Design Of Manipulator Research Articles

Design, modeling and validation of a low-cost linkage-spring telescopic rod-slide underactuated adaptive robotic hand.

This paper presents the design of an underactuated adaptive humanoid Manipulator (UAHM) featuring a link-spring telescopic rod-slide mechanism, which is capable of basic human-like grasping functions. Initially, the mechanical structure of the UAHM is introduced, with a detailed exposition of its transmission mode, finger architecture, and overall configuration. Subsequently, the kinematic and static models of the UAHM are delineated, elucidating the relationship between the phalangeal contact forces, contact positions, and bending angles during both fingertip and envelope grasping. Finally, the experimental platform has been established, and the UAHM prototype has undergone testing, demonstrating commendable dexterity, adaptability, and grasping capabilities. Furthermore, the results of comparative numerical analyses corroborate the validity of the static model.

Topology synthesis based on FIS theory of double-layer parallel mechanism with all drives fixed

The manipulation of large workpieces often requires manipulators with complex structures and high stiffness to ensure stability and precision during operation. In situ processing equipment is typically employed for this purpose, comprising a mobile carriage (CGA), mechanical arms, and parallel processing units. The end mechanism of in situ processing equipment must exhibit high rigidity and a wide range of motion in order to effectively satisfy the high-efficiency processing requirements of large and complex structural components. This paper presents a comprehensive process for the topology synthesis of double-layer parallel mechanisms and conducts research on its topology synthesis. Firstly, a comprehensive analysis is conducted on the number and types of degrees of freedom required for basic tasks such as stretching, derotating, twisting, and grasping. This results in the simplest mathematical expression for continuous motion corresponding to the processing tasks. Subsequently, the double-layer superimposition principle of the parallel mechanism is elucidated in accordance with the requirements of the processing tasks. Proposed are anticipated motion patterns and allocation methods. Furthermore, the standard chains are analyzed and characterized based on the desired motion patterns. Derived standard chains that satisfy the desired motion patterns are obtained through joint equivalent transformations. Finally, the assembly conditions are determined in order to obtain the various available configuration structures that satisfy the processing requirements. This study proposes a novel manipulator design that can precisely control the motion of the end platform using only one set of drives, significantly improving the stability and precision of large workpiece manipulation, a challenge that has not been fully addressed in the existing literature. This provides a robust theoretical foundation for the subsequent development of in situ processing equipment.

A holistic approach of stability using material parameters of manipulators

The demand for a comprehensive method to assess stability using manipulator material parameters is high. Various material parameters, such as the Young modulus, which represents stiffness, damping, and deflection, influence the material of the robot manipulator. The correlation between robot stability and these characteristics remains unclear, as prior studies have not yet examined the collective impact of these parameters on robot manipulators. This work considers two sophisticated manipulators, namely ABB and FANUC. The main objective of this research is to construct a stability model that considers the material properties of stiffness, damping, and deflection to assess the manipulator’s stability level, which may be categorized as low, medium, or high. Furthermore, the presented stability model examines and employs numerous modified and conventional formulas for material properties to determine the level of stability. The findings show that stiffness significantly influences the stability of robot manipulators, a relationship that applies to all the examined manipulators. We also emphasize that the choice of manipulator materials significantly impacts stability maintenance. These findings are expected to enhance the design and advancement of novel robot manipulators within the industry.

Recent Advances in controlled manipulation of micro/nano particles: A review

Abstract This review discusses the transformative impact of micro/nano particle manipulation techniques across scientific and technological disciplines. Emphasizing the pivotal role of precise control at the micro and nanoscale, the paper categorizes manipulation strategies into mechanical/surface force-based, field-control manipulation, and microfluidics manipulation. It addresses challenges specific to the submicrometer scale, highlighting the strengths and limitations of each approach. The unique behaviors exhibited by objects at the micro–nano scale influence the design and operation of manipulators, algorithms, and control systems, particularly in interactions with biological systems. The review covers dielectrophoresis and magnetic manipulation, showcasing their applications in particle manipulation and microfluidics. The evolution of optical tweezers, including holographic, surface plasmon-based, and optical fiber tweezers, is discussed, emphasizing their contributions in various scientific fields. Additionally, the paper also explores the manipulation of micro/nano particle in microfluidic platforms. The comprehensive review underscores the significance of understanding manipulation strategies in diverse environments, anticipating further advancements in science and technology.

Optimal design of a new redundant spherical parallel manipulator with an unlimited self-rotation capability

Abstract This paper deals with the optimization of a new redundant spherical parallel manipulator (New SPM). This manipulator consists of two spherical five-bar mechanisms connected by the end-effector, providing three degrees of freedom, and has an unlimited self-rotation capability. Three optimization procedures based on the genetic algorithm method were carried out to improve the dexterity of the New SPM. The first and the second optimizations were applied to a symmetric New SPM structure, while the third was applied to an asymmetric New SPM structure. In both cases, the optimization was performed using an objective function defined by the quadratic sum of link angles. In addition, certain criteria and constraints were implemented. The obtained results demonstrate significant improvements in the dexterity of the New SPM and its capability of an unlimited self-rotate in an extended workspace. A comparison of the self-rotation performances between the classical 3-RRR SPM (R for revolute joint) and the New SPM is also presented.

Моделирование поворотного механизма гидроманипулятора лесовозного автомобиля

The importance of loading and unloading operations in the technological process of wood hauling by timber trucks, as well as the need to improve the design of hydraulic manipulators, are considered. The most rational ways to increase the efficiency of their functioning are given. The disadvantages of traditional designs of hydraulic manipulator rotary mechanisms based on rack-and-pinion gears are presented. An improved design of the crank rotary mechanism of the hydraulic manipulator column from six hydraulic cylinders is proposed. The research methodology is based on the use of mathematical modeling. It has been revealed that the accumulated energy for one braking cycle when moving the load is about 1442 J. Considering that timber loading is carried out at a height of approximately 2 m, the recovery system allows approximately 12 % of the rotation energy to be directed to the load lifting operation. Over the entire range of change in the angle of the end of rotation, the recovered energy varies by only 7.1 % – from 1340 to 1442 J, and the load swing amplitude – by 1.2 % – from 0.336 to 0.340 m. It has been determined that with an increase in the length of the guide, the recovered energy decreases slightly – from 1564 to 1428 J (by 8.7 %) – and the load swing amplitude – from 0.344 to 0.339 (by 1.5 %). It has been found that over the entire angular range, the recovered energy varies from 1399 to 1442 J (by 3 %), and the load swing amplitude – from 0.3380 to 0.3393 m (by 0.4 %). The angular unevenness of the recovery efficiency indicators is no more than 3 %. To study the influence of the parameters of the crank rotary mechanism of the hydraulic manipulator column on the efficiency of energy recovery, a multifactor optimization problem has been solved. It has been established that the optimal value of the distance from the crank axis to the movable axes of the hydraulic cylinders of the rotary mechanism of the hydraulic manipulator column is 0.23–0.25 m, the optimal value of the displacement of the crank axis relative to the axis of the manipulator column is 0.17–0.18 m. At the same time, the recovered energy for 1 cycle of load moving is at least 1500 J, and the amplitude of the load swing is no more than 0.35 m.

Design and kinematics analysis of a cable-stayed notch manipulator for transluminal endoscopic surgery

The friction between the joints of the continuum manipulator with discrete joints brings great difficulties to kinematic modeling. The traditional driving wire arrangement limits the load capacity of the manipulator. A cable-stayed notch manipulator for transluminal endoscopic surgery is proposed, and a driving force coupling kinematic mode is established. The manipulator is fabricated from a superelastic Nitinol tube with bilaterally cut rectangular notches and is actuated by a stay cable. By applying the comprehensive elliptic integral solution (CEIS) for large deformation beams, the bending angle of each elastic beam is obtained, and the kinematics from the driving space to the joint space is formed. According to the bending angle of each elastic beam, the expression of the manipulator in Cartesian space can be obtained by geometric analysis. The kinematics from the joint space to the Cartesian space is established. The outer diameter of the manipulator is only 3.5 mm, and the inner diameter can reach 2 mm, allowing instruments to pass through. The maximum error of the manipulator movement is less than 5%. The load capacity of the manipulator has been verified through the stiffness experiments, and the maximum load of the manipulator can reach 400 g. The cable-stayed notch manipulator can be accurately modeled on the base of CEIS, and its motion accuracy can meet the needs of engineering applications. The compact size and excellent load capacity of the manipulator make it potential for application in transluminal endoscopic surgical robots.

Towards safe, efficient long-reach manipulation in nuclear decommissioning: a case study on fuel debris retrieval at Fukushima Daiichi

ABSTRACT The potential of nuclear power in tackling the global energy crisis hinges on the development of effective decommissioning strategies. While the use of human workforce is still common practice, robotics has the potential to revolutionise decommissioning tasks. However, the restricted access, crammed environments, and harsh environmental conditions of nuclear power plants are not suited for conventional robots. In this scenario, the slender design and overall length of long-reach manipulators represent a promising solution. Yet, the same features that make these manipulators a suitable candidate, also introduce significant engineering challenges in design and control. The key challenges and hazards of nuclear decommissioning are summarized using the decommissioning of the Fukushima Daiichi nuclear power plant as a representative use case, in which a manipulator over 20 m long with 18 degrees of freedom is planned to be used for fuel debris retrieval. Critical research gaps on the state-of-the-art of long-reach manipulators for nuclear decommissioning are presented to summarise the focused key research areas ongoing and foster further research engagement within the community.

Design and development of a flexible-rigid Triglide sorting manipulator

Flexible manipulators have been widely applied in various tasks involving grasping and manipulation, and their unique characteristics in terms of lightweight design and adaptability make them particularly suitable for tackling complex spatial pick-and-place operations. In this work, a Triglide flexible manipulator is presented and developed, based on the parallel Biglide mechanism and dual leaf springs in parallelogram structure, which features adjustable stiffness by changing the transverse configuration of the leaf springs. To analyze the deflections of the leaf springs efficiently, a segmented approach is deployed, to calculate large deflection within the plane of the leaf-springs parallelogram structure. The adopted approach uses classical bending deformation formulas from mechanics of materials. Consequently, the static models of the manipulator are derived for analyzing bending deformation and workspace by means of numerical calculations. Finite element analysis is adopted to investigate the mechanical characteristics of the manipulator. A prototype of the variable stiffness manipulator is built, and an experimental setup is established for static testing. The obtained results align with the previously observed mechanical characteristics. The main advantages of the flexible robotic manipulator lie in its simple structure, small footprint, and simple kinematic model for control.

Design and Implementation of a 3D-Printed Robotics Manipulator for Object Detection and Grasping

Design and Implementation of a 3D-Printed Robotics Manipulator for Object Detection and Grasping

An Adaptive Spiral Strategy Dung Beetle Optimization Algorithm: Research and Applications.

The Dung Beetle Optimization (DBO) algorithm, a well-established swarm intelligence technique, has shown considerable promise in solving complex engineering design challenges. However, it is hampered by limitations such as suboptimal population initialization, sluggish search speeds, and restricted global exploration capabilities. To overcome these shortcomings, we propose an enhanced version termed Adaptive Spiral Strategy Dung Beetle Optimization (ADBO). Key enhancements include the application of the Gaussian Chaos strategy for a more effective population initialization, the integration of the Whale Spiral Search Strategy inspired by the Whale Optimization Algorithm, and the introduction of an adaptive weight factor to improve search efficiency and enhance global exploration capabilities. These improvements collectively elevate the performance of the DBO algorithm, significantly enhancing its ability to address intricate real-world problems. We evaluate the ADBO algorithm against a suite of benchmark algorithms using the CEC2017 test functions, demonstrating its superiority. Furthermore, we validate its effectiveness through applications in diverse engineering domains such as robot manipulator design, triangular linkage problems, and unmanned aerial vehicle (UAV) path planning, highlighting its impact on improving UAV safety and energy efficiency.

Topology Optimization of Hard-Magnetic Soft Phononic Structures for Wide Magnetically Tunable Band Gaps

Abstract Hard-magnetic soft materials, which exhibit finite deformation under magnetic loading, have emerged as a promising class of soft active materials for the development of phononic structures with tunable elastic wave band gap characteristics. In this paper, we present a gradient-based topology optimization framework for designing the hard-magnetic soft materials-based two-phase phononic structures with wide and magnetically tunable anti-plane shear wave band gaps. The incompressible Gent hyperelastic material model, along with the ideal hard-magnetic soft material model, is used to characterize the constitutive behavior of the hard-magnetic soft phononic structure phases. To extract the dispersion curves, an in-house finite element model in conjunction with Bloch’s theorem is employed. The method of moving asymptotes is used to iteratively update the design variables and obtain the optimal distribution of the hard-magnetic soft phases within the phononic structure unit cell. Analytical sensitivity analysis is performed to evaluate the gradient of the band gap maximization function with respect to each one of the design variables. Numerical results show that the optimized phononic structures exhibit a wide band gap width in comparison to a standard hard-magnetic soft phononic structure with a central circular inclusion, demonstrating the effectiveness of the proposed numerical framework. The numerical framework presented in this study, along with the derived conclusions, can serve as a valuable guide for the design and development of futuristic tunable wave manipulators.

Design and control of the Six-DOF robotic manipulator

This paper presents the building process and simulation of a robotic manipulator. Robotic manipulators are used in various scenarios, such as industry and agriculture. It would be of particular interest to learn how to systematically design and control a manipulator to follow a planned trajectory. Hence, a CAD model is developed in this paper. There is a rough finite element analysis for two cases in this study, which could easily find out how the product reacts to real-world forces and vibration. In order to solve real-world problems safely and effectively, this effort intends to build the mechanical design of the manipulator by SOLIDWORKS and simulate trajectory tracking capability using MATLAB.

Design and performance analysis of continuum manipulator with twisting rotation

The continuum manipulator exhibits excellent flexibility, enabling it to navigate through unstructured and narrow spaces. However, the current motion capabilities of the continuum arm are limited to expansion, bending, or their combination, which restricts its application range and potential uses. Designing a continuum manipulator capable of twisting motion around its axis poses a significant challenge. In this study, we propose a torsion module for the continuum manipulator that enables twisting motions. This module comprises a central trunk made of a torsion spring and a driving mechanism consisting of two tendons arranged in cylindrical helix symmetry. By stretching these driving cables, the module can achieve twisting motion. We describe the principle behind torsional motion, establish a kinematic model for the continuum torsional module, and analyze how structural parameters affect its performance in terms of twisting motion. Furthermore, we construct a continuum arm incorporating this torsion module to enable both twisting and bending motions. We present examples showcasing the versatile capabilities of this continuum manipulator in various specialized scenarios. Experimental results demonstrate that the addition of torsional functionality enhances dexterity and expands design possibilities for continuum manipulators.

A differentiable dynamic modeling approach to integrated motion planning and actuator physical design for mobile manipulators

AbstractThis paper investigates the differentiable dynamic modeling of mobile manipulators to facilitate efficient motion planning and physical design of actuators, where the actuator design is parameterized by physically meaningful motor geometry parameters. The proposed differentiable modeling comprises two major components. First, the dynamic model of the mobile manipulator is derived, which differs from the state‐of‐the‐art in two aspects: (1) the model parameters, including magnetic flux, link mass, inertia, and center‐of‐mass, are represented as analytical functions of actuator design parameters; (2) the dynamic coupling between the base and the manipulator is captured. Second, the state and control constraints, such as maximum angular velocity and torque capacity, are established as analytical functions of actuator design parameters. This paper further showcases two typical use cases of the proposed differentiable modeling work: integrated locomotion and manipulation planning; simultaneous actuator design and motion planning. Numerical experiments demonstrate the effectiveness of differentiable modeling. That is, for motion planning, it can effectively reduce computation time as well as result in shorter task completion time and lower energy consumption, compared with an established sequential motion planning approach. Furthermore, actuator design and motion planning can be jointly optimized toward higher performance.

Progress in IOT-controlled robot manipulators and IOT manipulator design for irrigation of mini greenhouses

Progress in IOT-controlled robot manipulators and IOT manipulator design for irrigation of mini greenhouses

Conceptual Design of an Industrial Manipulator for the Prevention of Musculoskeletal Disorders: a Participatory Approach

Conceptual Design of an Industrial Manipulator for the Prevention of Musculoskeletal Disorders: a Participatory Approach

A cable‐driven underwater robotic system for delicate manipulation of marine biology samples

AbstractUnderwater robotic systems have the potential to assist and complement humans in dangerous or remote environments, such as in the monitoring, sampling, or manipulation of sensitive underwater species. Here we present the design, modeling, and development of an underwater manipulator (UM) with a lightweight cable‐driven structure that allows for delicate deep‐sea reef sampling. The compact and lightweight design of the UM and gripper decreases the coupling effect between the UM and the underwater vehicle (UV) significantly. The UM and gripper are equipped with force sensors, enabling them for soft and sensitive object manipulation and grasping. The accurate force exertion capabilities of the UM ensure efficient operation in the process of localization and approaching reef samples, such as the corals and sponges. The active force control of the tendon‐driven gripper ensures gentle/delicate grasping, handling, and transporting of the marine samples without damaging their tissues. A complete simulation of the UM is provided for deriving the required specifications of actuators and sensors to be compatible with the UVs with a speed range of 1–4 Knots. The system's performance for accurate trajectory tracking and delicate grasping of two different types of underwater species (a sponge skeleton and a Neptune's necklace seaweed) is verified using a model‐free robust‐adaptive position/force controller.

A Coordinate-Free Approach to the Design of Generalized Griffis-Duffy Platforms

Architectural singularity belongs to the Type II singularity, in which a parallel manipulator (PM) gains one or more degrees of freedom and becomes uncontrollable. PMs remaining permanently in a singularity are beneficial for linear-to-rotary motion conversion. Griffis-Duffy (GD) platform is a mobile structure admitting a Bricard motion. In this paper, we present a coordinate-free approach to the design of generalized GD platforms, which consists in determining the shape and attachment of both the moving platform and the fixed base. The generalized GD platform is treated as a combination of six coaxial single-loop mechanisms under the same constraints. Owing to the inversion, hidden in the geometric structure of these single-loop mechanisms, the mapping from a line to a circle establishes the geometric transformation between the fixed base and the moving platform based on the center of inversion, and describes the shape and attachment of the generalized GD platform. Moreover, the center of inversion not only identifies the location of rotation axis, but also affects the shape of the platform mechanism. A graphical construction of generalized GD platforms using inversion, proposed in the paper, provides geometrically feasible solutions of the manipulator design for the requirement of the location of rotation axis.

Trajectory tracking control of parallel manipulator actuated with shape memory wire

This study describes the design of a parallel spatial manipulator with four degrees of freedom actuated with shape memory alloy (SMA) wire to validate the use of SMA in complicated mechatronics systems. The manipulator has a closed kinematic structure, which includes a fixed base and a moving square platform (end effector). The four arms of the manipulator are SMA wires fastened between the fixed base and the end effector. SMA wire-based actuators replace bulky conventional revolute actuators. This work spotlights the development of an actuator model, dimensional analysis, and design of cascade control strategies of various PID and sliding mode controller in their integral and fractional order configurations. Experimental evaluation of the actuator is performed through trajectory tracking to quantify the different controller configurations. The experimental results indicate that the parallel manipulator associated with SMA wire actuators is the best alternative to conventional motion stages for highly precise micro-positioning and tracking applications in the fields of 3D printing, intricate surgical operations, the medical and pharmaceutical industries, and flight and gaming simulators.