Structure Of Robot Arm Research Articles

Comparative Analysis of Structure and Motion of Vision Logistics Robotic Arms

This paper combines visual recognition and robotic arm, optimizes the design of robotic arm structure, and researches the logistics robotic arm with six degrees of freedom and visual perception ability to enrich the logistics robotic use scene. Firstly, the visual recognition system is installed on the existing six-degree-of-freedom robotic arm, and the coordinate system is established by the light bar recognition method combined with the D-H parameter method. Secondly, a kinematic simulation model was established by using MATLAB, and the state of the joints was analyzed by using forward and inverse kinematic simulation and fifth degree polynomial interpolation. Finally, the actual logistics fixed-point transportation task is designed for trajectory planning. The results show that the robotic arm is able to be able to perform different grasping tasks in non-structural environments, around the visual analysis of the robotic arm as well as the optimization of the motion track, to enhance the efficiency of the comprehensive use of visual and tactile information, to improve the adaptability of the robotic hand grasping, and to be able to meet the precise control of the pick-up process and the use of the realization of the payload grasping and dexterous movement. The research in this paper provides a certain reference value for the propulsion robot arm to perform intelligent grasping tasks.

Automatic Tea Ceremony Teapot Robotic Arm Design Based on TRIZ Principle

With the accelerated pace of modern society, there is a contradiction between the tedious steps of traditional tea ceremony and the convenient lifestyle. In order to solve this problem, this study applies the TRIZ theory to optimize the design of the fully automatic tea ceremony teapot robot arm. Through the "nine-screen method", the traditional tea-making process was comprehensively analyzed, the key steps were identified, and the cultural significance and technical requirements of each step were discussed in depth. Using the "technical contradiction matrix" and "physical contradiction" analysis, the potential contradictions in the tea-making process were revealed, and the "physical field model" was applied to construct the problem model and explore the possible solutions. The problem model was constructed by applying the "Physical Field Model", and possible solutions were explored. The study proposes a fully automated tea art teapot robotic arm design program that integrates several key technology modules such as heating and temperature control, plane movement, lid operation, and pouring and dispensing of tea. The program ensures the quality of tea soup and the experience of traditional tea ceremonies through the well-designed robotic arm structure and improves the efficiency of tea brewing at the same time. The structural safety of the design scheme is verified by stress analysis of the connecting plate of the robotic arm and the connecting plate of the teapot base. Finally, the feasibility and effectiveness of the proposed scheme are verified through kinematic analysis, prototype testing, and user experience evaluation. This study is of great practical significance for the modernization and transformation of the traditional tea ceremony and also provides a reference for the automation of other traditional crafts. With the continuous progress of technology, we expect more innovative products combining traditional culture and modern technology to appear in the future so that traditional art can be revitalized in modern society.

Dynamic Modeling and Optimization Analysis of Rigid–Flexible Coupling Manipulator Based on Assumed Mode Method

Lightweight robotic arms are one of the main technologies to improve the working performance of robotic arms in the future. Focusing on the spatial vibrations issue brought about by the light-weighting of a space robotic arm in this paper, a rigid–flexible coupling dynamics model of a space robotic arm system was established based on the assumed mode method and Lagrange method. Based on the lightweight flexible robotic arm structure, a comparative analysis of the first four mode functions was conducted under different fixed constraints and physical properties to determine the mode order that matches the simulation analysis of this robotic arm, thus, further simplifying the rigid–flexible coupling dynamics equations of the system. The overall rigid model and simplified dynamic model of the robotic arm system were solved by using MATLAB, resulting in a motion trajectory of the flexible arm end in space. The three-dimensional model was validated and simulated using virtual prototype technology under the same joint inputs as the model in MATLAB. The simulation results demonstrated that the trajectory of the end of the flexible arm was basically the same between simplified dynamics model simulation and virtual prototype simulation, and the maximum deviation of the end trajectories of the flexible connecting rods [Formula: see text] and [Formula: see text] was less than 18[Formula: see text]mm and 58[Formula: see text]mm, respectively. Meanwhile, the trajectory trend of the end of the flexible arm in the two aforementioned models was the same as the simulation results of the ideal model (overall rigid model). The above conclusions can verify the correctness of the mathematical model of dynamics obtained from the calculations in this paper. In addition, the research data showed that the maximum vibration deviation of the flexible arm was stabilized within a certain value range under different joint inputs, and this research also provided theoretical support for the late vibration suppression control of the spatial rigid–flexible coupled robotic arm.

Optimized Design of Robotic Arm for Tomato Branch Pruning in Greenhouses

Aiming at the robotic pruning of tomatoes in greenhouses, a new PRRPR configuration robotic arm consisting of two prismatic (P) joints and three revolute (R) joints was designed to locate the end effector to handle randomly growing branches with an appropriate posture. In view of the various spatial posture of the branches, drawing on the skill of manual pruning operation, we propose a description method of the optimal operation posture of the pruning end effector, proposing a method of solving the inverse kinematics of the pruning arm based on the multi-objective optimization algorithm. According to the spatial distribution characteristics of the tomato branches along the main stem, the robotic arm structure is compact and the reachable space is maximized as the objective function, and a method of optimizing the key geometric parameters of the robotic arm is proposed. The optimal maximum length of the arm’s horizontal slide joint was determined to be 953.149 mm and the extension maximum length of its telescopic joint was 632.320 mm. The verification test of the optimal structural parameter showed that the optimized robotic arm could reach more than 89.94% of the branches in the pruning target area with a posture that meets the pruning requirements. This study is supposed to provide technical support for the development of a tomato pruning robot.

Bilateral Teleoperation with a Shared Design of Master and Slave Devices for Robotic Excavators in Agricultural Applications

The main objective of this study is to develop a shared design of master and slave devices for bilateral teleoperation mechanisms used for robotic excavators in agricultural applications. In robot teleoperation research, many potential applications within controlled and hazardous environments come to light. Robots, with their capacity for remote control by human operators through master devices, often employ the master-slave teleoperation approach. This strategy finds frequent use across manufacturing, construction, and agriculture industries. The master-slave system necessitates two interdependent components that collaboratively steer the robot in real time. However, challenges arise when manipulating the robot arm proves challenging due to structural differences between the master device (such as a joystick) and the slave device (the robot arm). A stable operational framework must be established for the robot to function optimally. This teleoperation system employs a master device to govern the actions of the slave device, a dynamic that heavily influences the operational complexity. Hence, the focal point of this study is to enhance the master-slave algorithm for teleoperation applications that rely on controlling robot arm movements. Despite the differing dimensions of the master and slave devices, they both share a common structure. The kinematic model bridging these components must be intelligible to ensure user-friendliness, facilitating effortless robot control. Calculating the robot arm's end effector movement and positioning involves employing the forward kinematics of the arm, determined through Denavit-Hartenberg parameters and transformation matrices. By mitigating communication delays between the master and slave devices using a technique centered around the robot arm's end effector position, the effectiveness of teleoperation can be significantly improved. Our designed robot arm attains 80% to 100% precision across joints. In summary, streamlining the robot arm's structure and minimizing delays offers a route to bolstering both stability and efficiency in robotic movement.

Intelligent Handling Robot Based on Mecanum Wheel

This paper proposes an intelligent handling robot based on Mecanum wheel, which can be set to recognize and handle the goods in the inherently known site, and can be adapted to the logistics sorting and other scenarios. The robot to NXP's RT1064 microcontroller as the main control, the use of RT-Thread embedded system development, the Mecanum wheel as a framework, the independent construction of the car model structure, equipped with a Raspberry Pi and robotic arm structure, as well as the MT9V032 total drilling wind camera to build the hardware circuit. The robot can recognize the position of the handling object through the off-site camera, then the upper computer for path planning, through the PID parameter adjustment and vehicle attitude solving to control the movement of the handling robot, to reach the handling location and then by the total drilling wind camera for detailed position adjustment. The robot equipped with Openart mini can recognize the type of objects to be handled, pick them up and place them on the pallet through robotic arm attitude solving, and correct the deviation through remote manual control, and finally realize fast omni-directional handling through Mecanum wheels to deliver the objects to the end point.

A robotic arm for safe and accurate control of biomedical equipment during COVID-19

PurposeHospital facilities and social life, along with the global economy, have been severely challenged by COVID-19 since the World Health Organization (WHO) declared it a pandemic in March 2020. Since then, countless ordinary citizens, as well as healthcare workers, have contracted the virus by just coming into contact with infected surfaces. In order to minimise the risk of getting infected by contact with such surfaces, our study aims to design, prototype, and test a new device able to connect users, such as common citizens, doctors or paramedics, with either common-use interfaces (e.g., lift and snack machine keyboards, traffic light push-buttons) or medical-use interfaces (e.g., any medical equipment keypad)MethodTo this purpose, the device was designed with the help of Unified Modelling Language (UML) schemes, and was informed by a risk analysis, that highlighted some of its essential requirements and specifications. Consequently, the chosen constructive solution of the robotic system, i.e., a robotic-arm structure, was designed and manufactured using computer-aided design and 3D printing.ResultThe final prototype included a properly programmed micro-controller, linked via Bluetooth to a multi-platform mobile phone app, which represents the user interface. The system was then successfully tested on different physical keypads and touch screens. Better performance of the system can be foreseen by introducing improvements in the industrial production phase.ConclusionThis first prototype paves the way for further research in this area, allowing for better management and preparedness of next pandemic emergencies.

Deep Convolutional Generative Adversarial Network for Inverse Kinematics of Self-Assembly Robotic Arm Based on the Depth Sensor

In this study, we propose a new deep convolutional generative adversarial kinematics network (DCGAKN) to establish inverse kinematics of self-assembly robotic arm. We design that the robot system uses a depth sensor detecting an object by you only look once v4 (YOLOv4) algorithm, and then, our proposed DCGAKN is with generator and discriminator of adversarial evolution training inverse kinematics model for controlling self-assembly robotic arm to solve the limited solution space to be more adaptive in the dynamic environment. The following are advancements of our proposed method: 1) generator neural network is trained by few-shot training data to control the self-assembly robotic arm to achieve high-accuracy position; 2) generator is evaluated with discriminator not only depending on training data but also on adaptive evolutionary; 3) the self-assembly robotic arm is like humanoid arm not traditional robotic arm structure and it is easy for self-assembly model to build inverse kinematics without computing inverse kinematics matrix; 4) the object is detected by the depth information based on YOLOv4; and 5) through generator evolutionary, the activity range of robotic arm is not limited with training data range. The proposed DCGAKN is compared with convolutional neural network (CNN) and deep neural network (DNN) that the accuracy rate and distance error achieve 87% and 1.26 cm, respectively. The source code of this work is at: <uri xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">https://github.com/YiZengHsieh/DCGAKN</uri> .

A Fast Conversion Method of Tube Coordinates

Inspired by the idea of the coordinate transformation of the robot arm, the tube structure is analogized to the robot arm structure, and the conversion method of the tube bend processing parameters LRA to the three-dimensional coordinate points is obtained. The method first regards the tube as a “mechanical arm”; then, using the similarity of the LRA processing parameters and D-H parameters, all the LRA parameters are converted into D-H parameters; finally, the D-H parameter method is applied to calculate the distance between each axis of the " mechanical arm ". If the first space coordinate point is defined as the origin of the base coordinate system , then the position of the origin of other coordinate systems in the base coordinate system can be obtained; It has been proved by experiments that this method fast and feasible.

A multi-objective optimization design of industrial robot arms

This paper introduces a multi-objective design mechanism to minimize both the initial and running costs of industrial robot arms. The goal of the design problem is to decide the type of material and physical dimensions of the robot arm to withstand high loads at vulnerable locations using stress analysis. Additionally, it selects the material architecture for the robot links based on a vibration analysis to avoid robot failure at or close to the resonance frequency. Hence, a set of design equations based on stress analysis are developed using analytical approaches while the findings are supported by finite element simulations in ANSYS. These decide the type of material, cross-section area, factor of safety (FoS), and maximum deflection of the robot links in terms of the mass-loads. Moreover, the vibration analysis is conducted to enhance the dynamic characteristics of the robot arm. Therefore, the excitation frequency is modified by changing the mass and the robot segment-material to evade working at the natural frequency. Modal analysis is conducted using ANSYS to identify the fundamental frequencies and their modal shapes. Then, a material selection mechanism based on finite element analysis is considered to allow a safe frequency operation range for the robot arm. A customized robot arm structure that combines Magnesium and Aluminum alloy with highly improved FoS and minimizes the initial and operating costs is proposed. In addition to the body structure of the robot arm, the influence of the reducers and motors on the stiffness and vibration of the robot arm is presented. Finally, the motion of the robot arm is optimized using a Genetic Algorithm subject to a set of boundary conditions imposed by the desired mission. The effect of rotation angle value in the power consumption is presented. The coefficients of a developed angular displacement function are optimized to ensure minimum power consumption during the robot missions.

Reverse Engineer 5 Degrees of Freedom Robot Arm using Programmable Logic Controller

Many types of robot arms have been developed in the market. Whenever a robot arm broke down, it is a challenge to do reverse engineer and repair the robot arm. This project has successfully reused the existing 5 degrees of freedom robot arm structure and electronic components while replacing the controller with a new Programmable Logic Controller (PLC) and LLD model. The project uses the existing DC servo motor, encoder, sensors, power supply, and interface board. Since the structure and most electronic components are already available, they are important to be analyzed and understood before they can be reused. Hence the reverse engineering activities are needed. In addition, a low-cost PLC is used to save cost. Thus, it is not possible to move all axes at the same time. Instead, the robot arm can only move one axis at a time. Additionally, the robot arm has been improved to be able to be programmed manually or automatically and repeat previously predetermined position sequences. In total, 90 rungs, 96 built-in commands, and custom functions have been used. The refurbished system is very stable and reliable.

Liquid metal droplet motion transferred from an alkaline solution by a robot arm.

The excellent motion performance of gallium-based liquid metals (LMs) upon the application of a modest electric field has provided a new opportunity for the development of autonomous soft robots. However, the locomotion of LMs often appears in an alkaline solution, which hampers the application under other different conditions. In this work, a novel robot arm is designed to transfer the motion of the LM from an alkaline solution in a synchronous drive mode. The liquid metal droplet (LMD) at the bottom of the robot arm is actuated using a DC voltage to provide the driving force for the system. By introducing an end effector at the center of the robot arm, the synchronous motion of the system is replicated and can be applied to different situations. The theoretical understanding of continuous electrowetting (CEW) at the LM interface is explained, and then the motion performance of the robot arm against the function of the applied voltage and driving direction is investigated. Moreover, several applications using this robot arm, such as pattern drawing, cargo transportation, and drug concentration detection, are demonstrated. The presented robot arm has the potential to observably expand the application fields of the LM.

Estimation of gravity parameters for multi-DOF serial manipulator arms using model learning with sparsity inducing norms

PurposeThis study aims to propose a novel method based on model learning with sparsity inducing norms for estimating dynamic gravity terms of the serial manipulators. This method is realized by operating the robot, acquiring data and filtering the features in signal acquisition to adapt to the dynamic gravity parameters.Design/methodology/approachThe core principle of the method is to analyze the dictionary composition of the basis function of the model based on the dynamic equation and the Jacobian matrix of an arm. According to the structure of the basis function and the sparsity of the features, combined with joint-angle and driving-torque data acquisition, the effective features of dynamic gravity parameters are screened out using L1-norm optimization and learning algorithms.FindingsThe theoretical analysis revealed that training data obtained based on joint angles and driving torques could rapidly update dynamic gravity parameters. The simulation experiment was carried out by using the publicly available robot model and compared with the previous disassembly method to evaluate the feasibility and performance. The real 7-degree of freedom (DOF) industrial manipulator was used to further discuss the effects of the feature selection. The results show that this estimation method can be fully operational and efficient in industrial applications.Research limitations/implicationsThis approach is applicable to most serial robots with multi-DOF and the dynamic gravity parameters of the robot are estimated through learning and optimization. The method does not require prior knowledge of the robot arm structure and only requires joint-angle and driving-torque data acquisition under low-speed motion. Furthermore, as it is a data-driven-based method, it can be applied to gravity parameters updating.Originality/valueDifferent from previous general robot dynamic modelling methods, the sparsity of the analytical form of dynamic equations was exploited and model learning was formulated as a convex optimization problem to achieve effective gravity parameters screening. The novelty of this estimation approach is that the method does not only require any prior knowledge but also does not require a specifically designed trajectory. Thus, this method can avoid the laborious work of parameter calibration and the induced modelling errors. By using a data-driven learning approach, the new parameter updating process can be completed conveniently when the robot carries additional mass or the end-effector changes for different tasks.

A Hybrid Jamming Structure Combining Granules and a Chain Structure for Robotic Applications.

To allow versatile manipulation of soft robots made of compliant materials with limited force transmission, variable stiffness has been actively developed, which has become one of the most important factors in soft robotics. Variable stiffness is usually achieved by a jamming mechanism using layers, granules, or chain structures, through vacuum pressure or cable-driven mechanism due to its simple and rapid actuation. However, such jamming mechanisms are not suitable for actual robotic applications that require large supporting forces or drastic changes in stiffness. In this article, a hybrid jamming structure that combines granules and a rigid chain structure is proposed to simultaneously increase the average stiffness change in all directions and the maximum force in a certain direction. The improved performance of the proposed structure was compared to that of conventional granular and chain jamming structures. Based on the analytical model of the proposed structure, the principles for designing the hybrid jamming structure were derived and experimentally verified. Finally, based on the hybrid jamming structures, a multilink hybrid jamming structure was developed as a wearable system to assist the upper limbs and a robotic arm structure.

Robotic Arm Using Servo Motor and Arduino Uno Controlled with Potentiometer

Robotic arm has been widely used in many applications, especially in industry. With this kind of advancement, the needs to introduce this technology to students at early age has increased. However, many students still consider this kind of technology as something out of reach. This project aims to create a very simple robotic arm using servo motor and materials which can be easily obtained around the household. The resulting robot is also programmable and electronically movable, thus enabling more freedom of how to move it. This in turn create a good introductory tool for the students to learn about the structure and motion of robotic arm.

Structural Dynamics Simulation Analysis of Industrial Robot Arm Based on Kane Method

When the traditional methods are used to analyze the dynamics of the robot arm structure, the stability of the arm structure is not good and the simulation effect of the operation process is not good. For this reason, Kane method is introduced in this paper to carry out dynamic simulation analysis of industrial robot arm structure. The operating process of the industrial robot arm structure was simulated by Kane method, and the angular acceleration of the robot’s main arm, forearm and push rod was solved in each cycle. The Jacobian matrix of the 5 degree of freedom manipulator joint is established, the singular configuration of each joint is calculated, and multiple joint variable combinations are generated by random number. The forward motion equation of the robot endpoint set was solved to obtain the endpoint set of the robot. The Lagrangian method was used to model the robot with Kane 3D simulation software to simulate and analyze the dynamic process of the driving torque required to grab the mass workpiece at the three joints. The joint motion model of robot is established on ADAMS simulation software, and the torque curve of the rotating joint of industrial robot arm structure is obtained. MATLAB simulation software is used for simulation. The results show that the integrated design method of manipulator and machine tool is correct, which provides a comprehensive data basis for the selection of servo motor.

Optimal Structure and Size of Multi-segment Soft Robotic Arms with Finite Element Method

Pneumatic actuate of multi-segment soft robotic arm is a significant structure and has extensive applications. However, the study of the optimal structure and size of multi-segment soft robotic arm has not been achieved. In this study, the finite element method is used to optimized the structure and size of soft robotic arm. We report that the two-segment structure of soft robotic arm has better performance for the general manipulator operation task through evaluating bending angles with different structures and parameters. The optimal ratio of the total length of non-cavity section to the total length of the soft robotic arm with two-segment is 0.21. And soft robotic arm performs better when the length of the fixed first section, the linkage section between two cavity sections and the end section are equal. Two cavities in each segment has more advantages in tasks of plane bending, while three cavities structure has better adaptability when the task need bend in the space. These results in this study provide a reference and simplify the process for the structure and size design of the multi-segment soft robotic arm in the future.

Computer Graphics Simulation of Robot Arm Configuration

The industry robot generally refers the robot, which is used in the mechanical manufacturing industry, replacing the human to complete the mass and high request work. This thesis is based on the structure of 4-DOF SCARA robot arm and investigates the problem of the analysis and optimization of the structure of robot arm according to the requirement of system for the rapid response and smooth work.

Design of an affordable IoT open-source robot arm for online teaching of robotics courses during the pandemic contingency

This article explains the design and construction of an affordable, open-source robot arm for online teaching of robotics courses. The main goal of the proposed robotic prototype is to deal with the current situation of pandemic contingency, where students and instructors cannot attend laboratory facilities in person. The robotic system has four main components: an electromechanical robot arm structure, a control system, a Wi-Fi communications module, and a human-machine interface. The IoT (Internet of Things) robot arm can be used to demonstrate important robotics topics such as direct and inverse kinematics, which are shown by programming simple and complex motions using the Denavit-Hartenberg (DH) methodology. The capabilities of the robotic system are empowered by IoT technology, which is demonstrated with an HMI interface deployed in a smartphone using wireless Wi-Fi communication through an ESP32 microcontroller. The arm's purpose is to be a low-cost and replicable robot that aids the comprehension of robotics design through project-based learning, from the theoretical aspects to the actual coding and construction of a prototype.

Construction of Robotic Virtual Laboratory System Based on Unity3D

Paper introduces the virtual reality laboratory system based on virtual reality technology. Using the Unity3D engine, the robotic arm is used as the research object to develop the virtual simulation teaching system. The system is released on the PC side and applied to the teaching and training of the mechanical arm structure. Establish a virtual laboratory to realize the first person perspective roaming, on-the-spot observation robot arm structure, assembly virtual interaction simulation, intelligent automatic assembly simulation, solve complex mechanical structure cognitive teaching and assembly planning problems. The application of powerful virtual reality technology to engineering technology teaching has improved the teaching effect and teaching efficiency of mechanical structure cognition, structural assembly training, curriculum design and other teaching links.