Robotics in Nuclear Materials Processing at LANL: Capabilities and Needs

Nuclear material processing operations present numerous challenges for effective automation. Confined spaces, hazardous materials and processes, particulate contamination, radiation sources, and corrosive chemical operations are but a few of the significant hazards. However, automated systems represent a significant safety advance when deployed in place of manual tasks performed by human workers. The replacement of manual operations with automated systems has been desirable for nearly 40 years, yet only recently are automated systems becoming increasingly common for nuclear materials handling applications. This paper reviews several automation systems which are deployed or about to be deployed at Los Alamos National Laboratory for nuclear material handling operations. The needs that resulted in the development of these systems can be found throughout the nuclear industry. Highlighted are the current social and technological challenges faced in deploying automated systems into hazardous material handling environments and the opportunities for future innovations.

Simultaneous Trajectory Tracking and Stiffness Control of Cable Actuated Parallel Manipulator

Cable-actuated parallel manipulators combine benefits of large workspaces, significant payload capacities and high stiffness by virtue of the cable actuation. However, redundant/surplus cables are required to overcome the unidirectional nature of forces exertable by cables. This leads to actuation redundancy which needs to be resolved in order to realize some of the benefits. We study the implication of using actuation redundancy to tailor the workspace (task space) stiffness of the cable robot system. Suitable trajectory tracking control schemes are developed that additionally achieve secondary goal of active stiffness control to improve disturbance rejection, under positive control input constraint We demonstrate the performance of these control schemes using a point-mass cable robot system modeled within a virtual prototyping (VP) implementation framework.

A Systematical Approach for Structure Synthesis of Parallel Mechanisms Based on Single-Open-Chain Modules and Its Application

Based on previous research results presented by authors, this paper proposes a novel systematic approach for structure synthesis of all parallel mechanisms (excluding Bennett mechanism etc), which is totally different from the approaches based on screw theory and based on displacement subgroup. Main characteristics of this approach are: (a) the synthesized mechanisms are non-instantaneous ones, and (b) only simple mathematical tools (vector algebra, theory of sets, etc.) are used. Main steps of this approach include: (1) Determining functional and structural requirements of the parallel mechanism to be synthesized, such as position and orientation characteristic (POC) matrix, degree of freedom (DOF), etc. (2) Type synthesis of branches. (3) Assembling of branches (determining the geometry constraint conditions among the branches attached between the moving platform and the frame, and checking the DOF). (4) Identifying the inactive joints. (5) Selecting the actuating joints. In order to illustrate the whole procedure, the type synthesis of spherical parallel mechanisms is studied using this approach.

A Proposed Extendable Classification Scheme for Compliant Mechanisms

Limited resources are currently available to assist engineers in implementing compliant members into mechanical designs. As a result, engineers often have little to no direction incorporating compliance, though compliant mechanisms have characteristics that prove to be more advantageous in some circumstances. This paper proposes a classification scheme for compliant elements and mechanisms that can be used to compose a reference source intended to help engineers find existing compliant designs they can incorporate in their own designs. The classification scheme decomposes compliant mechanisms and elements of compliant mechanisms according to their respective functions.

Unified Mobility Identification and Rectification of Six-Bar Linkages

This paper offers a unified method for a complete and unified treatment on the mobility identification and rectification of any planar and spherical six-bar linkages regardless the linkage type and the choice of the input, output, or fixed links. The method is based on how the joint rotation spaces of the four-bar loop and a five-bar loop in a Stephenson six-bar linkage interact each other. A Watt six-bar linkage is regarded as a special form of Stephenson six-bar linkage via the stretch and rotation of a four-bar loop. The paper offers simple explanation and geometric insights for the formation of branch (circuit), sub-branch, and order of motion of six-bar linkages. All typical mobility issues, including branch, sub-branch, and type of motion under any input condition can be identified and rectified with the proposed method. The method is suitable for automated computer-aided mobility identification. The applicability of the results to the mobility analysis of serially connected multiloop linkages is also discussed.

On the Effect of Contact Friction and Contact Compliance on the Grasp Performance of Underactuated Hands

Although adding compliant, frictional material on robotic fingers to improve the performance is generally accepted, at least for underactuated hands this effect is hardly quantified. In this study, the phalanges of an underactuated hand in an experimental setup were firstly covered with material of different friction coefficients but equal contact compliance, while the force to pull a grasped object completely out of the hand was measured. Then, the phalanges were covered with material of different compliance while the same measurements were done. In the latter experiment, the effect of contact friction was eliminated by using a specially designed testbed that emulates a frictionless object. The experiments showed an increase of the maximal pull force by 250% when the friction coefficient of the contact material increased from 0.25 to 1.51. The compliance of the contact material had a marginal effect on this maximum force. Finally, the pull force was calculated by a static grasp model, incorporating contact friction and linear contact compliance. Trends similar to the experiments were observed in these simulations.

Reactionless Two-Degree-of-Freedom Planar Parallel Mechanism With Variable Payload

A reactionless mechanism is one which does not exert any reaction force or moment on its base at all times, for any arbitrary trajectory of the mechanism. This paper addresses the static and dynamic balancing of a two-degree-of-freedom parallel planar mechanism (five-bar mechanism). A simple and effective adaptive balancing method is presented that allows the mechanism to maintain the reactionless condition for a range of payloads. Important proofs concerning the balancing of five-bar mechanisms are also presented. The design of a real mechanism where parallelogram linkages are used to produce pure translations at the end-effector is also presented. Finally, using dynamic simulation software, it is shown that the mechanism is reactionless for arbitrarily chosen trajectories and for a variety of payloads.

Design of a Tunable Stiffness Composite Leg for Dynamic Locomotion

Passively compliant legs have been instrumental in the development of dynamically running legged robots. Having properly tuned leg springs is essential for stable, robust and energetically efficient running at high speeds. Recent simulation studies indicate that having variable stiffness legs, as animals do, can significantly improve the speed and stability of these robots in changing environmental conditions. However, to date, the mechanical complexities of designing usefully robust tunable passive compliance into legs has precluded their implementation on practical running robots. This paper describes a new design of a “structurally controlled variable stiffness” leg for a hexapedal running robot. This new leg improves on previous designs’ performance and enables runtime modification of leg stiffness in a small, lightweight, and rugged package. Modeling and leg test experiments are presented that characterize the improvement in stiffness range, energy storage, and dynamic coupling properties of these legs. We conclude that this variable stiffness leg design is now ready for implementation and testing on a dynamical running robot.

A Screw Theory Approach for the Type Synthesis of Compliant Mechanisms With Flexures

This paper presents a screw theory based approach for the type synthesis of compliant mechanisms with flexures. We provide a systematic formulation of the constraint-based approach which has been mainly developed by precision engineering experts in designing precision machines. The two fundamental concepts in the constraint-based approach, constraint and freedom, can be represented mathematically by a wrench and a twist in screw theory. For example, an ideal wire flexure applies a translational constraint which can be described a wrench of pure force. As a result, the design rules of the constraint-based approach can be systematically formulated in the format of screws and screw systems. Two major problems in compliant mechanism design, constraint pattern analysis and constraint pattern design are discussed with examples in details. This innovative method paves the way for introducing computational techniques into the constraint-based approach for the synthesis and analysis of compliant mechanisms.

Seven-Position Synthesis of a Spatial Eight-Bar Linkage by Constraining a TRS Serial Chain

In this paper, we use seven-position synthesis to add four TS constraints to a TRS serial chain robot and obtain a two degree-of-freedom spatial eight-bar linkage. The TRS chain is an elbow manipulator, similar to a PUMA robot. We synthesize a TS dyad to connect the base of the robot to its forearm, and then we synthesize three TS dyads that connect the upper arm of the robot to its end-effector. The result is a two degree-of-freedom spatial eight-bar linkage that moves through seven prescribed positions. It consists of a TRST loop supporting a 3TS-RS platform, which we denote as a TS-TRS-3TS spatial linkage. We formulate and solve the design equations for the TS dyads, and analyze the resulting eight-bar linkage. An example demonstrates our results.