Radiation-tolerant robotic complex URS-2

2021 ◽  
Vol 9 (2) ◽  
pp. 142-150
Author(s):  
Ivan Guschin ◽  
Anton Leschinskiy ◽  
Andrey Zhukov ◽  
Alexander Zarukin ◽  
Vyacheslav Kiryukhin ◽  
...  
Keyword(s):  
Degrees Of Freedom ◽  
Force Feedback ◽  
Control Device ◽  
Control Panel ◽  
Original Design ◽  
Innovative Methods ◽  
Control Computer ◽  
Robotic Arm Control ◽  
6 Degrees Of Freedom ◽  
Radiation Tolerant

The results of the development of a radiation-tolerant robotic complex URS-2 for operation in hot cells at nuclear enterprises are presented. The robotic complex consists of several original components: robotic arm, control device with force feedback, control panel with hardware buttons and touch screen, control computer with system and application software, control-and-power cabinet. The robotic manipulator has 6 degrees of freedom, replaceable pneumatic grippers and is characterized by high radiation tolerance, similar to that of mechanical master-slave manipulators. The original design of the control device based on the delta-robot model that implements a copying mode of manual control of the robotic complex with force feedback is presented. The hardware and software solutions developed has made it possible to create a virtual simulator of the RTC for testing innovative methods of remote control of the robot, as well as teaching operators to perform technological tasks in hot cells. The experimental model of the robotic complex has demonstrated the ability to perform basic technological tasks in a demo hot cell, both in manual and automatic modes.

Kinematic Analysis and Optimization of a Novel Robot for Surgical Tool Manipulation

2008 ◽  
Author(s):  
Xiaoli Zhang ◽  
Carl A. Nelson
Keyword(s):  
Inverse Kinematics ◽  
Degrees Of Freedom ◽  
Force Feedback ◽  
Robotic Systems ◽  
Small Space ◽  
Surgical Robots ◽  
Tool Positioning ◽  
Rotation Axes ◽  
Surgical Tool ◽  
Linear Nature

The size and limited dexterity of current surgical robotic systems are factors which limit their usefulness. To improve the level of assimilation of surgical robots in minimally invasive surgery (MIS), a compact, lightweight surgical robotic positioning mechanism with four degrees of freedom (DOF) (three rotational DOF and one translation DOF) is proposed in this paper. This spatial mechanism based on a bevel-gear wrist is remotely driven with three rotation axes intersecting at a remote rotation center (the MIS entry port). Forward and inverse kinematics are derived, and these are used for optimizing the mechanism structure given workspace requirements. By evaluating different spherical geared configurations with various link angles and pitch angles, an optimal design is achieved which performs surgical tool positioning throughout the desired kinematic workspace while occupying a small space bounded by a hemisphere of radius 13.7 cm. This optimized workspace conservatively accounts for collision avoidance between patient and robot or internally between the robot links. This resultant mechanism is highly compact and yet has the dexterity to cover the extended workspace typically required in telesurgery. It can also be used for tool tracking and skills assessment. Due to the linear nature of the gearing relationships, it may also be well suited for implementing force feedback for telesurgery.

4D in in vivo 2-photon laser scanning fluorescence microscopy with sample motion in 6 degrees of freedom

2011 ◽  
Vol 200 (1) ◽  
pp. 47-53 ◽  
Author(s):  
Sabine Scheibe ◽  
Mario M. Dorostkar ◽  
Christian Seebacher ◽  
Rainer Uhl ◽  
Frank Lison ◽  
...  
Keyword(s):  
Fluorescence Microscopy ◽  
Laser Scanning ◽  
Degrees Of Freedom ◽  
Sample Motion ◽  
6 Degrees Of Freedom

Workspace, dexterity and dimensional optimization of microhexapod

2015 ◽  
Vol 35 (4) ◽  
pp. 341-347 ◽  
Author(s):  
E. Rouhani ◽  
M. J. Nategh
Keyword(s):  
Degrees Of Freedom ◽  
Optimization Problem ◽  
Screw Theory ◽  
Design Parameters ◽  
Dimensional Synthesis ◽  
Content Type ◽  
Workspace Analysis ◽  
The Difference ◽  
Flexure Joints ◽  
6 Degrees Of Freedom

Purpose – The purpose of this paper is to study the workspace and dexterity of a microhexapod which is a 6-degrees of freedom (DOF) parallel compliant manipulator, and also to investigate its dimensional synthesis to maximize the workspace and the global dexterity index at the same time. Microassembly is so essential in the current industry for manufacturing complicated structures. Most of the micromanipulators suffer from their restricted workspace because of using flexure joints compared to the conventional ones. In addition, the controllability of micromanipulators inside the whole workspace is very vital. Thus, it is very important to select the design parameters in a way that not only maximize the workspace but also its global dexterity index. Design/methodology/approach – Microassembly is so essential in the current industry for manufacturing complicated structures. Most of the micromanipulators suffer from their restricted workspace because of using flexure joints compared to the conventional ones. In addition, the controllability of micromanipulators inside the whole workspace is very vital. Thus, it is very important to select the design parameters in a way that not only maximize the workspace but also its global dexterity index. Findings – It has been shown that the proposed procedure for the workspace calculation can considerably speed the required calculations. The optimization results show that a converged-diverged configuration of pods and an increase in the difference between the moving and the stationary platforms’ radii cause the global dexterity index to increase and the workspace to decrease. Originality/value – The proposed algorithm for the workspace analysis is very important, especially when it is an objective function of an optimization problem based on the search method. In addition, using screw theory can simply construct the homogeneous Jacobian matrix. The proposed methodology can be used for any other micromanipulator.

An improved calibration curve between soil pH measured in waterand CaCl2

Soil Research ◽  
2002 ◽  
Vol 40 (8) ◽  
pp. 1399 ◽  
Author(s):  
B. L. Henderson ◽  
E. N. Bui
Keyword(s):  
Statistical Analysis ◽  
Water Resources ◽  
Soil Ph ◽  
Calibration Curve ◽  
Smooth Function ◽  
Degrees Of Freedom ◽  
Additive Model ◽  
Smoothing Spline ◽  
Look Up Table ◽  
6 Degrees Of Freedom

A new pH water to pH CaCl2 calibration curve was derived from data pooled from 2 National Land and Water Resources Audit projects. A total of 70465 observations with both pH in water and pH in CaCl2 were available for statistical analysis. An additive model for pH in CaCl2 was fitted from a smooth function of pH in water created by a smoothing spline with 6 degrees of freedom. This model appeared stable outside the range of the data and performed well (R2 = 96.2, s = 0.24). The additive model for conversion of pHw to pHCa is sigmoidal over the range of pH 2.5 to 10.5 and is similar in shape to earlier models. Using this new model, a look-up table for converting pHw to pHCa was created.

Design of a Novel Parallel Mechanism for Haptic Device

2021 ◽  
pp. 1-63
Author(s):  
Jin Lixing ◽  
Duan Xingguang ◽  
Li Changsheng ◽  
Shi Qingxin ◽  
Wen Hao ◽  
...  
Keyword(s):  
Parallel Mechanism ◽  
Degrees Of Freedom ◽  
Force Feedback ◽  
Parallel Architecture ◽  
General Purpose ◽  
Haptic Device ◽  
Haptic Devices ◽  
Modeling And Optimization ◽  
Teleoperation Systems

Abstract This paper presents a novel parallel architecture with seven active degrees of freedom (DOFs) for general-purpose haptic devices. The prime features of the proposed mechanism are partial decoupling, large dexterous working area, and fixed actuators. The detailed processes of design, modeling, and optimization are introduced and the performance is simulated. After that, a mechanical prototype is fabricated and tested. Results of the simulations and experiments reveal that the proposed mechanism possesses excellent performances on motion flexibility and force feedback. This paper aims to provide a remarkable solution of the general-purpose haptic device for teleoperation systems with uncertain mission in complex applications.

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