Design Of Robot Research Articles

Design and Optimization of a Cable-Driven Parallel Polishing Robot With Kinematic Error Modeling

Abstract This article presents the design and optimization of a cable-driven parallel polishing robot (CDPPR) with kinematic error modeling and introduces an improved nondominated sorting genetic algorithm II (NSGA-II) for multiobjective optimization. First, the mechanical design and kinematic and static modeling of the CDPPR are conducted. Subsequently, a kinematic error transfer model is established based on the evidence theory by considering the change of exit points of cables, and an error index is derived to measure the accuracy of the robot. Besides, another two performance indices including the workspace and static stiffness are proposed. Thus, a multiobjective optimization model is established to optimize the workspace, static stiffness, and error index, and an improved NSGA-II is developed. Finally, an experimental scaled prototype of the CDPPR is constructed, and numerical examples and experimental results demonstrate the effectiveness of the improved NSGA-II and the stability of the optimal configuration.

Design and analysis of a flexible struts V-expander tensegrity robot for navigating pipes

Tensegrity robots have increasingly attracted attention in recent years. Traditionally, these robots rely on rigid struts and cables to maintain equilibrium configurations. However, the inflexibility inherent in these rigid struts curtails the robot’s capacity for deformation, thereby amplifying structural intricacy and imposing limitations on potential applications, particularly in the realm of pipe inspection. Drawing inspiration from the V-expander tensegrity structure, this paper presents a design, analysis, and validation of a flexible struts tensegrity robot. The integration of flexible struts enables the robot to exhibit a compact structure, passive compliance, and excellent adaptability. Through the actuation of three active cables, the robot exhibits inchworm-like motion capabilities for pipes ranging from 50 mm to 110 mm in diameters. A kinetostatics modeling approach is presented to predict the shapes of flexible struts and control the motion behaviors of the robot. To validate the capabilities of the proposed robot and assess the effectiveness of the kinetostatics model, a prototype was constructed and subjected to a series of experiments. The results demonstrate that the prototype exhibits remarkable shape changeability, mobility, and adaptability, while precisely controlling the contact force.

Effects of track-based stair climbing robot on muscle activity, usability, and psychological anxiety: a preliminary study

This study investigated the effects of using the LiftCar-150 track-based stair-climbing robot on muscle activity, usability, and psychological anxiety. While stair-climbing robots enhance mobility for individuals with physical disabilities, existing research has predominantly focused on engineering perspectives, with limited attention to user-centered outcomes. Ten healthy participants and an 80 kg dummy rider completed stair-climbing tasks at slow (5 m/min) and fast (7 m/min) speeds. Muscle activity in the middle trapezius (MT), erector spinae (ES), multifidus (MF), gluteus maximus (Gmax), gluteus medius (Gmed), and anterior deltoid (AD) muscles was recorded by electromyography. Usability was evaluated in terms of safety, efficiency, and satisfaction using a 5-point Likert scale, while psychological anxiety was assessed with a visual analog scale (VAS) ranging from 0 to 10. Results showed that during stair ascent, activities of the back extensors (ES and MF) and gluteus muscles (Gmax and Gmed) significantly increased compared to descent, while anterior deltoid activity was higher during descent. Usability scores averaged 4.05 for stability, 4.1 for efficiency, and 3.7 for satisfaction. Perceived psychological anxiety scores were 4.2 ± 0.3 and 5.4 ± 0.5 at slow speed, and 3.5 ± 0.2 and 5.7 ± 0.4 at fast speed during ascent and descent, respectively. While operators recognized the robot’s stability and efficiency, satisfaction levels were neutral, and specific muscle activation was increased. These findings provide essential insights into optimizing the design and usability of stair-climbing robots to better address user needs.

Design and programming of a robotic puppetry robot based on natural learner unit pattern generators neural networks

Design and programming of a robotic puppetry robot based on natural learner unit pattern generators neural networks

Research Of Bio-Inspired Compliant Legged Robot Designs

Research Of Bio-Inspired Compliant Legged Robot Designs

Design and workspace analysis of a cable-driven space capture robot for noncooperative targets

Capturing noncooperative targets in space has garnered continuous research interest in aerospace applications. This study addresses the demands of large-scale, multifaceted activities and varied working conditions for space capture missions by designing a space capture robot composed of multiple cable-driven manipulators operating in parallel. First, single- and multi-segment cable-driven robot models were designed, and a geometric model was subsequently built. The optimal number of segments was determined by analysing the condition number of a Jacobian matrix using the Monte Carlo method. Subsequently, based on the constant-curvature assumption, a kinematic model of the cable-driven space capture robot was formulated, and capture methods for different capture targets were designed using the Monte Carlo method. Finally, an eight-segment cable-driven robot prototype was developed, and compliance and driving experiments were conducted. This robot exhibits promising application potential for space noncooperative target capture and can be feasibly manufactured using on-orbit 3D machining technology.

Robotic flytrap with an ultra-sensitive 'trichome' and fast-response 'lobes'.

Nature abounds with examples of ultra-sensitive perception and agile body transformation for highly efficient predation as well as extraordinary adaptation to complex environments. Flytraps, as a representative example, could effectively detect the most minute physical stimulation of insects and respond instantly, inspiring numerous robotic designs and applications. However, current robotic flytraps face challenges in reproducing the ultra-sensitive insect-touch perception. In addition, fast and fully-covered capture of live insects with robotic flytraps remains elusive. Here we report a novel design of a robotic flytrap with an ultra-sensitive 'trichome' and bistable fast-response 'lobes'. Our results show that the 'trichome' of the proposed robotic flytrap could detect and respond to both the external stimulation of 0.45 mN and a tiny touch of a flying bee with a weight of 0.12 g. Besides, once the 'trichome' is triggered, the bistable 'lobes' could instantly close themselves in 0.2 s to form a fully-covered cage to trap the bees, and reopen to set them free after the tests. We introduce the design, modeling, optimization, and verification of the robotic flytrap, and envision broader applications of this technology in ultra-sensitive perception, fast-response grasping, and biomedical engineering studies.

RANCANG BANGUN TRAINABLE ROBOT ARM BERBASIS ARDUINO MEGA 2560 SEBAGAI MEDIA PRAKTIKUM DI LABORATORIUM TEKNIK ELEKTRO UNIVERSITAS PEMBANGUNAN PANCABUDI MEDAN

The design of the Trainable Robot Arm is carried out as a learning medium in the lab. Electrical Engineering University of Development Pancabudi Medan. Trainable Robot Arm is a robotic arm designed to facilitate the process of robot applications in carrying out object transfer tasks without the need to do complex programming every time you want to change the robot's movements. The design of this arm robot is divided into 3 parts, the first is the design and manufacture of robot mechanics, the second is the design and manufacture of robot control/electricity and the third is the manufacture of robot software/programs. The mechanical design of the robot begins with making a 3D design of the robot frame utilizing the non-commercial version of the Fusion360 CAD software, then the 3D design is printed using a 3D Printing machine with PETG (Polyethylene Terephthalate) plastic material. The robot arm is designed to have a 5-DOF (Deegre of Freedom) system, namely Base, Shoulder, Elbow, Wrist and Gripper. As a drive, 5 servo motors with torque are used each, 25 kg/cm for Base and Shoulder, 11kg/cm for Elbow and Wrist, and 1.8 kg/cm for Gripper. From the test results, the Trainable robot arm successfully stores and repeats movements that have been trained to move objects with a mass of 100 grams at a position of 23cm from the axis of the robot arm to the x-axis to a position of 20cm from the axis of the robot to the y-axis as many as 8 repetitions without failure.

Miniature Modular Reconfigurable Underwater Robot Based on Synthetic Jet.

Modular reconfigurable robots exhibit prominent advantages in the reconnaissance and exploration tasks within unstructured environments for their characteristics of high adaptability and high robustness. However, due to the limitations in locomotion mechanism and integration requirements, the modular design of miniature robots in the aquatic environment encounters significant challenges. Here, a modular strategy based on the synthetic jet principle is proposed, and a modular reconfigurable robot system is developed. Specialized bottom and side jet actuators are designed with vibration motors as excitation sources, and a motion module is developed incorporating the jet actuators to realize three-dimensional agile motion. Its linear, rotational, and ascending motion speeds reach 70.7mms-1, 3.3rads-1, and 28.7mms-1, respectively. The module integrates the power supply, communication, and control system with a small size of 48mm × 38mm × 38mm, which ensures a wireless controllable motion. Then, various configurations of the multi-module robot system are established with corresponding motion schemes, and the experiments with replaceable intermediate modules are further conducted to verify the transportation and image-capturing functions. This work demonstrates the effectiveness of synthetic jet propulsion for aquatic modular reconfigurable robot systems, and it exhibits profound potential in future underwater applications.

‘This uh. . . young lady young gentleman’: Gender attribution in the context of a gender-ambiguous robot

For humanoid robots, gender-ambiguous presentation is implemented as a potential way to avoid gender-stereotypical design. Using conversation analysis, we look at video recorded user interaction in the presence of a designedly gender-ambiguous robot, showing how this design choice is actually dealt with within a social context. Robot gender becomes relevant initially when a user refers to the robot with a dual-gendered package (‘young lady young gentleman’), with another user proposing ‘her’ for the robot, and the talk then evolving to the pursuit of agreement on the robot’s proposed femininity. Robot gender attribution is treated by these users as a collaborative endeavor rather than an individual choice. It includes displays of accountability and orientations to delicateness of gender attribution. By implication, the analysis shows that ambiguous design shifts the burden of gender attribution from robot designers to users.

Research on Applications of Image Recognition in the Design of Autonomous Navigation Robots

This study evaluates traditional and deep learning-based image recognition technologies in autonomous navigation robots, detailing their strengths and limitations. Traditional image recognition techniques, which rely on predefined algorithms and pattern recognition, have proven efficient and stable for navigation in controlled environments. Conversely, deep learning approaches, notably through convolutional neural networks (CNNs), excel in dynamic and unpredictable settings by adapting more effectively to complex environmental interactions. The core challenges in this field include the need for real-time data processing, achieving consistent accuracy across diverse environments, and managing the computational demands of sophisticated algorithms. This research highlights the significant improvements deep learning techniques bring to autonomous navigation, particularly in terms of adaptability and robustness. The study also addresses the necessity for advancements in both technology domains to meet the evolving demands of autonomous robotics, emphasizing the ongoing need to enhance computational efficiency and environmental adaptability. The findings suggest a growing potential for future research to explore hybrid models that leverage the predictability of traditional methods with the flexibility of deep learning to optimize autonomous navigational tasks.

Systematic analysis of Structural optimization design of post-disaster emergency rescue robot

Systematic analysis of Structural optimization design of post-disaster emergency rescue robot

Applications and Prospects of SLAM Technology in Mobile Robot Design

Applications and Prospects of SLAM Technology in Mobile Robot Design

Design of a Leaf-Bottom Pest Control Robot with Adaptive Chassis and Adjustable Selective Nozzle

Pest control is an important guarantee for agricultural production. Pests are mostly light-avoiding and often gather on the bottom of crop leaves. However, spraying agricultural machinery mostly adopts top-down spraying, which suffers from low pesticide utilization and poor insect removal effect. Therefore, the upward spraying mode and intelligent nozzle have gradually become the research hotspot of precision agriculture. This paper designs a leaf-bottom pest control robot with adaptive chassis and adjustable selective nozzle. Firstly, the adaptive chassis is designed based on the MacPherson suspension, which uses shock absorption to drive the track to swing within a 30° angle. Secondly, a new type of cone angle adjustable selective nozzle was developed, which achieves adaptive selective precision spraying under visual guidance. Then, based on a convolutional block attention module (CBAM), the multi-CBAM-YOLOv5s network model was improved to achieve a 70% recognition rate of leaf-bottom spotted bad point in video streams. Finally, functional tests of the adaptive chassis and the adjustable selective spraying system were conducted. The data indicate that the adaptive chassis can adapt to diverse single-ridge requirements of soybeans and corn while protecting the ridge slopes. The selective spraying system achieves 70% precision in pesticide application, greatly reducing the use of pesticides. The scheme explores a ridge-friendly leaf-bottom pest control plan, providing a technical reference for improving spraying effect, reducing pesticide usage, and mitigating environmental pollution.

РАЗРАБОТКА МОБИЛЬНОГО КОЛЕСНОГО РОБОТА ДЛЯ ДОСТАВКИ ПОСЫЛОК

The study objective is to develop approaches to the design of a mobile wheeled robot for transporting small-sized goods, operating autonomously without the participation of a human operator. At the same time, the main task is to develop a mathematical model of a wheeled robot that takes into account the moments of rolling friction and sliding of the driving wheels on the support surface, and which allows to study the starting operation modes of the electromechanical drive of a mobile device. The increase in the speed of the mobile robot is achieved by minimizing the acceleration time to the required speed values through the use of a 2-stage algorithm for changing the control voltage. The development of a mathematical model of a robotic system is carried out on the basis of methods of analytical mechanics and the theory of automatic control. Using the Laplace transforms, an analytical solution of differential equations describing the dynamics of a mobile robot is obtained. Numerical solution of the obtained equations is carried out in Mathcad interface. The novelty of the work consists in obtaining time dependencies for the speed and current in the circuit of the electric motor of the mobile robot wheeled drive and finding out the basic patterns of movement at its launch. The results of the conducted research can be used in the development of motion control systems for mobile robots with feedback, ensuring the stabilization of a set value of the movement speed in steady-state modes. Conclusions: a mathematical model of a mobile robotic system is developed, the starting modes of its operation and the method of combined motion control are studied, the speed of a mobile wheeled device is increased when moving along a given trajectory.

Design, Analysis and Experiment of a Modular Deployable Continuum Robot

Continuum robots, possessing great flexibility, can accomplish tasks in complex work scenes, regarded as an important direction in robotics. However, the current continuum robots are not satisfying enough in terms of fabrication and maintenance, and their workspace is limited by structure and other aspects. In this paper, to address the above problems, a modular deployable robot, which adopts an origami structure instead of a flexible hinge, is proposed. A fabrication method is innovated, the Spherical Linkage Parallel Mechanism (SLPM) unit is optimized, and the installation and fabrication process of the robot is simplified through modularization. The forward kinematics and inverse kinematics of the robot and its workspace are analyzed by using the screw theory. The prototype of the robot is constructed, and its folding performance, bending performance, and motion accuracy are tested, and the error analysis and compensation optimization are carried out. After the optimization, the position error of the robot is reduced by about 65%, and the standard deviation is greatly lowered, which effectively improves the motion accuracy and stability of the robot.

A study on design and moving behavior of meal partner robots that can perform eating behavior expression

Dining with people improves our lives and brings a lot of benefits. Nonetheless, many people are compelled to eat by themselves due to the current social situation. We believe that robots can be good meal partners. In this paper, we describe the developed meal partner robots called Mamoru'21 and Mamoru'22. The design of these robots is inherited from a robot for watching over elderly people. Based on previous research that robot's eating behavior expression can improve the mealtime experience, they can perform motions that mimic eating and present food images by monitors. In the first experiment, we confirmed the developed robot could improve the co-eating experience compared to a conventional small humanoid robot, and investigated the keywords for preferable hardware design, such as ‘smaller than a child.’ In the second experiment, we studied the effects of the robot's moving around during mealtime. As a result, no statistically significant negative effects of robot movement during meals were observed in the developed robot's capability. Though this study has some limitations such as shorter experimentation time compared to regular meals, it contributes some insights and knowledge into the behavior and design of meal partner robots.

Design and Control of a Novel 6-DOF Desktop Upper Limb Rehabilitation Robot

Abstract This paper presents the design, analysis, and development of a Novel six degrees of freedom (6-DOF) desktop upper limb rehabilitation robot. The upper limb rehabilitation robot is mainly composed of the Omnidirectional mobile platform, armrest, and 3-DOF wrist rehabilitation mechanism. The forward and inverse kinematics and Jacobian matrix of the upper limb rehabilitation robot are derived based on the kinematics of a rigid body, and its working space is analyzed based on arm kinematics as well. The forward and inverse kinematics of the arm are derived based on the D-H method. A new control strategy and control algorithm were developed based on the hardware structure of the robot system and arm model, and the control strategy and control algorithm are used to carry out the simulated rehabilitation experiment on a single joint of the arm and the simulated rehabilitation experiment on multiple joint linkages in the arm. The experimental results show that the maximum error in the simulated rehabilitation experiment on a single joint of the arm is 6.123 deg, and the maximum error in the simulated rehabilitation experiment of multiple joint linkages in the arm is 5.323 deg. Therefore, the control strategy and control algorithm can complete the corresponding rehabilitation training. This 6-DOF desktop upper limb rehabilitation robot can provide passive rehabilitation training for patients in the early stages of paralysis.

Soft Robots: Computational Design, Fabrication, and Position Control of a Novel 3-DOF Soft Robot

This paper presents the computational design, fabrication, and control of a novel 3-degrees-of-freedom (DOF) soft parallel robot. The design is inspired by a delta robot structure. It is engineered to overcome the limitations of traditional soft serial robot arms, which are typically low in structural stiffness and blocking force. Soft robotic systems are becoming increasingly popular due to their inherent compliance match to that of human body, making them an efficient solution for applications requiring direct contact with humans. The proposed soft robot consists of three soft closed-loop kinematic chains, each of which includes a soft actuator and a compliant four-bar arm. The complex nonlinear dynamics of the soft robot are numerically modeled, and the model is validated experimentally using a 6-DOF electromagnetic position sensor. This research contributes to the growing body of literature in the field of soft robotics, providing insights into the computational design, fabrication, and control of soft parallel robots for use in a variety of complex applications.

Design, motions, capabilities, and applications of quadruped robots: a comprehensive review

Robots are becoming integral to society and industries due to their enormous advantages. Among the various categories of mobile robots, including wheeled robot, tracked robot, and legged robots, the latter stands out as a better choice for most field applications due to their adaptability across various terrains. The purpose of this review is to study the locomotion capabilities of quadruped robots and judge their suitability for climbing applications as most unexplored applications of automation and robotics are required to climb. This review explores the locomotion capabilities of quadruped robots. It covers different aspects of quadruped robots like types of legs, leg design, gait patterns, and their mathematical formulations, and types of motions like omnidirectional motion and body sway motion. It also emphasizes its fault-tolerant gait, adaptability, and reliability. The paper also focuses on slope and stair climbing, outlining design requirements and applications. The study includes an examination of the applicability of various gaits under different conditions and the methods for increasing stability without compromising speed. Overall, the review serves as a valuable resource for future research in this field.