New Type Of Robot Research Articles

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.

Применение роботов вертикального перемещения для очистки корпусов судов от обрастаний

Traditionally underwater robotics deals with UAVs and ROVs. This paper discusses a new type of robot for this application - vertical climbing robots. This type of robots has traditionally been considered for terrestrial use. However recent developments have confirmed the effectiveness of using such robots for underwater research. The article describes the work carried out in the Laboratory of robotics and mechatronics of the Ishlinsky Institute for Problems in Mechanics RAS on using climbing robots for technological operations in the aquatic. In particular we discuss issues of creating a robotic system for cleaning ship hulls from fouling. This work was carried out jointly with the St. Petersburg State Marine Technical University.

Solar Based Floor Cleaning Robot Using IOT

This project introduces a new type of robot, Solar-Powered Autonomous Floor Cleaning Robot in response to the increasing demand of sustainable and energy-efficient solutions in robotics. The robot is designed to move on its own indoors, outdoors and clean different types of floors while getting power from solar panels that are integrated into its body. By using this method, it tries to reduce the impact on the environment that comes with conventional cleaning methods as well as increase the efficiency of floor maintenance generally.The primary objective of the proposed robot is to address the challenge of maintaining optimal efficiency in solar energy harvesting by ensuring the cleanliness of solar panels in industrial environments. The robot incorporates autonomous navigation and cleaning capabilities, employing advanced sensors and artificial intelligence algorithms to detect and navigate around obstacles while efficiently cleaning the solar panel surfaces.The robot's design emphasizes modularity and scalability, allowing it to adapt to diverse industrial environments and solar panel configurations. Equipped with cleaning brushes and a water-efficient system, the robot ensures thorough cleaning without causing damage to the solar panels. Additionally, the integration of real-time monitoring capabilities enables remote tracking of cleaning operations and assessment of overall system performance.

Robotic system for nasopharyngeal swab sampling based on remote center of motion mechanism.

In this study, a robotic system is proposed for nasopharyngeal (NP) swab sampling with high safety and efficiency. Most existing swab-sampling robots have more than six degrees of freedom (DOFs). However, not all six DOFs are necessarily required for NP swab sampling. A high number of DOFs can cause safety problems, such as collisions between the robot and patient. We developed a new type of robot with four DOFs for NP swab sampling that consists of a two DOFs remote center of motion (RCM) mechanism, a two DOFs insertion mechanism, and a nostril support unit. With the nostril support unit, the robot no longer needs to adjust the insertion position of the swab. The proposed robot enables the insertion orientation and depth to be adjusted according to different postures or facial shapes of the subject. For intuitive and precise remote control of the robot, a dedicated master device for the RCM and a visual feedback system were developed. The effectiveness of the robotic system was demonstrated by repeatability, RCM accuracy, tracking accuracy, and in vitro phantom experiments. The average tracking error between the master device and the robot was less than 2mm. The contact force exerted on the swab prior to reaching the nasopharynx was less than 0.04 N, irrespective of the phantom's pose. This study confirmed that the RCM-based robotic system is effective and safe for NP swab sampling while using minimal DOFs.

Industrial automation and robotics in AAC industry: Selected models and case studies

AbstractAs the global manufacturing industry entered its fourth revolution (4IR, or Industry 4.0), innovations such as robotics, automation, and artificial intelligence are set to take over and improving the global industries. As the number of active industrial robots worldwide is increasing every day in different applications and industries automation continues to create new types of robots with improved utility and function. In the AAC Industry, these innovations already took place for some time in different process phases and applications such as oiling, autoclaves stacking pins, handling, packing, and so forth. Through this research, advantages commonly attributed to automation and robotics include higher production rates and increased productivity, more efficient use of materials, better product quality, improved safety, shorter workweeks for labor, and reduced factory lead times. Especially reduced scrap and waste through improved accuracy, increased efficiency, and operation around the clock could be emphasized. Based on the accumulated experience of WKB Systems GmbH in the field of the forging industry, selected models, real‐life application case studies, and implementation of different robotics in the AAC industry are discussed in this paper. These examples such as linear robots for autoclaves stacking pins, articulated robots for AAC packing and sorting line, and hybrid systems for handling and packing AAC insulation boards are studied in detail.

Research Development of Centroid Deviation Type Spherical Robot

Background: With the continuous development of science and technology, more and more human work has been replaced by robots because robots can do many jobs that human beings are not competent for. At present, researchers pay more and more attention to a new type of robot, the spherical robot. The most widely used spherical robot is the centroid deviation spherical robot. This paper mainly introduces the driving mode and structure of the spherical robot with centroid deviation. Objective: This paper explores the classification, development, advantages, and disadvantages of the driving modes of the spherical robot with centroid deviation. Methods: This paper reviews various products and patents related to centroid deviation spherical robot. This paper also introduces the structural characteristics, differences, and applications of the existing spherical robots with centroid deviation. Results: This paper compares and analyzes various spherical robots with centroid deviation, and their typical characteristics are summarized. This paper analyzes the main problems existing in various structures of the spherical robot, looks forward to the development trend of spherical robot, and discusses the research status and future of products and patents of the spherical robot. Conclusion: According to different driving modes, the spherical robot with centroid deviation can be divided into single pendulum drive, double pendulum drive, trolley drive, rolling body drive, and multi mass block drive. Among them, single pendulum drive, trolley drive, and rolling element drive are the most studied. At present, the structures of products and patents are similar, and the research direction has shifted from innovation to optimization.

Robot-related fatalities at work in the United States, 1992-2017.

Industrial robots became more commonplace in the US workplace during the mid- to latter part of the twentieth century. Recent scientific advances have led to the development of new types of robots, resulting in rapidly changing work environments. Information on occupational robot-related fatalities is currently limited for this developing field. Robot fatalities were identified by a keyword search in restricted-access research files from the Census of Fatal Occupational Injuries (CFOI) surveillance system of the Bureau of Labor Statistics from the years 1992-2017. There were 41 robot-related fatalities identified by the keyword search during the 26-year period of this study, 85% of which were males, with the most cases (29%) occurring within the age group 35-44 years. Fatalities occurred primarily with large employers that were geographically clustered, with the Midwest accounting for 46% of the total. Most of the cases involved stationary robots (83%) and robots striking the decedents while operating under their own power (78%). Many of these striking incidents occurred while maintenance was being performed on a robot. The changing nature of robotics in the workplace suggests that emerging technologies may introduce new hazards in the workplace. Emerging technologies have led to an increase in the number of robots in the workplace and toincreased human exposure to robotic machinery. These patterns demonstrate that public health professionals will likely face significant challenges to keep pace with developments in robotics to ensure the safety and health of workers across the country.

Research on anchoring force of the deep-sea stratum drilling robot

To enhance the sampling and exploration of the gas hydrate resources and other seafloor mineral resources within the seafloor sediment stratum, a deep-sea stratum drilling robot inspired by the earthworm’s peristaltic movement was developed in this paper. The support anchor unit is a part of this new type of robot. When the robot moves forward, it must rely on the support anchor unit to provide enough supporting force to counteract the various resistance forces on the front body units. In this paper, the maximum anchoring force of the support anchor unit, also known as the pullout force, is determined by theoretical calculation. The soil failure area during the pulling-out was obtained by simulation for visualization. The maximum anchoring force of the unit in the soil of different properties with different speeds was also obtained by tests to verify the theoretical calculations. And the effect of the support plates’ unfolding action on the maximum anchoring force was further analyzed in this research. The test results provide a helpful research basis for subsequent analysis of the robot’s movement pattern in soil and the effect of movement at different speeds.

Design, Construction and Control of a Manipulator Driven by Pneumatic Artificial Muscles

This paper describes the design, construction and experimental testing of a single-joint manipulator arm actuated by pneumatic artificial muscles (PAMs) for the tasks of transporting and sorting work pieces. An antagonistic muscle pair is used in a rotational sense to produce a required torque on a pulley. The concept, operating principle and elementary properties of pneumatic muscle actuators are explained. Different conceptions of the system realizations are analyzed using the morphological-matrix conceptual design framework and top-rated solution was practically realized. A simplified, control-oriented mathematical model of the manipulator arm driven by PAMs and controlled with a proportional control valve is derived. The model is then used for a controller design process. Fluidic muscles have great potential for industrial applications and assembly automation to actuate new types of robots and manipulators. Their characteristics, such as compactness, high strength, high power-to-weight ratio, inherent safety and simplicity, are worthy features for advanced manipulation systems. The experiments were carried out on a practically realized manipulator actuated by a pair of muscle actuators set into an antagonistic configuration. The setup also includes an original solution for the subsystem to add work pieces in the working space of the manipulator.

DESIGN OF THE WATER STRIDER-LIKE ROBOT

The development of the human population produces ecosystem changes. Monitoring of them can be considered one of the key prerequisites for ensuring its survival. At the same time, the development of Metrology 4.0 based on the study of land massifs and the control of their characteristics should consider the methods and means for studying the aquatic environment by new types of robots, as platforms for deployment of some sensors, namely multi-legged walking devices, for example, the "water striders". In the paper, we consider the possibility of solving the quite complex task of designing of light robot designed to slide on the surface of the water without submerging in it and equipped with built-in sensors.

Review of the Research Progress in Soft Robots

The soft robot is a new type of robot with strong adaptability, good pliability, and high flexibility. Today, it is widely used in the fields of bioengineering, disaster rescue, industrial production, medical services, exploration, and surveying. In this paper, the typical driven methods, 3D printing technologies, applications, the existed problems, and the development prospects for soft robots are summarized comprehensively. Firstly, the driven methods and materials of the soft robot are introduced, including fluid driven, smart materials driven, chemical reaction driven, a twisted and coiled polymer actuator, and so on. Secondly, the basic principles and characteristics of mainstream 3D printing technologies for soft materials are introduced, including FDM, DIW, IP, SLA, SLS, and so on. Then, current applications of soft robots, such as bionic structures, gripping operations, and medical rehabilitation are described. Finally, the problems existing in the development of soft robots, such as the shortage of 3D printable soft materials, efficient and effective manufacturing of soft robots, shortage of smart soft materials, efficient use of energy, the realization of complex motion forms of soft robot, control action accuracy and actual kinematic modeling are summarized. Based on the above, some suggestions are put forward pertinently, and the future development and applications of the soft robot are prospected.

Stability analysis and design of an unmanned deformable vehicle during coupled reconfiguration motion

An unmanned deformable vehicle, which is a new type of robot combining a car and a robot, can drive at high speed with wheels and walk with steps. An unmanned deformable vehicle is prone to tipping instability when reconfigured between the automotive and humanoid states. The following work reported herein addresses these issues. The kinematic model of an unmanned deformed vehicle during the coupled reconfiguration process was established. The zero moment point (ZMP) theory was used as the stability criterion, and based on the requirement for stability during the reconstruction process, a genetic algorithm was used to find the optimal value of the support state foot landing position for the parking and driving coupled reconfiguration, and for the optimal value of the driving acceleration of the deformed vehicle during the driving coupled reconfiguration. On the basis of the optimal foot landing position, the total reconfiguration time threshold, deformed vehicle driving acceleration threshold, and support surface tilt angle threshold were analysed and calculated in accordance with stability requirements during the reconfiguration. Finally, the stability performance of the optimised system was verified through prototype testing.

Analysis of mechanical behaviors of waterbomb thin-shell structures under quasi-static load

Waterbomb structures are origami-inspired deformable structural components used in new types of robots. They have a unique radially deployable ability that enables robots to better adapt to their environment. In this paper, we propose a series of new waterbomb structures with square, rectangle, and parallelogram base units. Through quasi-static axial and radial compression experiments and numerical simulations, we prove that the parallelogram waterbomb structure has a twist displacement mode along the axial direction. Compared with the square waterbomb structure, the proposed optimal design of the parallelogram waterbomb structure reduces the critical axial buckling load-to-weight ratio by 55.4% and increases the radial stiffness-to-weight ratio by 67.6%. The significant increase in the radial stiffness-to-weight ratio of the waterbomb structure and decrease in the critical axial buckling load-to-weight ratio make the proposed origami pattern attractive for practical robotics applications.

An Angle–Axis Space-Based Orientability Index Characterizing Complete Orientations

The development of new materials/actuators in robotics leads to the rapid growth of new types of robots, including soft/continuum robots, reconfigurable robots, exoskeleton robots, haptic master devices, and so on. When designing a new robot, orientability is an important performance index to evaluate its dexterity. However, a theoretical investigation of the orientability is still lacking. The existing orientability index can only characterize the reachability of a line, rather than a complete orientation. To evaluate the reachability of complete orientations, we propose a novel orientability index based on the Angle-Axis Space, which is bijective to the rotation group SO(3). Furthermore, a relative orientability index is proposed to characterize the matching degree of the workspace of a given robot to its target workspace. The proposed orientability and relative orientability indices are then used to evaluate and compare the dexterity of three 6-DoF continuum robots and a haptic master devices. The results validate the effectiveness of the proposed orientability in evaluating the dexterity.

Reinforcement Learning-Based Energy-Aware Area Coverage for Reconfigurable hRombo Tiling Robot

Applying the automation in covering the areas entirely eases manual jobs in various domestic fields such as site investigation, search, rescue, security, cleaning, and maintenance. A self-reconfigurable robot with adjustable dimensions is a viable answer to improve the coverage percentage for predefined map areas. However, the shape-shifting of this robot class also adds to the complexity of locomotion components and the need for an optimal complete coverage strategy for this new type of robot. The typical complete coverage route, including the least times of shape-shifting, the shortest navigation route, and the minimum travel time, is presented in the article. By splitting the map into the sub-areas similar to the self-reconfigurable robot's available shapes, the robot can design the ideal tileset and optimal navigation strategies to cover the workspace. To this end, we propose a Complete Tileset Energy-Aware Coverage Path Planning (CTPP) framework for a tiling self-reconfigurable robot named hRombo with four rhombus-shaped modules. The robot can reconfigure its base structure into seven distinct forms by activating the servo motors to drive the three robot hinges connecting robot modules. The problem of optimal path planning assisting the proposed hRombo robot to clear optimally all predefined tiles within the arbitrary workspace is considered a classic Travel Salesman Problem (TSP), and this TSP is solved by the reinforcement learning (RL) approach. The RL's reward function and action space are based on robot kinematic and the required energies, including transformation, translation, and orientation actions, to move the robot inside the workspace. The CTPP for the hRombo robot is validated with conventional complete coverage methods in simulation and real workspace conditions. The results showed that the CTPP is suitable for producing Pareto plans that enable robots to navigate from source to target in different workspaces with the least consumed energy and time among considered methods.

Control algorithm for holonomic robot that balances on single spherical wheel

This paper presents the control algorithm for the new type of robot that balances on a single spherical wheel. This type of robot is called Ballbot and unlike other statically stable robots, it has a high gravity centre and a very small footprint. The robot is dynamically stable, which means that if the controller stops working, the entire construction will fall over. Because of that, it needs a special control algorithm to keep the balance. The presented Ballbot is fitted with sensors such as gyroscope and accelerometer and controls motors with omni-directional wheels to move the robot in any direction. This paper presents theoretical information about balancing robots and the most important elements of the robot. Next, the design concept of the controller based on STM32 family, control algorithms and filters were proposed and implemented. In the final section of this paper, the investigation results were presented and discussed.

Systematic engineering design helps creating new soft machines

Soft robotics is an emerging field in the robotics community which deals with completely new types of robots. However, often new soft robotic designs depend on the ingenuity of the engineer rather being systematically derived. For this reason, in order to support the engineer in the design process, we present a design methodology for general technical systems in this paper and explain it in depth in the context of soft robotics. The design methodology consists of a combination of state-of-the-art engineering concepts that are arranged in such a way that the engineer is guided through the design process. The effectiveness of a systematic approach in soft robotics is illustrated on the design of a new gecko-inspired, climbing soft robot.

Bluetooth Controlled Metal Detector Robot

This paper presents a new type of robot that uses a metal detector sensor to detect metallic object passing over the metal detector. The robotic vehicle is controlled using android application for metal detection operation controlled with the help of Bluetooth technology. This project can be widely used because of its simplicity and ability to modify to meet changes of needs. Based on experimental studies, it was found that the mobile controlled robot can move in any direction as per the desired instruction and the beeper in the metal detector circuit beeps whenever it encounters any metallic object.

Structure Design and Force Analysis for a Novel Spherical Robot

At present, exploring the vast unknown fields (including space and ocean) has become a hot topic in various agencies. As a moving carrier, the mobile intelligent robot plays an important role, such as communication base stations and observation platform. In order to adapt to a variety of working conditions, a new type of robot was proposed, which can move freely on land or in water with a circular shell, a single propeller and a pair of heavy pendulum. The pendulum inside the robot is used to adjust the attitude, which makes the robot move flexibly, and the circular shell has the excellent compression capability. In order to analyze the kinematics and dynamics characteristics in water, the hydrodynamic forces are studied before the manufacture by CFD simulation. The new type of spherical robot is simplified into spherical finite element model with the pipe. The hydrodynamic force coefficients of robot are calculated by straight shipping, oblique shipping and cantilevered pool simulation. The testing data of robot are obtained in pool for straight shipping by the experiment. Through the above calculation and contrast, the hydrodynamic results can be proved effectively, which can save time for the improved design of robot in the future.

A model-based approach to robot kinematics and control using discrete factor graphs with belief propagation

Much of recent researches in robotics have shifted the focus from traditionally-specific industrial tasks to investigations of new types of robots with alternative ways of controlling them. In this paper, we describe the development of a generic method based on factor graphs to model robot kinematics. We focused on the kinematics aspect of robot control because it provides a fast and systematic solution for the robot agent to move in a dynamic environment. We developed neurally-inspired factor graph models that can be applied on two different robotic systems: a mobile platform and a robotic arm. We also demonstrated that we can extend the static model of the robotic arm into a dynamic model useful for imitating natural movements of a human hand. We tested our methods in a simulation environment as well as in scenarios involving real robots. The experimental results proved the flexibility of our proposed methods in terms of remodeling and learning, which enabled the modeled robot to perform reliably during the execution of given tasks.