limb to generate human-like motion for telerobotic applications. The developed architectureencompasses a pipeline execution design using Blender Game Engine (BGE) including the acquisition of real humanmovements via the Microsoft Kinect V2, interfaced with a modeled virtual arm, and replication of similar arm movements on the physical robotic arm. In particular, this study emphasizes the integration of a human “pilot” with ways to drive such a robotic arm through simulation and later, into a finished system. Additionally, using motion capture technology, a human upper limb action was recorded and applied onto the robot arm using the proposed architecture flow. Also, we showcase the robotic arm’s actions which include reaching, picking, holding, and dropping an object. This paper presentsa simple and intuitive kinematic modeling and 3D simulation process, which is validated using 8-DoF articulated robot to demonstrate methods for animation, and simulation using the designed interface.

scholarly journals Measuring and Cutting a Propeller for a Ship by an Articulated Robot.

1991 ◽  
Vol 57 (8) ◽  
pp. 1387-1392 ◽  
Author(s):  
Yasuo YAMANE ◽  
Rong Sheng YIN ◽  
Masayuki MIYAKE ◽  
Norihiko NARUTAKI
Keyword(s):  
Articulated Robot
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