Design of a Crop Harvesting End Effector for the Robotic System used in the NASA JSC Biomass Production Chamber

2003 ◽  
Author(s):  
Neil Duffie ◽  
Weijia Zhou ◽  
Erick Oberstar ◽  
Martin Kornfeld ◽  
Wolfgang Ptacek
Keyword(s):  
Biomass Production ◽  
Robotic System ◽  
End Effector

Reliability-Based Design Optimization of Robotic System Dynamic Performance

2006 ◽  
Vol 129 (4) ◽  
pp. 449-454 ◽  
Author(s):  
Alan P. Bowling ◽  
John E. Renaud ◽  
Jeremy T. Newkirk ◽  
Neal M. Patel ◽  
Harish Agarwal
Keyword(s):  
Design Optimization ◽  
Reference Point ◽  
High Reliability ◽  
Dynamic Performance ◽  
Performance Measure ◽  
Robotic System ◽  
Reliability Based Design Optimization ◽  
End Effector ◽  
Reliability Based Design ◽  
Reliable Design

In this investigation a robotic system’s dynamic performance is optimized for high reliability under uncertainty. The dynamic capability equations (DCE) allow designers to predict the dynamic performance of a robotic system for a particular configuration and reference point on the end effector (i.e., point design). Here the DCE are used in conjunction with a reliability-based design optimization (RBDO) strategy in order to obtain designs with robust dynamic performance with respect to the end-effector reference point. In this work a unilevel performance measure approach is used to perform RBDO. This is important for the reliable design of robotic systems in which a solution to the DCE is required for each constraint call. The method is illustrated on a robot design problem.

Virtual fixtures with autonomous error compensation for human–robot cooperative tasks

Robotica ◽  
2009 ◽  
Vol 28 (2) ◽  
pp. 267-277 ◽  
Author(s):  
Raúl A. Castillo-Cruces ◽  
Jürgen Wahrburg
Keyword(s):  
Control Strategy ◽  
Error Compensation ◽  
Robotic System ◽  
Cooperative System ◽  
Complete Control ◽  
End Effector ◽  
Surgical Interventions ◽  
Virtual Fixtures ◽  
Cooperative Tasks

SUMMARYThis paper presents a control strategy for surgical interventions, applied on a human–robot cooperative system, which facilitates the sharing of responsibilities between surgeon and robot. The controller utilizes virtual fixtures to constrain the movements of the end-effector into a predefined path or region. Possible deviation error can be compensated in two different ways: (a) manual compensation and (b) autonomous compensation. With manual compensation, the system defines both virtual fixtures and error compensation directions, but the surgeon must apply manual forces himself/herself in order to generate end-effector motion. With autonomous compensation, a clear distribution of responsibilities between surgeon and robotic system is present, meaning the surgeon has complete control of the end-effector along the preferred directions, while the robot autonomously compensates for any deviation along the non-preferred directions.

scholarly journals Kinematic Synthesis of Spatial Serial Chains Using Clifford Algebra Exponentials

2006 ◽  
Vol 220 (7) ◽  
pp. 953-968 ◽  
Author(s):  
A Perez-Gracia ◽  
J M McCarthy
Keyword(s):  
Clifford Algebra ◽  
Robotic System ◽  
Exponential Form ◽  
Kinematic Synthesis ◽  
End Effector ◽  
Dual Quaternions ◽  
Serial Chain ◽  
Joint Parameters ◽  
Position And Orientation ◽  
Serial Chains

This article presents a formulation of the design equations for a spatial serial chain that uses the Clifford algebra exponential form of its kinematics equations. This is the even Clifford algebra C+( P3), known as dual quaternions. These equations define the position and orientation of the end effector in terms of rotations or translations about or along the joint axes of the chain. Because the coordinates of these axes appear explicitly, specifying a set of task positions these equations can be solved to determine the location of the joints. At the same time, joint parameters or certain dimensions are specified to ensure that the resulting robotic system has specific features.

Analysis and Experimentation of the Robotic System for Archwire Bending

2011 ◽  
Vol 121-126 ◽  
pp. 3805-3809 ◽  
Author(s):  
Yong De Zhang ◽  
Ji Xiong Jiang
Keyword(s):  
Human Factors ◽  
Orthodontic Treatment ◽  
Control Point ◽  
Robotic System ◽  
Control Points ◽  
Coordinate Systems ◽  
End Effector ◽  
Manual Operation ◽  
Orthodontic Wire ◽  
And Control

Archwire bending is one of the key components in orthodontic treatment. However, it is a very difficult work due to the high stiffness and superelasticity of orthodontic wire. The traditional way of acquiring the formed archwire curve is based on manual operation, which will randomly bring numerous errors caused by human factors. This paper proposes a novel robotic system to bend archwire into desired configuration. Structure and elements of robotic system for archwire bending was studied. Coordinate systems of robotic system were built up. Control points of end effector and control angle of each control point were planned. Preliminary orthodontic wire bending experimentation has been done using the robotic system. The experimental results verified the feasibility of the manufacture strategy of formed orthodontic wire fulfilled by robotic system for orthodontic wire bending.

Alternate end effector contour tracking for hyper redundant robotic system

2016 ◽  
Author(s):  
Samsi Md Said ◽  
Amir Sharizam Ismail ◽  
Tengku Mohd Azahar ◽  
Jamel Othman
Keyword(s):  
Robotic System ◽  
Contour Tracking ◽  
End Effector

Modeling and Simulation of A 6 Dof Robot

2012 ◽  
Vol 463-464 ◽  
pp. 1116-1119 ◽  
Author(s):  
Monica Loredana Enescu ◽  
Cătălin Alexandru
Keyword(s):  
Spray Pyrolysis ◽  
Mechanical Model ◽  
Robot Manipulator ◽  
Robotic System ◽  
Surface Deposition ◽  
End Effector ◽  
Uniform Coating ◽  
Revolute Joints ◽  
Spray Pyrolysis Process ◽  
Multi Body

The purpose of this paper is to model and simulate a 6 DOF robotic system with revolute joints. This is in order to optimize the motion law which results in uniform coating deposited by spray pyrolysis. The structure and the complexity of the robotic system are determined by the necessary movements in the spray pyrolysis process. The nozzle (end-effector of the robot manipulator) has two translations, in longitudinal and transversal direction relative to the surface deposition. The mechanical model of the robot mechanism was developed by using the MBS (Multi Body Systems) environment ADAMS of MSC Software.

Design and Field Evaluation of a Robotic Apple Harvesting System with a 3D-Printed Soft-Robotic End-Effector

2019 ◽  
Vol 62 (2) ◽  
pp. 405-414 ◽  
Author(s):  
Cameron J. Hohimer ◽  
Heng Wang ◽  
Santosh Bhusal ◽  
John Miller ◽  
Changki Mo ◽  
...  
Keyword(s):  
Success Rate ◽  
Degrees Of Freedom ◽  
Low Cost ◽  
Field Evaluation ◽  
Robotic System ◽  
Fresh Market ◽  
End Effector ◽  
3D Printed ◽  
Harvesting Techniques ◽  
Field Experimentation

Abstract. Fresh market apple harvesting is a difficult task that relies entirely on manual labor. Much research has been done on the development of mechanical harvesting techniques. Several selective harvesting robots have been developed for research studies, but there are no commercially available robotic systems. This article discusses the design and development of a novel pneumatic 3D-printed soft-robotic end-effector to facilitate apple separation. The end-effector was integrated into a robotic system with five degrees of freedom that was designed to simplify the picking sequence and reduce costs compared to previous versions. Apples were successfully harvested using the low-cost robotic system in a commercial orchard during the fall 2017 harvest. A detachment success rate on attempted apples of 67% was achieved, with an average time of 7.3 s per fruit from separation to storage bin. By conducting this study in an orchard where problematic apples were not removed to increase the detachment success rate, current pruning and thinning practices were assessed to help lay the foundation for future studies and develop strategies for successfully harvesting apples that are difficult to detach. Keywords: Apple catching, Apples, Automated harvesting, Field experimentation, Harvesting robot, Soft-robotic gripper.

Robotic handling and packaging of poultry products

Robotica ◽  
1990 ◽  
Vol 8 (4) ◽  
pp. 285-297 ◽  
Author(s):  
K. Khodabandehloo
Keyword(s):  
Machine Vision ◽  
Research Programme ◽  
Automatic Recognition ◽  
Robotic System ◽  
Integrated System ◽  
System Software ◽  
End Effector ◽  
Poultry Products ◽  
Industrial Use ◽  
Vision Module

SUMMARYThis paper presents the findings of a research programme leading to the development of a robotic system for packaging poultry portions. The results show that an integrated system, incorporating machine vision and robots, can be made feasible for industrial use. The elements of this system, including the end-effector, the vision module, the robot hardware and the system software are presented. Models and algorithms for automatic recognition and handling of poultry portions are discussed.

scholarly journals Synthesis of an NR Robot With Four-Bar Constraining Modules

2014 ◽  
Author(s):  
Brandon Y. Tsuge ◽  
J. Michael McCarthy
Keyword(s):  
General Procedure ◽  
Robotic System ◽  
End Effector ◽  
Serial Chain ◽  
Path Synthesis ◽  
Four Bar Linkage

This paper uses coupler-path synthesis to design four-bar linkage modules that constrains the movement of links in an nR serial chain. The goal is to formulate a general procedure for path-synthesis of a robotic system using four-bar linkages. A desired end-effector trajectory is transformed into a secondary trajectory that is used for nine-point synthesis of a constraining four-bar linkage. This procedure constrains an nR chain to become a 4n-2 bar linkage. An example presents the constraint of a 2R chain to a six-bar that has a prescribed trajectory for an end-effector point.

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