Design Of Robot Research Articles

Service robot acceptance: agenda for tourism and hospitality research

Purpose This study aims to provide insights and guidance for future research on service robot acceptance in the tourism and hospitality (T&H) domain through a comprehensive literature review. Design/methodology/approach A total of 249 journal articles, retrieved from the Scopus and Web of Science databases, were reviewed using an inductive analysis method. Findings Since its emergence in 2008, the topic of robot acceptance has gained significant attention, especially after 2019. The research assesses the current state of research, methodologies used, theoretical foundations and antecedents influencing acceptance. Five categories of antecedents affecting acceptance were systematically identified: robot design factors, individual/organisational factors, situational factors, appraisal factors and affective factors. Originality/value This study provides a comprehensive overview of the current landscape of service robot acceptance research. It offers insights and theoretical directions to advance research in the T&H domain.

Heterogeneous multiple soft millirobots in three-dimensional lumens.

Miniature soft robots offer opportunities for safe and physically adaptive medical interventions in hard-to-reach regions. Deploying multiple robots could further enhance the efficacy and multifunctionality of these operations. However, multirobot deployment in physiologically relevant three-dimensional (3D) tubular structures is limited by the lack of effective mechanisms for independent control of miniature magnetic soft robots. This work presents a framework leveraging the shape-adaptive robotic design and heterogeneous resistance from robot-lumen interactions to enable magnetic multirobot control. We first compute influence and actuation regions to quantify robot movement. Subsequently, a path planning algorithm generates the trajectory of a permanent magnet for multirobot navigation in 3D lumens. Last, robots are controlled individually in multilayer lumen networks under medical imaging. Demonstrations of multilocation cargo delivery and flow diversion manifest their potential to enhance biomedical functions. This framework offers a solution to multirobot actuation benefiting applications across different miniature robotic devices in complex environments.

A data density-based measure of dexterity for continuum robots and its comparative study

Abstract Continuum robot-based surgical systems are becoming an effective tool for minimally invasive surgery. A flexible, dexterous, and compact robot structure is suitable for carrying out complex surgical operations. In this paper, we propose performance metrics for dexterity based on data density. Data density at a point in the workspace is higher if the number of reachable points is higher, with a unique configuration lying in a small square box around a point. The computation of these metrics is performed with forward kinematics using the Monte Carlo method and, hence, is computationally efficient. The data density at a particular point is a measure of dexterity at that point. In contrast, the dexterity distribution property index is a measure of how well dexterity is distributed across the workspace according to desired criteria. We compare the dexterity distribution property index across the workspace with the dexterity index based on the dexterous solid angle and manipulability-based approach. A comparative study reveals that the proposed method is simple and straightforward because it uses only the position of the reachable point as the input parameter. The method can quantify and compare the performance of different geometric designs of hyper-redundant and multisegment continuum robots based on dexterity.

Real-time fuzzy position control and design of Star parallel robot

Real-time fuzzy position control and design of Star parallel robot

Teleoperated Communication Robot: A Law Enforcement Perspective

The goal of this paper is to investigate the use of communication robots as tools to increase the safety of first responders (specifically, law enforcement officers) during social interactions or first-response situations. This paper functions as the first stage of our investigation into communication robots for use by first responders. The law enforcement officers (LEOs) in our study were provided with a mobile communication robot to determine if such robots could be of use in the public domain for the benefit of both civilians and LEOs. As part of our study, LEOs participated in training sessions where they worked with non-weaponized teleoperated communication robots and completed pretest-posttest surveys. The surveys captured LEOs’ perceptions and attitudes towards the robot and examined the impact of robot design features on LEOs’ acceptance of the communication robot. This paper discusses the significance and potential use of communication robots as tools in the future of law enforcement. Our future works include conducting additional studies involving affected stakeholders (e.g., citizen communities) and assessing/mitigating any potential negative impact of communication robots.

Research on the prevention of joint and muscle injuries in competitive sports by scientific sports—Table tennis as an example

Table tennis is the most popular sport among all people, which damages every joints of the body to a certain extent, and is an example of scientific sports analysis and popularization. Analyzing the causes of joint and muscle injuries in table tennis and seeking effective preventive measures can not only reduce the incidence of sports injuries, but also ensure that athletes keep a high level of competitive state in high-intensity and long-term training and competition to a certain extent, and prolong their sports life. From two aspects of traditional sports injury prevention measures and the design of a multi-data fusion management rehabilitation robot, the prevention of muscle injury in competitive sports has been studied in depth.

Design and Implementation of the Soft Robot's End-Effecter

Design and Implementation of the Soft Robot's End-Effecter

An Analysis and Reliability-based Optimization Design Method of Trajectory Accuracy for Industrial Robots Considering Parametric Uncertainties

To address the challenges of poor trajectory accuracy in industrial robots, which has emerged as a technological bottleneck hindering further robots’ applications in high-precision manufacturing industries, this paper proposes a method for the analysis and reliability-based optimization design for industrial robots’ trajectory accuracy considering parametric uncertainties. Firstly, the dynamic equation of an articulated industrial robot with six degrees of freedom is derived, incorporating the Stribeck joint friction model, followed by the uncertain parameter identification of this dynamic model. Subsequently, an uncertainty simulation system for the robot is established based on the constructed dynamic model and the sensitivity of system uncertain parameters to the robot trajectory accuracy is analyzed, where 10 key parameters are obtained among 54 uncertain parameters. Finally, a reliability-based multi-objective optimization design methodology is proposed synthesizing the robot trajectory accuracy, manufacturing cost, and quality loss, to achieve tolerance design of the robot's parameters, and enables minimizing costs and quality losses while ensuring the robot's trajectory accuracy reliability. The performance and practicality of the proposed method were validated using a six-degree-of-freedom rotary joint serial industrial robot as an example.

Research Progress on Pole-Climbing Robots: A Review

Background: Pole-climbing robots are a type of application robot commonly used for quality inspection, cleaning, and maintenance of utility poles, high voltage lines, bridge cables, transmission pipelines, and other important facilities with a certain height. The working conditions are often harsh and dangerous, making manual participation unsafe. The pole-climbing robot can provide a platform for maintenance and cleaning work. Remote control operation of the pole-climbing robot is achieved through communication and control technology. It has been created to improve efficiency and reduce personnel accidents greatly. At the same time, the continuous development of science and technology has led to the expansion of robot design concepts. It has also brought about great changes and growth in the development of pole-climbing robots. Objective: The purpose of this paper is to report the latest progress in the research of pole-climbing robots from bionic and non-bionic perspectives and to provide a research reference for researchers in this field. Method: By analyzing academic theses and published patents, this paper presents a new classification of pole-climbing robots from the perspective of bionic and non-bionic. By summarizing the literature, the structural characteristics of various pole-climbing robots and their differences and applications are summarized. Results: The performance of the pole-climbing robots is analyzed from the viewpoint of structural characteristics and action execution methods. In turn, the characteristics of various types of pole-climbing robots are summarized. Finally, based on the above discussion, the future problems and development directions of pole-climbing robots are predicted. Conclusion: The pole-climbing robots can be divided into two categories, bionic and non-bionic, based on the analysis of design features. Both bionic and non-bionic pole-climbing robots have good development and applications in their respective directions. Also, bionic and non-bionic pole-climbing robots have different detailed classifications based on material, structure, and other perspectives. They have different advantages and disadvantages in terms of the performance of pole-climbing action execution. It provides a research reference for future researchers in this field.

A Morphological Transfer-Based Multi-Fidelity Evolutionary Algorithm for Soft Robot Design

A Morphological Transfer-Based Multi-Fidelity Evolutionary Algorithm for Soft Robot Design

Research on Motion Patterns of Soft Robots Based on Bionic Structure

Bionic soft robot is a new type of robot whose main body is composed of flexible material, with the advantages of adjustable size and strong environmental adaptability, which has a broad application prospect in logistics, medical care, resource exploration and other fields. Novel smart materials also shine in the design of soft robots. This paper highlights the research advancements in the locomotion patterns of bionic soft robots. The mechanism of movement of animals such as inchworms, starfish, earthworms, etc. and the soft robots designed to imitate them are introduced. Novel smart materials required to realise these designs, such as Shape Memory Alloy (SMA), dielectric elastomer (DE), a collapsible actuator (PFA), pNIPAM/CNTs hydrogel composite, are also presented. Methods to drive and control the motion of these soft robots are presented, including thermally driven shape memory alloys, pneumatic airbags, and laser-driven, magnetic field-driven, and electrically driven dielectric materials, among other types. After discussing the materials and methods, the current challenges to the innovation of motion patterns for bionic soft robots are analyzed.

Mechanical Design of SCARA Robot for Hospital Waste Disposal Robot

Mechanical Design of SCARA Robot for Hospital Waste Disposal Robot

Finite Element Analysis and Design Optimisation of Welding robot base using ANSYS

The study on Finite Element Analysis and Design Optimization of a welding robot base using ANSYS explores the crucial role of welding robots in enhancing industrial productivity and quality. It addresses the challenges of structural integrity, operational efficiency, and durability under harsh conditions. The research focuses on optimizing the robot base design to withstand high production demands, using ANSYS for detailed modelling and simulation. It reviews previous studies highlighting the importance of vibrational characteristics and structural dynamics in robot design. The methodology involves creating a geometric model, defining material properties, meshing, and applying boundary conditions and loading scenarios. The results indicate that the optimized design significantly improves stress distribution, reduces deformation, and enhances the dynamic response, making the robot base more robust and reliable. The study concludes with recommendations for broader applications in robotic systems to improve safety and productivity in industrial settings.

Why robot embodiment matters: questions of disability, race and intersectionality in the design of social robots.

A growing minority of those with disabilities are people of color (POC), with, for example, autism diagnosis rates now higher for children of color than for white children in the USA. This trend underscores the need for assistive technologies, especially socially assistive robots, to be designed with intersectional users in mind. Outside of Japan, most robots are designed with white synthetic skin and able-bodied features, failing to reflect the diverse users they are meant to assist. This paper explores the concept of the "engineering imaginary," the historical and cultural influences that shape these designs, and which tend to limit robot embodiment to white, able-bodied forms. Drawing on work from scholars like Lucy Suchman, Jennifer Rhee, Neda Atanasoski and Kalindi Vora, the paper critiques this engineering bias. A key historical moment in the production of the engineered imaginary of artificial humans is provided by Ovid's myth of Pygmalion and its influence on representations across literature, film, and then robotics. Furthermore, the physicality of the robot, and its role in the production of nonverbal communication (NVC) for more inclusive interaction with humans is explored, seeing these as steps toward what some roboticists are calling Artificial Empathy (AE). Through case studies like Bestic, Bina48, and HuggieBot 3.0, the paper explores what I call the poverty of the engineering imaginary, how current robotics design fails to properly address issues of race, gender, and disability. Ultimately, the paper argues for more inclusive robot designs that accommodate diverse bodies and social dynamics, questioning the pervasive norm of white, able-bodied robotic embodiment.

An analytical study of Euler angle and Rodrigues parameter representations of $\mathbb{SO}(3)$ towards describing subsets of ${\mathbb{SO}}(3)$ geometrically and establishing the relations between these

Abstract Descriptions of various subsets of $\mathbb{SO}(3)$ are encountered frequently in robotics, for example, in the context of specifying the orientation workspaces of manipulators. Often, the Cartesian concept of a cuboid is extended into the domain of Euler angles, notwithstanding the fact that the physical implications of this practice are not documented. Motivated by this lacuna in the existing literature, this article focuses on studying sets of rotations described by such cuboids by mapping them to the space of Rodrigues parameters, where a physically meaningful measure of distance from the origin is available and the spherical geometry is intrinsically pertinent. It is established that the planar faces of the said cuboid transform into hyperboloids of one sheet and hence, the cuboid itself maps into a solid of complicated non-convex shape. To quantify the extents of these solids, the largest spheres contained within them are computed analytically. It is expected that this study would help in the process of design and path planning of spatial robots, especially those of parallel architecture, due to a better and quantitative understanding of their orientation workspaces.

Design of a Bionic Spider Robot with a Two-Degrees-of-Freedom Leg Structure and Body Frame

Spiders have unique biological characteristics and excellent maneuverability, making them an ideal model for bionic robot design. However, traditional bionic spider robot designs usually have multiple degrees of freedom and confront many challenges. These challenges include complex control requirements, higher energy consumption, larger size and weight, higher risk of failure, and higher cost. This study proposes a leg design with two degrees of freedom to reduce its control and manufacturing costs. It can better control leg movement and improve leg force through a multi-link mechanism and a dual-motor system. In addition, the triangular gait and hexagonal body structure align the weight of the body with the support point, thereby enhancing stability. This study offers a comprehensive and organized approach to bio-inspired robot design, providing a valuable reference for future bionic robot development.

Nature redux: interrogating biomorphism and soft robot aesthetics through generative AI

Artificial Intelligence (AI) has rapidly become a widespread design aid through the recent proliferation of generative AI tools. In this work we use generative AI to explore soft robotics designs, specifically Soft Biomorphism, an aesthetic design paradigm emphasizing the inherent biomorphic qualities of soft robots to leverage them as affordances for interactions with humans. The work comprises two experiments aimed at uncovering how generative AI can articulate and expand the design space of soft biomorphic robotics using text-to-image (TTI) and image-to-image (ITI) generation techniques. Through TTI generation, Experiment 1 uncovered alternative interpretations of soft biomorphism, emphasizing the novel incorporation of, e.g., fur, which adds a new dimension to the material aesthetics of soft robotics. In Experiment 2, TTI and ITI generation were combined and a category of hybrid techno-organic robot designs discovered, which combined rigid and pliable materials. The work thus demonstrates in practice the specific ways in which AI image generation can contribute towards expanding the design space of soft robotics.

Modeling, Simulation, and Kinematic Validation of Transfemoral Prosthetic Mechanism With Ankle Varus–Valgus Characteristic

Abstract Inspired by the kinesiology of human bionic joints, a transfemoral prosthetic mechanism based on a functional structure of parallel mechanism is developed for the transfemoral amputees. The walking interactive simulation is implemented based on human-prosthesis modeling to verify the kinematics of the designed prosthetic mechanism, as well as to explore compatibility between the amputees and prosthesis. Then, simulation-based prosthetic optimization is performed to pursue an optimized human-prosthesis model with economic metabolic consumption while eliminating compatibility errors including the joints' misalignment error between the affected limb and healthy limb, and the assembly error between human and prosthesis, so that the potential physical health problems can be avoided efficiently. This method is valuable for the optimal design of interactive rehabilitation robots. Finally, a developed proportional-integral-derivative-based (PID-based) finite-state machine (FSM) strategy is used, and the kinematic validation is carried out. The results show that the designed prosthesis possesses ankle varus–valgus characteristic, and it has a high human-like motion accuracy due to the FSM control can track prosthetic motion in each gait event. What's more, the prosthetic optimization can be an efficient method to enhance the biomechanical performance of human-prosthetic model so that the amputees have a more natural and symmetry gait.

Identification of Technical Requirements for the Initial Design of an Autonomous Fruit-Harvesting Robot

Automation in agriculture is revolutionizing the management of field tasks. This paper focuses on identifying the essential needs and preliminary technical requirements for designing an autonomous robot specifically for fruit harvesting. The study examines the integration of advanced machine vision technologies and neural networks for the accurate detection of ripe fruits and obstacles, optimizing harvesting efficiency. Key features such as proximity and touch sensors are also evaluated to ensure the safe handling of fruits, minimizing damage during harvesting. The technical specifications, including traction, speed, and the robot’s ability to operate on uneven terrain, are analyzed to ensure adaptability across various crops and ground conditions. Perception systems, incorporating cameras and sensors, are crucial for crop inspection and route planning. The main findings of this review establish a set of technical requirements that serve as a foundation for developing efficient and economically viable fruit-harvesting robots. These systems offer significant potential to transform agriculture by addressing labor shortages and improving harvesting precision. However, challenges remain, particularly in adapting to diverse crops and environments, emphasizing the need for further research and development.

Design and modeling of a novel mobile cable robot with dual-stage end effector

Design and modeling of a novel mobile cable robot with dual-stage end effector