Robot Motion Simulation Research Articles

Virtual Prototype Construction and Motion Simulation of Submarine Cable Outer Wall Inspection Robot Based on CAD and Reinforcement Learning

Virtual Prototype Construction and Motion Simulation of Submarine Cable Outer Wall Inspection Robot Based on CAD and Reinforcement Learning

A CLOUD COMPUTING PARADIGM IN ROBOT MOTION PLANNING: INNOVATIONS AND PROSPECTS

The paper presents a new approach to the simulation of robot motion planning using cloud computing technologies. Robot motion planning plays a crucial role in robotics and enables robots to efficiently control and perform tasks in various environments. Using cloud computing, the proposed simulation framework offers significant advantages in terms of scalability, resource utilization, and availability. The paper begins with an overview of the potential applications of cloud computing in robot motion planning and simulation tasks. It then presents the architecture and components of a cloud-based simulation framework, highlighting its advantages over traditional methods. Overall, this paper provides valuable insights into the integration of cloud technologies into robotics, paving the way for more efficient and scalable simulation solutions.

Development and simulation of the Feed Pusher Robot software and hardware system for the maintenance of the feed table at livestock facilities

BACKGROUND: Analysis of trends in the development of industrial technologies in the field of agriculture showed that manufacturers of technological equipment used on farms turn to robotics to exclude human labor when performing labor-intensive cyclical operations that are accompanied by a high degree of tension. To perform operations for the preparation and distribution of feed on a farm, maintenance of the feed table, as well as for manure harvesting, it is necessary to use a wheeled robotic platform with an automatic positioning system.
 AIMS: Development and testing of the software and hardware system of the Feed Pusher robot for the autonomous execution of operations for the maintenance of the feed table at livestock facilities.
 METHODS: Wheeled robot motion simulation, as well as a mathematical description of the kinematic and dynamic properties of the wheeled robot motion was carried out using the MATLAB software and the Simscape library and the Simulink application. The Figma graphic design software was used to develop layouts of mobile software interfaces for the wheeled robot remote control.
 RESULTS: During the wheeled robot motion simulation, direct and inverse kinematics problems were solved, consisting in finding theω1,ω2, vectors with the input parameters x0,y0,φ0,x,y,φ, as well as the final angle of the path (relative to the horizontal). Layouts of the robot remote control software interfaces have been developed, as well as the frontend and backend development of the program adapted to the use at a smartphone has been carried out. The testing of the wheeled robot was carried out at a livestock facility, during the maintenance of the feed table and the simultaneous execution of operations to push the feed to the fence and dosing of feed additives.
 CONCLUSIONS: The practical value of the research lies in the possibility of using the results of the wheeled robot motion simulation to adjust the operation of the automatic positioning system. At the same time, the farmer using the proposed Feed Pusher robot will ensure an increase in the technological efficiency of cattle keeping, in particular dairy cattle, with an increase in milk yields up to 1 liter per day per head, which was determined during the tests on the farm.

Design and Motion Simulation of a Soft Robot for Crawling in Pipes

In recent years, soft pipeline robot, as a new concept, is proposed to adapt to tunnel. The soft pipeline robots are made of soft materials such as rubber or silicone. These materials have good elasticity, which enhance the adaptability of the soft pipeline robot. Therefore, the soft pipeline robot has better performance on deformability than rigid robot. However, the structure of tunnel is complex and varied that brought challenges on design structure of soft pipeline robot. In this paper, we propose soft pipeline robot with simple structure and easy fabrication, which can be realized straight, turning motion in a variety of tunnels with different diameters. The soft pipeline robot composed of two types of structure, which are expansion part and deformation part. Front and rear deformation part for bending and position fixation, and middle expansion part for elongation, so the pipeline soft robot can be moved in various structures of tunnels. Moreover, the locomotion ability and adaptability in tunnel are verified by simulating on software. The structure of chamber proposed in this paper can guide the design method of soft pipeline robot.

Mathematical modeling and computer simulation of the wheeled vibration-driven in-pipe robot motion

The in-pipe robots are currently of significant interest, considering numerous recent publications on this subject. Such machines can use various locomotion principles: wheeled, tracked (caterpillar), walking (legged), screw-type, worm-type, snake-type, etc. In most cases, such robots are equipped with an active drive system transmitting the torque from a motor shaft to the corresponding locomotion mechanism (wheels, tracks, etc.). The present paper is devoted to the wheeled in-pipe robot that doesn’t need a complex transmission. In such a case, the idea of implementing the vibratory locomotion system driven by an internal unbalanced mass is proposed. The corresponding kinematic diagram of the wheeled vibration-driven in-pipe robot is developed, and the differential equations describing the robot motion are deduced. In order to carry out the virtual experimental investigations, the robot’s simulation model is designed in the SolidWorks software. The major scientific novelty of the present research consists in developing the theoretical foundation for designing and practical implementation of the in-pipe robots driven by the inertial vibration exciters and equipped with the unidirectionally rotating wheels and overrunning clutches. The results of numerical modeling and computer simulation of the robot motion substantiate the possibilities and expediency of implementing the proposed vibration-driven locomotion principles while creating novel designs of the in-pipe robots.

Optimal Time–Jerk Trajectory Planning for Delta Parallel Robot Based on Improved Butterfly Optimization Algorithm

In this paper, a multi-objective integrated trajectory planning method based on an improved butterfly optimization algorithm (IBOA) is proposed, to improve the dynamic performance of the Delta parallel pickup robot in high-speed pick-and-place processes. The main objective of the present study is to improve dynamic positioning accuracy and running stability at high speeds and high accelerations. On the one hand, the intention is to ensure smooth motions using the trajectory planning method, and on the other hand to improve the picking efficiency. To this end, the pick-and-place trajectory of the robot is constructed by using NURBS curves in Cartesian space. Taking the time and jerk as the optimization objectives, a trajectory optimization method based on the improved butterfly optimization algorithm (IBOA) is proposed. The IBOA is based on the butterfly optimization algorithm (BOA); a circle chaotic sequence is introduced to replace the random initial population of the original BOA, and the fractional differential is used to improve the convergence speed of the BOA. Then, the problem of parallel segment deformation of the optimized trajectory is solved. Finally, a three-degrees-of-freedom Delta robot is used to evaluate the performance of the prosed algorithm. The obtained results show that, compared with other optimization algorithms, IBOA reduces the optimization time by 16.2%, and the maximum jerk is reduced by 87.6%. The results are better than the optimization results of other algorithms by 14.1% and 27.2%. The robot motion simulation results show that IBOA can effectively reduce the vibration acceleration of the end platform.

Development of Delta Robot Arm Simulation in ROS2 Foxy Fitzroy Environment

This work demonstrates the methodological steps to simulate a three-degree of freedom (DoF) delta robot arm in the Foxy Fitzroy version of Robot Operating System 2 (ROS2). The mechanical design of the delta robot was represented in the form of Simulation Description Format (SDF), translated from the customised Unified Robotic Description Format (URDF) file generated using SolidWorks to URDF Exporter after the designed mechanism had been finalised. It is necessary to use the SDF instead of URDF for delta robot simulation since this type of file format supports closed-loop linkages, one of the crucial features of a delta robot arm mechanism. The simulation of the delta robot motion was conducted in the Gazebo Robot Simulator, where the positioning of the delta robot end effector was observed when the specific force was applied to each of the robot arms. The mechanism of the delta robot behaviour on forward and inverse kinematic was then simulated to observe the positioning of the end effector toward the motion of motor rotational angle and vice-versa.

Motion simulation and impact gap verification of a wheeled vibration-driven robot for pipelines inspection

Vibration-driven locomotion systems and mobile robots are widely used in different industries, in particular, for inspecting and monitoring the pipelines. Among the great variety of such robots designs, the ones based on the wheeled chassis and equipped with the vibratory drive are of the most widespread. The novelty of the present paper consists in substantiating the design parameters of the wheeled robot working under the vibro-impact conditions and driven by the crank-slider excitation mechanism. The main goal of this research is maximizing the robot average speed. While simulating the robot dynamic behavior, the numerical methods are used, in particular, the finite-element methods and the Runge-Kutta methods, which are implemented in the SolidWorks and MapleSim software. The obtained results presented in the form of time dependencies of the robot kinematic and dynamic characteristics can be of significant practical interest for the researchers and designers of the similar robotic systems.

Model-based motion simulation of delta parallel robot

For a parallel configuration of a robot manipulator, the solution of Forward Kinematics (FK) is tough compared to Inverse Kinematics (IK). This paper presents the model-based motion planning of a delta parallel robot in Simulink’s SimScape environment. A model was developed and simulated for motion study. The developed model has been simulated to solve the FK of the parallel manipulator and to check its efficacy. First, a helix curve has been planned within the reachable workspace. Then IK was solved to extract angular positions of the biceps. Obtained angular positions then fed to SimScape model to run a simulation. The path taken by the end effector of the system calculated by simulation is in good approximation to the planned helix path. Further, visual simulation and motion analysis of delta parallel robot can be performed by Model-based simulation and solves mechanical design as well control system design problems. Experimental study also shows that the circular path designed for experiment is well followed in real time simulation.

RoMAT: Robot for Multisensory Analysis and Testing of visual-tactile perceptual functions.

The present work aims to introduce a novel robotic platform suitable for investigating perception in multi-sensory motion tasks for individuals with and without sensory and motor disabilities. The system, called RoMAT, allows the study of how multisensory signals are integrated, taking into account the speed and direction of the stimuli. It is a robotic platform composed of a visual and tactile wheel mounted on two routable plates to be moved under the finger and the visual observation of the participants. We validated the system by implementing a rotation discrimination task considering two different sensory modalities: vision, touch and multisensory visual-tactile integration. Four healthy subjects were asked to report the length of motion rotation after perceiving a moving stimulus generated by the visual, tactile, or both stimuli. Results suggest that multisensory precision improves when multiple sensory stimulations are presented. The new system can therefore provide fundamental inputs in determining the perceptual principles of motion processing. Therefore, this device can be a potential system to design screening and rehabilitation protocols based on neuroscientific findings to be used in individuals with visual and motor impairments.Clinical relevance- This research presents a novel robotic motion simulator to deliver combined or independent stimulation of the visual and tactile sensory signals.

Motion simulation of a tensegrity snake-like robot based on the serpenoid curve

Due to their good motion performance, snake-like robots have been widely studied and researched for years and still have a lot of research interest. In this paper, we propose a snake-like robot based on tensegrity structure. Our snake-like robot is driven with cables on both sides, which is different from the serial structure snake-like robots driving by the motor at the axis of rotation. In order to verify the feasibility of the snake-like robot motion, we studied its inverse kinematics and performed simulation based on the serpenoid curve.

Design and Passive Training Control of Elbow Rehabilitation Robot

In this paper, a rehabilitation robot driven by multifilament muscles is designed based on the rehabilitation robot motion model and a system elbow joint model. The passive training mode of rehabilitation robots were researched, and active disturbance rejection control (ADRC) leveraged to improve the tracking angle of robot joints. In the no-load motion simulation of rehabilitation robots, disturbances are added to the control variables to complete the ADRC and Proportional Integral Differential (PID) position control simulation. The simulation results indicate that the auto disturbance rejection control can quickly keep up the expected signal without overshoot, solve the contradiction between the system rapidity and overshoot. Moreover, it can better suppress the interference even if the external load changes. The upper limbs of the human body are used as the load on the robot body to complete the simulation of ADRC and PID position control objects of different weights. Finally, a passive rehabilitation training experiment was conducted to verify the safety of the rehabilitation robot, the rationality, comfort, and robustness of the mechanism design, and the effectiveness and feasibility of the ADRC.

Set of dynamic restrictions imposed on robotic arm-based motion simulator phase coordinates

The paper discusses the motion cues simulation problem for aerospace applications. An algorithm was suggested for controlling a motion stand based on an industrial robotic manipulator. The paper provides simple mathematical model reflecting the movements of manipulator’s endpoint in the vertical plane with the base performing rotational movements and presents a restriction set in the configuration space. We provide an algorithm for manipulator’s stopping and returning to the start position of a motion simulation process active phase. A set of restrictions for the motion simulation active phase is also obtained.

Cartesian space robot manipulator clamping movement in ROS simulation and experiment

Abstract This paper studies the robot arm sorting position control based on robot operation system (ROS), which works depending on the characteristics of the robot arm sorting operation using the top method, to automate the sorting operation and improve the work efficiency of workpiece sorting. Through the ROS MoveIt! module, the sorting pose and movement path of the robotic arm are planned, the inverse kinematics of the sorting robotic arm is solved, and the movement pose characteristics of the sorting robotic arm are analysed. The robot arm model was created using Solidworks software, and the URDF model file of the robot arm was exported through the sw2urdf plugin conversion tool, and the parameters were configured. Based on ROS for 6-degree-of-freedom (DOF) robot motion simulation, random extended tree (RRT) algorithm from open motion planning library (OMPL) is selected. The robot motion planning analysis and sorting manipulator drive UR5 manipulator. The results show that the sorting pose and motion trajectory of the robot arm are determined by controlling the sorting pose of the sorting robot arm, and the maximum radius value of the tool centre point (TCP) rotation of the robot arm and the position of the workpiece are obtained. This method can improve the success rate of industrial sorting robots in grabbing objects. This analysis is of great significance to the research of robots’ autonomous object grabbing.

Hydrodynamic analysis and motion simulation of fin and propeller driven manta ray robot

Current research on the hydrodynamics of manta ray robots is limited to the qualitative study of pectoral fin performance; other aspects such as the hydrodynamics and motion simulation of the overall robot are rarely addressed. A hydrodynamic analysis is therefore used in this study in conjunction with a six degrees of freedom (6DOF) motion equation to conduct motion simulations predicting the hydrodynamic characteristics and motion performance of a proposed manta ray robot. Though the rising and diving motions of manta ray robots are typically realized through a buoyancy adjustment device or a rudder used for attitude adjustment, these methods are slow. This study accordingly proposes a hybrid manta ray robot driven by two pectoral fins and two vertical propellers used as auxiliary power for attitude adjustment. A structural model of the proposed manta ray robot is provided and used to conduct a complete hydrodynamics analysis and establish the 6DOF motion equation. An empirical equation is then established to describe the hydrodynamics of the pectoral fins, and its applicability is proven using a computational fluid dynamics simulation. The motion of the robot is predicted in different situations using motion simulations, demonstrating that the robot provides relatively good motion performance. The relationship between the forward speed of the robot and the flapping speed of the pectoral fins is then discussed based on the simulation results. The motion simulation results also show that the propellers can effectively adjust the posture of the robot and help to improve robot motion stability by countering the effects of the pectoral fin flapping movement. Finally, the applicability of the 6DOF motion equation simplify verified by a computational fluid dynamics motion simulation. The findings of this study are expected to provide theoretical guidance for the optimization of the proposed manta ray robot structure and its control system design.

Virtual simulation of communication between KUKA robot and PLC

Virtual simulation can effectively provide the training environment for the robot. It can solve many problems in robot practice, such as complex equipment, high price and so on. Virtual simulation and communication of KUKA robot can increase more possibilities. Based on the study of its trajectory planning and kinematics, this paper further increases the research content of virtual policy. This paper takes uniy3d virtual reality engine as the development platform, and studies the virtual motion simulation and control of industrial robot from the perspective of interaction between virtual robot and real robot,

ROBOTIC PLASMA SPRAYING SYSTEM FOR IMPLANTS OF COMPLEX STRUCTURE: 3D MODEL AND MOTION PLANNING

The problem of a robotic system creating for plasma spraying of biocompatible coatings on complex shaped implants based on a Fanuc LR Mate 200 id manipulation robot and modeling spraying trajectories using a virtual simulator Roboguide V6.40 is considered. Parametric classification of implants is carried out whenever possible by plasma spraying using robotic devices. The main procedures for implants preparation for spraying were investigated. The 3D UNIVERSE scanner is used for scanning the implant and building its spatial model, the 3D model of the implant is being developed in Geomagic Design X. To build the manipulator program movements taking into account the speed of movement, it is proposed to use fourth order splines, which is built in the Matlab tools with finding of the optimal close spline to the original values. As the example of Cox femoral joint implant, a simulation of robot motion is performed using a virtual simulator Roboguide V6.40 with the possibility of transferring the program to a real Fanuc LR Mate 200 id robot.

Direct Energy Deposition: a complete workflow for the additive manufacturing of complex shape parts

Metal Additive Manufacturing (MAM) using Direct Energy Deposition (DED) is a fast-growing technological process that brings a positive boost to manufacturing industry. When compared with traditional manufacturing methods the advantages of DED are multiple, it is more cost-effective, reduces material waste and presents reduced manufacturing lead-times. However, the production of metallic parts with a complex shape is still challenging, demanding to avoid manufacturing support structures and the generation of non-horizontal and non-planar layers. Starting from the Computer-Aided Design (CAD) model of the part to produce, we propose an integrated CAD-to-part methodology featuring part decomposition, path planning, distortion and robot motion simulation, generation of the robot code and the production of the real part. Especially challenging is the path planning strategy that highly affects the final part quality. A real use case is proposed to the fabrication of an aircraft part using Laser Metal Deposition (LMD). Results demonstrate the effectiveness of the proposed methodology.

Analysis of a 6-DOF parallel robot motion simulation

The paper presents the geometrical model of a parallel topology robot of MSSM type, operated as a flight simulator. Certain strokes of the driving kinematical joints lead to the simulation of real limit situations, which are dangerous for the human operator, such as a sudden pitch movement. The variations of different motion parameters are analyzed. SolidWorks software was used in the modeling and simulation processes.

SIMULATION OF THE TRAJECTORY OF A MOBILE ROBOT IN FLOWCODE

Urgency of the research. Simulation is used to simulate the real movement of the robot, to test the software and capabilities of the robot before assembling it. It makes it possible to change and improve the program code during the testing process in order to implement it in practice at the end. A simulation is a free testing platform without additional financial costs. Target setting. Simulate the movement of a robot using Flowcode, without composing a real robot when it is unavailable. Actual scientific researches and issues analysis. Currently, research focuses on similar issues, as there are currently limitations through which design and testing takes place remotely outside the workshops. Uninvestigated parts of general matters defining. The current solution of using the Flowcode program allows the implementation of programming, modelling, and simulation of work in one program. The research objective. The purpose of the article is to give an idea of how to do a robot motion simulation to test the functionality of program code without using physical robot. The statement of basic materials. For realization the robot simulation, need to have computer with basic configuration and a licensed version of Flowcode software installed. Conclusions. The published article presents the idea of programming and simulating the movement of a mobile robot using Flowcode software, which will help reduce financial costs and time before creating a real robot. Testing the functionality of the program code and the possibility of remote operation without a physical object.