Mechanical Arm Research Articles

Robotic Arm Control System Based on AI Wearable Acceleration Sensor

The position of mechanical arm in people’s life is getting higher and higher. It replaces the function of human arm, moving and moving in space. Generally, the structure is composed of mechanical body, controller, servo mechanism, and sensor, and some specified actions are set to complete according to the actual production requirements. The manipulator has flexible operation, good stability, and high safety, so it is widely used in industrial automation production line. With the development of science and technology, many practical production requirements for the function of the manipulator are more and more refined, especially in the high-end research field. For example, medical devices, automobile manufacturing, deep-sea submarines, and space station maintenance put forward higher requirements for it. In terms of miniaturization and precision, it can meet the needs of scientific research and actual production. But these are inseparable from the motion control system technology. This paper mainly introduces the research of manipulator control system based on AI wearable acceleration sensor, aiming to provide some ideas and directions for the research of wearable manipulator. This paper presents the research method of manipulator control system based on AI wearable acceleration sensor, including the establishment of manipulator kinematics model, common filtering algorithm, and PI algorithm of speed control system. It is used for the research and experiment of manipulator control system based on AI wearable acceleration sensor. The experimental results show that the average matching rate of the manipulator control system based on AI wearable acceleration sensor is as high as 88.89%, and the stability of the feature descriptor is high.

F-POWER Prosthetic Research on Flexible Receptacle

In recent years, with the development of robot technology, the application of robot structure with high speed, high precision and high load-to-weight ratio has attracted the attention of industry and aerospace. Due to the increase of the flexibility effect of joints and connecting rods during the movement, the structure is deformed, which reduces the accuracy of task execution. Compared with rigid mechanical arm, flexible mechanical arm has the characteristics of light structure, high ratio of load to dead weight, so it has lower energy consumption, larger operating space and high efficiency, and its response is fast and accurate, and it has many potential advantages, so it occupies a very important position in various application fields. F-POWER flexible prosthesis is a man-machine integrated mechanical device that can be worn by people. It can complete the combination of man and machine, control the mechanical arm by human behavior, and help the disabled to complete daily grasping tasks. It can combine the high load and high precision of the machine with the flexibility and intelligence of the human body. At the same time, using adaptive flexible materials can improve the comfort and stability of the prosthesis. The combination of flexible gripper and mechanical gripper can effectively meet the needs of people with disabilities and reduce the difficulty of operation.

Design, Modeling and Manufacturing a New Robotic Gripper with High Load Bearing Capability and Robust Control of its Mechanical Arm

In this paper, a new robotic gripper is proposed and modeled which is able to bear a high amount of load and it can be used as the claws of climbing robots. As the climbing robots are usually heavy and their configuration should be kept in height against the gravity, firm grippers with no slippage possibility should be designed in order to guarantee the stability. The proposed new gripper is essentially required for the grip-based climbing robots which are heavy and are supposed to accomplish a specific operational task while they are grasping the pipe-shaped structures. The kinematic and quasi-static modeling of the proposed gripper is extracted and its related parameters are optimized to provide the maximum gripping force and the minimum slippage probability. Since these robust grippers are usually actuated by high torque motors, the reaction effect of the actuators force on the arm of the robot model is investigated here as a new study. Hence, the corresponding mechanical arm is also controlled, using a robust nonlinear controller to neutralize the destructive effect of extreme reaction forces or torques from the gripper motors to the robot arm during its mission. Thus, a robust controller is designed and implemented on the arm joint to cover the required positioning accuracy of the arm movement during the climbing motion. Afterward, the applicability of the proposed gripper and also the efficiency of the designed controller is verified by the aid of some analytic and comparative simulation scenarios performed in MATLAB-SIMULINK and MSC-ADAMS simulation. It is shown that the proposed gripper together with its related controlling algorithm for the arm can successfully provide a proper climbing mechanism for these kinds of robots which are supposed to climb through the structures and perform a special manipulating task.

Robotic and laparoscopic sacrocolpopexy for pelvic organ prolapse: a systematic review and meta-analysis.

BackgroundSacrocolpopexy is the gold standard procedure for treating pelvic organ prolapse (POP) patients with apical defects. Different surgical approaches have emerged and been utilized successively, including traditional laparoscopy, single-hole laparoscopy, robotic laparoscopy, vaginal-assisted laparoscopy, and transvaginal approaches. Robotic sacrocolpopexy (RSC) has attracted increasing attention as an emerging surgical technique and has unique advantages, such as a “simulated wrist” mechanical arm and high-definition three-dimensional (3D) visual field, which has gradually begun to be utilized in the clinical setting.MethodsWe followed the Preferred Reporting Items for Systematic reviews and Meta-Analyses (PRISMA) reporting checklist, and a systematic literature search was conducted on six databases from their inception to 1st March 2020. We evaluated patients with POP who underwent RSC or laparoscopic sacrocolpopexy (LSC), outcomes (including perioperative outcomes: blood loss, operating times, blood transfusion, and hospital stay), surgery-related complications, as well as cure and recurrence rates.ResultsA total of 49 articles were available, including 3,014 patients, among which 18 were comparative studies on LSC vs. RSC, and 31 were non-comparative single-arm studies on RSC. For RSC, median operative time was 226 [90–604] minutes, estimated blood loss was 56 [5–1,500] mL, and hospital stay was 1.55 [1–16] days. Intraoperative complications and postoperative complications occurred in 74 (2.7%) and 360 (13.0%) patients, respectively. Of 2,768 RSC patients, 40 had been converted from a robot-assisted approach to other approaches, and 134 of 1,852 patients (7.2%) have recurrent prolapses of any compartment. Compared to LSC, RSC was associated with significantly lower blood loss and lower conversion rate. However, more operative time was observed in RSC. No significant differences were observed in perioperative transfusion, intraoperative and postoperative complications, or objective recurrence between RSC and LSC.ConclusionsRSC’s application seems to contribute some advantages compared to conventional laparoscopic surgery, although both approaches appear to promote equivalent clinical outcomes. Notably, heterogeneity among studies might have affected the outcome of the study. Consequently, high-quality and large-sample randomized trials comparing both techniques are necessitated.

Development of Electromyography Signal Function to Control Robot Arm Working Adaptively in the Reverse Direction of the Human Arm Movement

Malfunctioning conditions in one arm can be experienced by humans due to congenital defects, accidents, or side effects of experienced health problems. This has an impact on reducing the effectiveness of work because in normal conditions humans often need a pair of arms that are able to function actively. This situation was tried to be overcome by utilizing a mechanical robotic arm controlled by an Arduino microcontroller and Myo Armband as a sensor for orientation and an electromyography signal from one of the user’s normal arms. The results of sensing from the user’s arm that have been successfully read are then processed using an algorithm that is built to provide a decision in the form of what action the robot arm should take. The test results obtained show that the robot arm responds real-time to input from the orientation of the user’s arm, although it is also found that sometimes the robot arm does not respond to input from the electromyography signal.

The modular structure designs of a type of stir frying device

The main task of cooking robot is to complete all kinds of cooking work instead of people. Based on the single-chip microcomputer control system, the author describes the modular design of a stir frying device in this article, and elaborates on the overall scheme design, mechanical structure design and control system design of a type of stir frying device. The device detects the temperature in the pot through a temperature sensor, controls the mechanical arm, the pancake turner and ingredient tray through two steering engines, a stepping motor and an adjustable-speed DC motor to make them reach the designated position. The entire cooking process is coordinated and controlled by the program. It can complete a series of actions such as pouring oil, putting vegetables in the pot, adding seasonings, stir-frying. Besides, it also can control the cooking time and heating degree in each link until the production of a dish is completed. The stir frying device realizes the modularization and automation of the cooking process.

Design and fabrication of a transmission mechanism arm for rotational molding

Compared with blow molding and thermoforming technology, rotary die technology has many advantages for manufacturing hollow plastic products. The purpose of this paper is to compute and design the transmission crank mechanism of the rotary die machine. The authors chose a reasonable solution to design the experimental model to produce flower pots with dimensions of 1000 x 400 x 400 mm. The principle diagram and the dynamic diagram of the machine are presented. Computation and design of main clusters and hand fabrication of the rotary die machine are investigated. The model of the transmission crank mechanism is fabricated to verify the validity of the proposed model.

The current role of robotics in bariatric surgery.

Significant improvements have been made in bariatric surgery for the past two decades. Thus, early and late complication rates decreased significantly. Thanks to its promising results, robotic surgery is finding increasing use in the field of surgery and the bariatric surgery is one of these areas. Following the first robotic bariatric surgery in 1997, it continues to be performed at increasing rates thanks to the advantages it brings. Robotic surgery offers new opportunities to improve bariatric surgery, thanks to remote control mechanical arms. The three-dimensional (3D) view, together with the precision of movements and the freedom of arms offer new insights into the more difficult surgeries. Hospitals should prepare a good business plan to financially activate robotic surgery, thus, more robotic procedures can be achieved. Among the expressed concerns for the Da Vinci Systems are issues such as the costs, operational times, and lack of tactile feedback. Annual maintenance fees and instrument costs are undoubtedly higher than laparoscopic surgery methods. Robotic surgery is now integrated into obesity surgery, such as sleeve gastrectomy, Roux-en-Y gastric bypass, one anastomosis gastric bypass, biliopancreatic diversion and single anastomosis duodenal switch. It allows for more efficient and ideal anastomosis and exposure in challenging fields. Robotic bariatric surgery is a safe procedure with a short learning curve, outcomes comparable to laparoscopy and other benefits of robotic technology.

Study on Quantitative Characterization of Morphological Characteristics and High Temperature Performance Evaluation of Coarse Aggregate Based on Computer Vision

The morphological characteristics of aggregate include outline shape, angularity, and surface texture, which determine the mutual extrusion and friction between aggregates, and significantly affect the performance of asphalt pavement. At present, the research on the morphological characteristics of coarse aggregate is mainly focused on indoor visual identification technology (AIMS, XCT, etc.), in which the applicability of the proposed aggregate shape characterization index is weak, and these instruments could not serve the practical engineering well. In this article, the Coarse Aggregate Morphological Identification System (CAMIS) is developed based on computer vision technology, and the system can recognize the shape features of aggregates above 2.36 mm particle size and carry out uninterrupted feeding and removal based on the mechanical arm system, which can realize large sample detection. Based on CAMIS aggregate identification system and laboratory tests (rutting test, dynamic modulus test, and penetration shear test), the shape identification and performance test of aggregate samples from construction site are carried out, and an aggregate performance evaluation index, CEI, suitable for high-temperature areas is proposed in combination with the improved response surface method. The processing parameters of vertical shaft impact aggregate crusher are optimized based on the CEI index, and the recommended processing parameters are verified by laboratory tests. The results show that the morphological characteristics of coarse aggregate affect the high temperature performance in order angularity, needle flake, axial coefficient, and convexity. The combination of processing parameters of vertical axis impact crusher is recommended to be of 45 m/s rotational speed, 3 t/h feed quantity, and 30% air intake. Verified by laboratory tests, the aggregate identification system CAMIS developed in this article and the proposed aggregate performance evaluation index, CEI, are highly reliable.

Advances in high-throughput proteomic analysis

基于质谱的蛋白质组学技术已经日趋成熟,可以对细胞和组织中的成千上万种蛋白质进行全面的定性和定量分析,逐步实现“深度覆盖”。随着生物医学日益增长的大队列蛋白质组学分析需求,如何在保持较为理想的覆盖深度下实现短时间、快速的“高通量”蛋白质组学分析已成为当前亟需解决的关键问题之一。常规的蛋白质组学分析流程通常包括样品前处理、色谱分离、质谱检测和数据分析。该文从以上4个方面展开介绍近10年以来高通量蛋白质组学分析技术取得的一系列研究进展,主要包括:(1)基于高通量、自动化移液工作站的蛋白质组样品前处理方法;(2)基于微升流速液相色谱与质谱联用的高通量蛋白质组检测方法;(3)利用灵敏度高、扫描速度快的质谱仪实现短色谱梯度分离下蛋白质组深度覆盖的分析方法;(4)基于人工智能、深度神经网络、机器学习等的蛋白质组学大数据分析方法。此外,对高通量蛋白质组学面临的挑战及其发展进行展望。总而言之,预期在不久的将来高通量蛋白质组学技术将会逐步“落地转化”,成为大队列蛋白质组学分析的利器。

Design and Fabrication of Robotic Arm for the assembly of Phase Selector Switch

This paper explores the robot arm where the ability of human to do a project is restrained however now not with the aid of his mental electricity however through his bodily energy. A humanoid mechanical technology is another difficult field. To co-work with people, humanoid robots not just need to include human like structure and structure, yet more significantly, they should arrange human like conduct with respect to the movement, correspondence and intelligence. In environmental factors where human exchange can't be conceivable to do a specific errand, the robots can do. Robots are used for lean industrial processes and have diversified their contributions to meeting lines inside the production international. The main focus of this project is to design and develop the mechanism for robotic arm for lifting. It is a type of mechanical arm, usually programmable, with similar functions to a human arm. The arm might be a unit system or might be an aspect of a more unpredictable mechanical cycle. The end effectors or mechanical hand can be intended to play out any ideal undertaking, for example, welding, holding, turning etc., depending on the application. The mechanical arm is planned and designed with four degrees of freedom and modified to achieve precisely basic light material lifting undertaking to aid the creation line in any industry. 3D printing strategy is utilized in this undertaking to create the parts of the automated arm. Hence, it gave more exact measurements and gigantic time and cost expensive in creation. The automated arm is furnished with 4 servo engines to interface the parts and bring arm development. A sequential construction mechanical system can improve its efficiency through developing the assembling pace and its consistency. They additionally spare individuals from dreary and tedious mechanical production system employments. Many industries are yet to implement such automation in their meeting traces, as they do no longer have the technical recognize how of the changeover, or the concern of failure of investment. It is proposed to layout and increase a low price assembly robotic which could overcome the above drawbacks. We have also included Design Thinking process before starting to do this experiment. The stages of Design Thinking such as Empathize, Define, Ideate, Prototype & test, Evolve are performed in the complete fabrication of the robotic arm. Many industries are yet to implement such automation in their assembly lines, as they do not have the technical knowhow of the changeover, or the fear of failure of investment. To proceed in this direction, a case study was conducted at a phase selector switch making company. Presently the company does manual assembly of the switches, which is a hindrance to the growth of the company. This process required a pilot study to explore the possibility as well as the implementations issues of robots in the assembly. The present system uses a belt conveyor system which has no feedback signals and the speed of the conveyor is not synchronized with the rate of assembly. It is generally not advised to transfer small size components in a conveyor since picking, orienting and inserting the components will be cumbersome. When the size of the component is considerably small, manual assembly is not recommended as per the guidelines of DFMA (Design for manufacture and assembly). Manual error is more prone to assembly of the part in a wrong orientation, especially for those components that are symmetrical.The parts to be assembled are both axi-symmetric as well as prismatic in shape. Constraints in loading and unloading of casing were also reported. In this work, the design and development of a low cost assembly robot is done which can overcome the above drawbacks.

Use of shaking mechanism and robotic arm in fruit harvesting : A comprehensive review

Use of shaking mechanism and robotic arm in fruit harvesting : A comprehensive review

Design of linear surfaces that restrict the range of permissible positions of links of the manipulator mechanisms in implementation of instantaneous states

Linear surfaces are used in various spheres of human activity. One of the most common techniques of designing linear surfaces is based on the three directing curves. In some cases, one of these directing curves is not set, but rather replaced by some geometric condition imposed on the emerging surfaces, which can in form of a certain point correspondence established between the points of the rest two directing curves. The article reviews the example of designing such surfaces, which in an approximate form would restrict the zone that sets the permissible positions of links of the manipulator mechanism of certain given configuration in realization of permissible instantaneous states. The acquired linear surfaces underlie the algorithm for calculation of configurations, which do not intersect the restricted zone in case of a deadlock situation. The result of this research is the computer simulation of the motions of arm and torso mechanism of the Android robot using the obtained algorithm for calculation of configurations. The simulation of motion demonstrates that the use of linear surfaces in analysis of the relative position of the manipulator and restricted zones in the deadlock situations allows reducing the calculation time by 50-60 percent. Such reduction of calculation time is highly demanded in computer control of the arm and torso motions of the Android robot on a real time scale.

Kinematics analysis of pneumatic soft manipulator

A software mechanical grabbing device is designed to deal with space debris. The robotic arm is composed of unit segments of modular design, and the kinematic model of the unit segments of the mechanical arm is established by simplifying it into a cantilever beam model. The relationship among the driving space, joint space, and operation space of the unit section is analyzed, and its kinematics equations are established.

Using weight values of generalized velocities to handle deadlocks in the synthesis of anthropomorphic robot arm movement

When controlling the movement of an anthropomorphic robot arm mechanism in an organized space with forbidden regions, there is a possibility of deadlocks. The paper studies the motion synthesis using weight coefficients of generalized velocities in order to prevent deadlocks. As a result an algorithm for the motion synthesis using weight coefficients in the virtual simulation of the anthropomorphic robot arm movements is developed.

The VITOM® exoscope in oculoplastic surgery: the 5 year Coventry experience.

BackgroundIntraoperative imaging is a desirable tool in oculoplastic surgery; however, there are few modalities which allow surgeons to capture and edit the images in real time without compromising the sterility of the surgical field. We describe the set-up of the VITOM® exoscope system based on our 5 years’ experience of using it as an effective intraoperative video imaging and teaching modality for extraocular surgery.MethodsThe VITOM® is a specially designed exoscope mounted onto a versatile mechanical arm. It is attached to a high definition (HD) digital camera displayed on the HD video monitor of a standard endoscopy stack. This technology has been utilised in other surgical subspecialties, but there is no documented use within extraocular surgery.ResultsThe exoscope was simple to set-up and allowed real-time recording and editing with an HD image display system. The theatre team were able to view the precise surgical steps, contributing to improved theatre flow. Trainees reported that the VITOM® images significantly improved their visualisation and understanding of key surgical anatomy and steps.ConclusionsOur experience showed that the VITOM® exoscope is an excellent intraoperative video imaging and teaching aid, as it allows real-time capture and editing of open surgery and seems to improve theatre flow. With newer models using 3D stereoscopic vision, it could be further evaluated as a heads-up viewing system within extraocular and oculoplastic surgery.

Controlling mechanical arms using 3D coordinates gotten from the AR technology

How to control the movement of the mechanical arm is a challenging topic recently. It requires much time and energy to program every joint. This paper proposes a new method based on 3D coordinates of the human arm joints, which helps the mechanical arm to imitate the movement of human arms and only needs to calculate angles of human arms’ joints according to the 3D coordinates. Here in this process the key is to get the information of 3D coordinates of human arms. This paper applies an AR (Augmented Reality) application of body detection with LiDAR on iPad Pro 2020 to get 3D coordinates. Then the calculated angle information is transferred from the host computer to the Arduino board controlling the movement of the mechanical arm. Eventually the same movements will be made by the mechanical arm and the human arm.

Near-Field Precision Measurement System of High-Density Integrated Module

An automatic near-field precision measurement system was proposed in this article. The work was mainly focused on the hardware structure design of the near-field precision measurement system and the software development of the upper computer. At the same time, the electromagnetic field probes used in the system were selected and introduced. The near-field precision measurement system was composed of an upper computer control part, motion controller, power amplifier module, three-axes mechanical arms, spectrum analyzer, and near-field probes. Three-axes mechanical arm, multi-degree-of-freedom fixture, and electromagnetic field probe cooperate with each other for near-field measurement. The electromagnetic radiation emission of high-density integrated module and liquid crystal display (LCD)-printed circuit board (PCB) of laptop computer were measured. According to the measured data, the visual field distribution map was generated, and the measured results were analyzed. Compared with manual measurement method and commercial electromagnetic compatibility (EMC) scanners, the near-field precision measurement system has more accurate measurement results and can accurately locate the noise source.

Research on GIS Monitoring System in Operation Based on Rail Robot

GIS is prone to various defects and faults after putting into operation, and the failure rate is high. At present, the inspection methods of GIS in operation include traditional inspection mode, two-dimensional code inspection mode, radio frequency identification technology mode and robot inspection mode. However, the current inspection robot has the disadvantages of weak adaptability to complex environment, insufficient inspection scope, low efficiency and low intelligence. Therefore, this paper designs a GIS monitoring system based on the rail robot. By installing all kinds of sensors on the rail robot, with the help of binocular vision and mechanical arm, the omni-directional live detection of GIS in transit can be realized.

RETROFIT OF PNEUMATIC MECHANISM MODEL USING VACUUM

The article describes a device for transferring manipulation objects using a vacuum suction cup. The suction cup is carried by the arm of the swing mechanism. The swing mechanism is realized by transforming the linear motion from a pneumatic pistonless drive to a rotary motion. The rack and pinion transformation block was used for this. The article describes the retrofit procedure of the originally designed structure, which had unsatisfactory parameters. In addition, the issue of saving the compressed air needed to generate the vacuum in the suction cup was addressed. Modification of the circuit can be performed by the manipulation cycle without the need for permanent activation of the ejector. The solution in its current form is used for the educational purposes of the department in the training of skills in the deployment of pneumatic mechanisms and in their programming.