3D Robot Research Articles

Automatic Patient Injection Robot With 6 Degrees of Freedom by 3D Simulation Using Webots Software

The manipulator robot is one of the most widely used robots in the industry. The movement of the robot manipulator in this sector is a mechanical system that requires a mathematical modeling method to represent its geometric aspects and manipulate its dynamic parts. One of the most critical industries is healthcare. In this paper, a simulation is carried out on one of the factors, namely patient injection. The research results from this simulation used Webots software and was successfully simulated using a 6-degree-of-freedom robot. The positions simulated in several movements include: gripper position opens to take the needle, gripper closes to take the needle, the needle is held and directed to the patient, the needle is inserted into the patient area and pulled out again, returning to its initial position by placing the needle. However, this simulation does not add a needle so that only the 3D simulated robot movement can move by entering the expected position value to inject the patient according to the target.

Robot-based 6D bioprinting for soft tissue biomedical applications.

Within this interdisciplinary study, we demonstrate the applicability of a 6D printer for soft tissue engineering models. For this purpose, a special plant was constructed, combining the technical requirements for 6D printing with the biological necessities, especially for soft tissue. Therefore, a commercial 6D robot arm was combined with a sterilizable housing (including a high-efficiency particulate air (HEPA) filter and ultraviolet radiation (UVC) lamps) and a custom-made printhead and printbed. Both components allow cooling and heating, which is desirable for working with viable cells. In addition, a spraying unit was installed that allows the distribution of fine droplets of a liquid. Advanced geometries on uneven or angled surfaces can be created with the use of all six axes. Based on often used bioinks in the field of soft tissue engineering (gellan gum, collagen, and gelatin methacryloyl) with very different material properties, we could demonstrate the flexibility of the printing system. Furthermore, cell-containing constructs using primary human adipose-derived stem cells (ASCs) could be produced in an automated manner. In addition to cell survival, the ability to differentiate along the adipogenic lineage could also be demonstrated as a representative of soft tissue engineering.

Research on Real Scene Robot 3d Visualization of Historical Architectural Heritage Based on Big Data Objects

Research on Real Scene Robot 3d Visualization of Historical Architectural Heritage Based on Big Data Objects

P.152 In-vivo accuracy of pedicle screws utilizing a supervisory controlled 7DOF robot with OCT guidance

Background: Pedicle screw fixation is an important technique in spine surgery. Violation of the pedicle can lead to neurovascular injury. Due to excellent pose repeatability, robotic technology may improve accuracy. Existing surgical spine robots use surgical assist architecture. This work explores the performance of a supervisory-control architecture robot (8i Robotics) for autonomous pedicle instrumentation. Methods: 3 porcine subjects underwent pedicle instrumentation utilizing the 7dof robot and were observed for 24 hours. Post-operative CT assessed screw location. Screws were graded clinically with the Gertzbein-Robbins Scale (GRS). Precision was assessed by a customized image processing pipeline. Euclidean error was calculated at screw head and screw tip. All points were normalized to a nominal screw, and confidence ellipses generated. Results: All animals were neurologically intact at 24 hours. All screws where GRS A. Mean tip and head Euclidean error where 2.47+/−1.25mm and 2.25+/-1.25mm respectively. Major and minor axes of the confidence ellipse at 99% was 2.19mm, and 1.28mm, and 2.07mm, and 0.42mm for tip and head respectively. Conclusions: 100% of screws obtained satisfactory clinical grading, with intact function in all animals post-operatively. This shows the capability of a supervisory-controlled 7DOF robot with OCT registration. Further investigation is warranted to further explore robotic capabilities, safety, and cost effectiveness.

Research on human-robot interaction for robotic spatial 3D printing based on real-time hand gesture control

With the rapid advancements in three-dimensional (3D) printing, researchers have shifted their focus towards the mechanical systems and methods used in this field. While Fused Deposition Modelling (FDM) remains the dominant method, alternative printing methods such as Spatial 3DP (S-3DP) have emerged. However, the majority of existing research on 3D printing technology has been emphasizing offline control, which lacks the capability to dynamically adjust the printing path in real time. Such an limitation has resulted in a decrease in printing efficiency. Therefore, this paper proposes a human-robot interaction (HRI) method based on real-time gesture control for Robotic Spatial 3DP (RS-3DP). This method incorporates utilization of YOLOv5 and Mediapipe algorithms to recognize gestures and convert the gesture information into real-time robot operations. Results show that this approach offers a feasible solution to address the issue of discontinuous S-3DP nodes because it achieves a gesture-controlled robot movement accuracy of 91 % and an average system response time of approximately 0.54 s. The proposed HRI method represents a pioneering advancement in real-time control for RS-3DP, thereby paving the way for further exploration and development in this field.

Smart Restaurant Using 3D Holographic Projection Menu and Waiter Robot

This project aims to construct an inventive 3D holographic restaurant system by integrating cutting-edge technology such as Raspberry Pi, LCD monitor, L298N motor driver, keyboard, speaker, DC motor, ESP8266, and IR sensor. The system incorporates a robotic waiter equipped with a holographic display, capable of interacting with customers, taking orders, and serving food. The robot navigates between three tables, displaying holographic menus and confirming orders through a keypad. The system aims to revolutionize the dining experience by combining robotics, holography, and smart technology for an engaging and futuristic restaurant environment. This paper explores the innovative integration of advanced technologies, specifically 3D holographic projection menus and waiter robots, to create a smart restaurant aimed at revolutionizing the traditional dining experience. The incorporation of these cutting-edge technologies offers a unique and immersive approach to menu visualization and customer service. Keyword: 3D Holographic Projection, Robotics, Smart technology, Customer engagement.

Posterior Cranial Fossa Surgery with a 3 Dimensional Exoscope: A Single-Center Survey-Based Analysis and a Literature Review

The potential advantages of exoscopy have been discussed theoretically for a long time. Such a concept holds significance, especially in the specific setting of the posterior cranial fossa (PCF), characterized by complex anatomy and long and narrow surgical corridors with relatively extreme working angles. We aimed to: 1) analyze the institutional preliminary case-based data on the use of the Robotic 3D Exoscope AEOS Aesculap in three different PCF approaches: retrosigmoid (RSA), midline suboccipital (MSA), and supracerebellar infratentorial via feedbacks was collected using a 20-point questionnaire, and 2) perform a comprehensive review of the literature concerning the use of EX in PCF surgery. A total of 38 patients with neurosurgical pathologies underwent a neurosurgical procedure using the EX (Robotic 3D exoscope AEOS Aesculap) at our institution between January and March 2022. 21 surgeons were involved in the abovementioned PCF surgeries and answered the questionnaire. The main perceived advantages were in terms of ergonomics (67%), magnification (52%), and visualization of extreme angles. The main reported disadvantage was color vision (16, 76%), followed by manual mobility (24%). Concerning the review, the search of the literature yielded a total of 177 results. Upon full-text review, 17 articles were included, including 153 patients. In conclusion, our study provides a comprehensive evaluation of the advantages and challenges associated with using the exoscope in posterior fossa surgery, setting a precedent as the first to report on a questionnaire-based analysis of exoscope utilization in this specific domain.

Automatic loading method for robot guided by 3D vision for scattered and stacked shoe soles

This paper primarily introduces a method for the automated feeding of scattered stacked shoe soles using a 3D visual-guided robot. Initially, addressing issues like slow speed in pose estimation and poor robustness during the robot sorting and feeding process, we introduce an enhanced pose estimation algorithm. This algorithm combines the improved Super 4-Point Congruent Sets (Super 4PCS) with the Truncated Least Squares Semidefinite Relaxation (TEASER) algorithm, significantly boosting the speed and robustness of pose estimation during sole sorting, and achieving precise target pose estimation. Building upon this foundation, we present a sorting strategy for disordered stacked shoe soles. This strategy integrates spatial positional information of each sole, employing multi-objective decision-making and recognition algorithms to determine optimal grasping targets. Finally, an experimental platform for automated sole feeding is designed to validate the proposed method. The experimental results indicate that the pose estimation method proposed in this paper achieves an average distance error of 2.04 mm and an average angular error of 2.72°, with the robot’s average success rate in grasping reaching 97.08%. Moreover, the average processing time of the vision algorithm is only 1.34 s, demonstrating good efficiency, precision, and robustness. This method effectively meets the automated feeding needs of scattered and stacked shoe soles in the actual production processes of shoemaking enterprises.

Finite-Time Continuous Nonsingular Terminal Modified Adaptive-Gain Super-Twisting Control: Application to a 2-DOF Planar Robot Manipulator System.

This article proposes finite-time continuous nonsingular terminal modified adaptive-gain super-twisting control (FT-CNT-MAG-STC) for the second-order disturbed systems. Compared with existing sliding-mode controllers, the noteworthy improvements of the proposed framework are the fast finite-time convergence, continuous control signal, ease-of-implementation feature, and relaxation of the assumption related to the information on the bounds of the disturbance and its derivative. In the proposed framework, a fast nonsingular terminal sliding surface is first developed such that the singularity problem is avoided and the convergence rate is improved. Then, we design a continuous modified super-twisting algorithm with an adaptive gain, under which the need for the bounds information of the disturbance and its derivative is relaxed and the performance of the closed-loop system is enhanced. Rigorous analysis is provided to prove the finite-time convergence of the system states to small regions containing the origin. We apply the proposed framework to the position control for a 2-DOF planar robot manipulator system. Various experimental results are illustrated to evaluate the effectiveness of the designed position controller.

Mechanical Design and Analysis of Six-Degree-of-Freedom (6-DOF) SCARA Robot for Industrial Applications

Abstract: A six-degree-of-freedom (6-DOF) SCARA robot is an advanced robotic system capable of moving and manipulating objects in a three-dimensional space with a high degree of precision and flexibility. The term "SCARA" stands for "Selective Compliance Articulated Robot Arm," indicating its design that allows a combination of rigidity and compliance along specific axes. This unique combination of features makes 6-DOF SCARA robots highly versatile and suitable for a wide range of industrial applications. Unlike traditional SCARA robots that typically have four degrees of freedom, the addition of two extra degrees of freedom enhances the 6-DOF SCARA robot's spatial reach and manipulation capabilities. This enables the robot to perform tasks that require complex orientations, intricate movements, and precise positioning within a 3D workspace. The mechanical design, kinematics, and control strategies of these robots are carefully developed to ensure accurate and efficient performance, making them valuable tools in various industries. 6-DOF SCARA robots find applications in numerous industries where precise manipulation, efficient automation, and versatile positioning are crucial.

Robotic 3D printing of structural slabs using polyethylene waste as filler to reduce carbon footprint

Robotic 3D printing of structural slabs using polyethylene waste as filler to reduce carbon footprint

Workspace Mapping and Force Control for the 3-DOF Robot

Workspace Mapping and Force Control for the 3-DOF Robot

Visual control for robotic 3D printing on a moving platform

In recent years, there has been significant progress in developing specialized 3D printing techniques that cater to various demanding applications. However, the current state of this technology is challenged when it comes to complex in situ printing scenarios, which require a controlled printing platform. The lack of a stable printing platform is a fundamental limitation of its use in in situ applications. To address this issue, we present a novel platform-independent 3D fabrication process that enables printing on platforms with non-cooperative movement. The process overcomes the challenge of high-speed tracking, motion compensation, and real-time printing by developing a closed-loop visual feedback-controlled robotic printing process. The proposed process incorporates a marker-based visual detection and tracking controller setup, which is discussed in detail. The algorithm consists of two loops running asynchronously: a high-speed inner control loop and an outer measurement loop. This setup enables precise and accurate tracking of the printing platform, compensating for any disturbances during the printing process. Our experimental results demonstrate the successful printing of simple linear geometries, even with low-disturbing platform velocities. Moreover, the tracking controllers' ability to handle measurement occlusion is validated, showing the proposed process's robustness and effectiveness. Our work provides a significant step towards enabling 3D printing in complex in situ printing scenarios.

Stability prediction for robotic milling based on tool tip frequency response prediction by considering the interface stiffness of spindle-tool system

The change of tool tip frequency response caused by the posture dependence of robot dynamic is one of the key problems that make it difficult to accurately predict the milling stability of robot. In this paper, a tool tip frequency response prediction method considering the interface stiffness characteristics of spindle-tool system is proposed for stability prediction of robotic milling under the condition of posture variation. Firstly, the interface stiffness models of spindle-toolholder, toolholder-spring clip and spring clip-tool are established based on Yoshimura's unit area method. Then, The dynamics model for the robot body and the interface stiffness models for spindle-tool system are imported into the finite element analysis model of the spindle system, so that the prediction of the tool tip frequency response is realized by harmonic response analysis. Compared with the experimental results, the maximum error of the natural frequency was not more than 2 %, and the maximum error of the amplitude was not more than 12 %. Finally, the 2 DOF robot milling stability prediction model is established. Then the robot milling chatter is predicted considering redundant degrees of freedom from the perspective of regenerative chatter prediction theory, and the accuracy of prediction results is verified by milling experiment.

Robot-assisted anterior cruciate ligament reconstruction based on three-dimensional images

Background Tunnel placement is a key step in anterior cruciate ligament (ACL) reconstruction. The purpose of this study was to evaluate the accuracy of bone tunnel drilling in arthroscopic ACL reconstruction assisted by a three-dimensional (3D) image-based robot system. Methods Robot-assisted ACL reconstruction was performed on twelve freshly frozen knee specimens. During the operation, three-dimensional images were used for ACL bone tunnel planning, and the robotic arm was used for navigation and drilling. Twelve patients who underwent traditional arthroscopic ACL reconstruction were included. 3D computed tomography was used to measure the actual position of the ACL bone tunnel and to evaluate the accuracy of the robotic and traditional ACL bone tunnel. Results On the femoral side, the positions of robotic and traditional surgery tunnels were 29.3 ± 1.4% and 32.1 ± 3.9% in the deep-to-shallow direction of the lateral femoral condyle (p = 0.032), and 34.6 ± 1.2% and 21.2 ± 9.4% in the high-to-low direction (p < 0.001), respectively. On the tibial side, the positions of the robotic and traditional surgical tunnels were located at 48.4 ± 0.9% and 45.8 ± 2.8% of the medial-to-lateral diameter of the tibial plateau (p = 0.008), 38.1 ± 0.8% and 34.6 ± 6.0% of the anterior-to-posterior diameter (p = 0.071), respectively. Conclusions In this study, ACL reconstruction was completed with the assistance of a robot arm and 3D images, and the robot was able to drill the bone tunnel more accurately than the traditional arthroscopic ACL reconstruction.

Reactive collision-free motion generation in joint space via dynamical systems and sampling-based MPC

Dynamical system (DS) based motion planning offers collision-free motion, with closed-loop reactivity thanks to their analytical expression. It ensures that obstacles are not penetrated by reshaping a nominal DS through matrix modulation, which is constructed using continuously differentiable obstacle representations. However, state-of-the-art approaches may suffer from local minima induced by non-convex obstacles, thus failing to scale to complex, high-dimensional joint spaces. On the other hand, sampling-based Model Predictive Control (MPC) techniques provide feasible collision-free paths in joint-space, yet are limited to quasi-reactive scenarios due to computational complexity that grows cubically with space dimensionality and horizon length. To control the robot in the cluttered environment with moving obstacles, and to generate feasible and highly reactive collision-free motion in robots’ joint space, we present an approach for modulating joint-space DS using sampling-based MPC. Specifically, a nominal DS representing an unconstrained desired joint space motion to a target is locally deflected with obstacle-tangential velocity components navigating the robot around obstacles and avoiding local minima. Such tangential velocity components are constructed from receding horizon collision-free paths generated asynchronously by the sampling-based MPC. Notably, the MPC is not required to run constantly, but only activated when the local minima is detected. The approach is validated in simulation and real-world experiments on a 7-DoF robot demonstrating the capability of avoiding concave obstacles, while maintaining local attractor stability in both quasi-static and highly dynamic cluttered environments.

Fostering computational thinking with simulated 3D robots in secondary education

AbstractComputational Thinking (CT) can be defined as the thought processes involved in formulating problems so that their solutions can be represented as sequential steps and algorithms. It is a key skill for children in the 21st century. However, it is unclear how CT can be developed most effectively in children. Several pedagogical methodologies have been proposed and are being investigated. The main aim of this paper is to test the hypothesis which states that using three‐dimensional (3D) simulated robots helps in the learning of programming and CT concepts, such as directions, loops, conditionals, and functions. The research questions are: Does this hypothesis hold true? Are some concepts easier or better learned than others and to what extent? The goal is to measure and evaluate the effect of using as a learning tool a platform with 3D simulated robots and realistic physics, and compare it with the standard Scratch learning tool which does not use robotics but a two‐dimensional (2D) cartoon avatar they are already familiar with. For practical reasons, a quasiexperimental design with nonequivalent groups and 85 second‐year Secondary Education students (ages 12–13) was performed. They were separated into control and experimental groups and followed a seven‐session intervention with the baseline 2D Scratch and the 3D simulated robots platform, respectively. Both used a visual block programming language and the same activities. To have quantitative and reliable results, a widely accepted CT test has been used, pre‐ and postintervention. Also qualitative feedback is presented. The obtained results show that using the platform with simulated 3D robots significantly helps when developing students' CT. With it, the students do learn basic programming concepts and reach higher scores in the CT test. This improvement applies to all CT‐analyzed concepts except in functions where the grades are maintained. Furthermore, students manage to master the activities on the 3D simulated robots platform, which reflects on the empowerment the platform has got in them.

An Enhanced Strong ARM Comparator Circuit for Analog to Digital Converter Architectures

Abstract: Technological innovations in the current century period have motivated professionals to make electronic gadgets smarter. These advancements are progressing at a brisk pace, facilitating faster changes and increase in computing power. Various technologies such as virtual reality, augmented reality, mobile internet, artificial intelligence, cloud computing, biometric devices, 3D printing machines, genomics, quantum computing, block-chain, industrial automation and robotics. In all these technologies, communications with nearby devices play a major role in its effective functioning. The demand for realizing a smart and better usage experience puts forth strict requirements on the design aspects of next-generation high speed low power CMOS receiver design. One of the major modules in the implementation of high speed low power CMOS receiver device is the analog to digital converter (ADC) architecture. In the process of conversion from analog to digital signals, Quantization and sampling operations are vital and are realized using comparator circuits. The comparator design has a significant role in the design of data converter architecture. Several comparator architectures exist, but StrongARM topology is discussed and implemented in this work due to its negligible static power dissipation and rail to rail output voltages. The proposed novel comparator architecture is designed and simulated in 180nm CMOS process using Cadence Virtuoso tool and operated at supply voltage of VDD=1.8V, a clock frequency of 50MHz

3D Printing of Flow Profiles for Inspection Chambers and Manholes

For years the way of producing a flow profile for Inspection Chambers and Manholes could be divided into 3 methods: Injection moulding, Roto moulding and Hand assembling. For the standard orientations, for example straight through and cross, the IM profile integrated with a base is by far the best option. But for nonstandard configurations; different orientations, inlet heights and inlet sizes, the only option is to hand weld them together from injection moulded parts, pipes and plates. This is a time- consuming way of producing with high production cost and often aesthetic-wise of a challenging level. This is not necessary anymore after the introduction of 3D printing as a new production method for flow profiles in chambers and manholes. 3D printing is in many industries an accepted production method which can produce parts of high quality and high accuracy. The printing systems have faced a huge development in the last 10 years and prints are often close to perfection. The only disadvantage of these printing systems is the maximum size of the print. But since the introduction of 3D robot printing, products with a diameter of 1 meter can be printed without any problem. 3D robot printers were up to recently, used for prototypes, one- off products and art objects. Now a production area is created on which multiple products can be produced in a row without human interference. The most common materials used for 3D printing are ABS and PLA. These materials have good adhesion, almost no shrinkage and a good appearance. Unfortunately, these materials are not common in our industry. We need PP, PE or PVC. While our manholes and inspection chambers are from PP, we also need PP flow profiles. The advantage of using a 3D robot printer is that it uses granulates instead of filaments or special powder. This makes the material cost part almost equal to injection moulding. Another advantage is also that recycled material can be used. Own scrap can be used but also waste from other markets. The main reason that flows profiles are ideal for 3D printing is that nonstandard flow profiles are very labour-intensive. So, 3D printing really helps out here. Besides that, there is a lot of freedom in design. This helps to design in such a way, that the final profile is hydraulically optimal. This prevents the overflowing of manholes during heavy rain showers. Of course, these products should fulfil all requirements of the EN13598-2. Even though major development steps have been made in 3D printing during the last 5 years, 3D robot printing is still in the exploring phase and we find many hurdles on our way. This paper will show how our industry can use 3D printing and what are the pros and cons.

Simple modulation of Lissajous MEMS laser beam scanning with reconfigurable structured light patterns for 3D imaging

Structured light 3D imaging systems commonly employ panel-based projectors or 1-axis MEMS mirrors with beam expander lens to project multi-frame barcodes or dot clouds, addressing challenges posed by objects with multi-scale feature sizes. However, these methods often result in large system volumes due to the required projection multi-lens modules, high hardware costs, or limited light pattern generation capabilities that hindering measurement precision enhancement. This paper introduces an innovative approach to reconfigurable spatial light pattern projection using a single bi-axial MEMS mirror with Lissajous scanning. In contrast to the pixel-by-pixel pre-defined image patterns encoding of conventional 2D laser beam scanning, the proposed method simply aligns the MEMS bi-axial resonance frequencies with laser pulse modulation, enabling the projection of diverse structured light patterns such as stripes, lines, dot matrices, and random dot clouds, which can adapt to different 3D imaging algorithms demands. It eliminates the need for multi-frame encoding and streamlines data caching, simplifies digital logic hardware. A prototype 3D imaging system was developed to demonstrate the mathematical model for laser modulation and the technical feasibility based on the proposed principle. Beyond its lens-free essence, the system supports focal-free optics and a compact projection form factor, which accommodates to a broad range of projection distances and field-of-views based on object’s location. 3D depth map of polynomial surface and blocks objects are extracted through single-frame pattern projection with a relative high accuracy. The presented modulation theory for diverse structured light pattern generation opens avenues for versatile and compact 3D imaging applications of LiDAR and robotic 3D vision.