Structure Design Of Robot Research Articles

Design, analysis and experiment of finger soft actuator with nested structure for rehabilitation training

Compared with the rigid hand rehabilitation robot, the soft hand rehabilitation robot has the advantages of good flexibility, which is of great significance to its research. In order to make the soft hand rehabilitation robot have the advantages of high stiffness and simple manufacturing process, a nested structure is proposed for finger soft actuator in this paper. The nested structure consists of outer restraint structure and inner core structure. The inner core structure can realize deformation under the action of air pressure. The outer restraint structure can improve bending efficiency by restraining deformation in non-functional direction of inner core structure. On this basis, the processing technology of nested structure is designed, and the effect of structural parameters on performance is analyzed. In order to illustrate the advantages of nested structure, the performance of nested structure and fiber-constrained structure is compared by simulation, which includes bending angle, gripping force and expansion amount (by measuring the deformation of the cross section). The simulation results show the advantages of the nested structure. A prototype of the soft hand rehabilitation robot is developed with nested structure as finger soft actuator, and the experimental results prove the feasibility of design. The results of this study provide a reference for the structure design of soft hand rehabilitation robot.

Structure Design of Climbing Snake-Like Robot for Detection of Cable-Stayed Bridge

In order to realize the detection of bridge cable defects, we conducted research on bridge cable climbing robot, developed a strong climbing ability and high mobility climbing snake-like robot, which is suitable for bridge cable automatic defect detection. It consists of modules with a single degree of freedom, the number of modules can flexible increased or decreased to realize manually reconstructed according to the cable’s feature. The Ultra Torque servo, lightweight aluminum mechanical components and high coefficient of friction skin in the module, enhance the robot’s climbing ability. The robot can effectively complete cable climbing and testing operations because of the modules which combined orthogonal connection with P-R connection. Design a master-slave distributed multi-level closed-loop motion control system, with battery-powered and torque limit been introduced, which enhance the robot's mobility and ability to adapt to the environment. Cable-imitate climbing experimental results prove that the robot has powerful mobility and climbing ability.

Research on the Structure Design of Double Eccentric Coaxial Spherical Robot

The paper design a double eccentric mass driven spherical robot, the ball is also subject to eccentric force and inertia force that generate by internal drive units in movement. Due to the unique spherical shell, the robot in the dynamic state transition process, Friction cannot offset the robot motion state change due to internal driving motion error of small units. In order to make linear movement of the spherical robot that can smooth start, stop and speed control, the paper design a method for linear motion driven spherical robot with double eccentric mass control. The improved driving eccentric mass of robot total mass ratio is larger, that can provide the eccentric torque and inertia moment more, the robot has higher motion velocity.

Structure Design and Analysis of a Compact Breast Biopsy Robot under MRI Environment

Because of its excellent image quality, magnetic resonance imaging (MRI), as a new means of image guidance for breast biopsy robot, is used widely in clinical diagnostics and advanced breast research. However, the robot for MRI-guided biopsy is challenging due to the compatibility caused by strong magnetic field and very limited available space inside MR scanner. In this paper, a five degrees of freedom (DOF) robot is presented to perform biopsy in the breast with MRI guidance for the early detection of breast cancer. In an MR scanner (1.5T), the compatibility of copper, A4 non-magnetic stainless steel and POM, nylon, teflon is tested, and analyze the influence on the image of water model. Based on the analysis of available space, a 5 DOF robot which consists of 3-DOF Cartesian motions, 1-DOF rotation and 1-DOF insertion is designed, and the statics analysis of the robot is simulated using ANSYS. The results of statics analysis demonstrate that the robot meet the requirement of stiffness and precision.

Rigid-Flexible Coupling Dynamics Simulation of 3-RPS Parallel Robot Based on ADAMS and ANSYS

This paper mainly investigated the rigid-flexible dynamics simulation method of multi-body system. The 3-RPS parallel robot dynamics model is created by ADAMS (multi-body dynamics software) and ANSYS (finite element analysis software). In accordance with the flexible-body theory, we analyzed mechanical characteristics of parallel robot with no-load or full-load working condition, and got the deformation of end measuring point, maximum stress position and dynamics stress curve. The analysis method is more intuitional and accurate, and can increase the accuracy of dynamic response analysis of links under the dynamic loads. The simulation results create conditions for structure design and optimization of 3-RPS parallel robot.

Structure Design and Analysis of Rescue Robot

It becomes the urgent and necessary to the development about wide range of manufacturing a multi-functional and human intelligence rescue robots because of difficulty of rescuing the wounded person in a disaster such as earthquakes and other disasters. A rescue robot prototype has been designed, assembled and commissioned based on the rescue mission and rescue needs of the students in Zhejiang Province mechanical design contest. The rescue robot is able to implement going through the tunnel and the bridge, removing the rescue objectives and other actions tasks. The rescue robot has a structure of four-wheel drive, variable center distance which can improve the ability of walking on the bridge and grabbing the rescue target by suction cups to complete the contest tasks. Experiment verified that the design of actuators and control system is reasonable. It took a total of 1 minute 18 seconds to complete the rescue work in Zhejiang Province mechanical design competition.

Design and Realization of the Mobile Robot with Caterpillar Double Accused for Extinguishing

In this paper, two kinds modes of the mobile robot made fire caterpillar method are presented, manual control and automatic control,can this not only make it have the performance of the movement in cross-country, but also realize the early warning and effective extinguishing the fire by carrying the flame using sensors and connecting rod type fire extinguishing actuators.This paper introduce the robot structure design, fire extinguishing actuators, control system design, operation analysis and the realization of two-way control mode , provide the reference for minitype ground mobile robot and the related technology research.

Structure Design and Interference Analysis of Walking Aids

The overall program of the walking aids which is designed to assist patients with lower limb paralysis to walk again is analysed in this paper. A detailed analysis and design is conducted especially for ball screw driving system.A three-dimensional prototype model of the walking aids is established and interference analysis is carried out in CATIA. The results show that the model dose not appear interference,and the structure is reasonable,which could determine the movement. The study results could provide a reference for the structure design and walking control of exoskeleton and humanoid robot and lay a solid theoretical basis for the achievement of a real sense of walking auxiliaryfuction.

Structure Design and Kinematics Analysis of MRI-Guided Intervention Robot

MRI-compatible surgical robot technology is one of the most effective ways to improve the real-time image-guided surgical biopsy. In MRI environment, the robot design is facing the problems of high magnetic field and limited workspace. A pneumatic-driven MRI-guided intervention robot was designed for chest and abdomen surgical biopsy. Based on compatibility and workspace analysis, the specific structure design of the robot was carried out. Then robot coordinate system was established using D-H method and the kinematics analysis was conducted.

301 動力学シミュレーションによる三脚歩行ロボット構造の設計(ロボティクス・メカトロニクス)

301 動力学シミュレーションによる三脚歩行ロボット構造の設計(ロボティクス・メカトロニクス)

Evolutionary bi-criteria optimum design of robots based on task specifications

The optimum robot structure design problem based on task specifications is an important one, since it has greater influence on manipulator workspace design, vibrations of the manipulator during operation, manipulator efficiency in the work environment and power consumption. In this paper, an optimization robot structure problem is formulated with the objective of determining the optimal geometric dimensions of the robot manipulators considering the task specifications (pick and place operation). The aim is to minimize torque required for motion and maximize manipulability measure of the robot subject to dynamic, kinematic, deflection and structural constraints with link physical characteristics (length and cross-sectional area parameters) as design variables. In this work, five different cross-sections (hollow circle, hollow square, hollow rectangle, C-channel and I-channel) have been experimented for the link. Three evolutionary optimization algorithms namely multi-objective genetic algorithm (MOGA), elitist nondominated sorting genetic algorithm (NSGA-II) and multi-objective differential evolution (MODE) are used for the optimum structural design of 2-link and 3-link planar robots. Two methods (normalized weighting objective functions and average fitness factor) are used to select the best optimal solution. Two multiobjective performance measures namely solution spread measure and ratio of non-dominated individuals are used to evaluate the Pareto optimal fronts. Two more multiobjective performance measures namely optimiser overhead and algorithm effort, are used to find computational effort of optimization algorithm. The results obtained from various techniques are compared and analyzed.

Medical robotics at UPC

Medical robotics is gaining an increasing interest both in the rehabilitation field, assistant robots, and in surgery. This article describes the research going on in the Automatic Control and Computer Engineering Department at UPC in both medical areas. Research in these fields usually requires the design and development of specific robotic structures, adapted to the application and the operating environment, as well as some intelligence level and the development of friendly interfaces to be accepted by the user.

Construction of Robot Structure Design Support System by Constraint Logic Programming

In this paper, we show a validity of a new programming paradigm called constraint logic programming by constructing a robot structure design support system. The design process of a robot structure is divided into a fundamental structure design and a internal structure design. A fundamental structure design is a process that determines a framework of the robot such as a degree of freedom, a number of joint, etc. We mainly support a fundamental structure design. This design system is constructed by constraint logic programming language. The Buchberger algorithm is used to calculate the nonlinear equation in this language. Our design system generates an analysis program independent of robot structure easily. The result of analysis is also gotten in the form of expression. The constraint can be appended incrementally. By constructing such a system, we can achieve remarkable reduction of designer's work in design process.

制約論理プログラミングによるロボット構造設計支援システムの構築

In this paper, we show a validity of a new programming paradigm called constraint logic programming by constructing a robot structure design support system. The design process of a robot structure is divided into a fundamental structure design and a internal structure design. A fundamental structure design is a process that determines a framework of the robot such as a degree of freedom, a number of joint etc. We mainly support a fundamental structure design. This design system is constructed by constraint logic programming language. The buchberger algorithm is used to calculate the non linear equation in this language. Our design system generates an analysis program independent of robot structure easily. The result of analysis is also gotten in the form of expression. The constraint can be appended incrementaly. By constructing such a system we can achieve remarkable reduction of desiner's work in design process.

Conceptual design, kinematics and dynamics of swimming robotic structures using ionic polymeric gel muscles

The structural design, kinematics and swimming dynamics of autonomous swimming robotic structures which utilize an arrangement of electrically controlled ionic polymeric gel muscles are discussed. The general structural design of such swimming robotic structures is considered to be in the form of a submarine structure which is partially encapsulated in an elastic or flexible membrane filled with a counterionic electrolyte such as water+acetone. In such an encapsulated portion of the robotic swimming structure there exist specifically arranged polyacrylamide or PVA-AAA polymeric cylindrical fibres or bundles. The arrangement of, say, polyacrylamide fibres is such that it is capable of generating microprocessor-based electrically controlled propagating transverse waves to propel the partially encapsulated membrane structure in any direction and in any desired manner. A brief description of the governing equations is also presented.

Pantograph mechanism as a non-traditional manipulator structure

This paper presents a study on the design, motion and force transmission characteristics of a non-traditional robot structure, the pantograph mechanism. Although the pantograph mechanisms has been known for about four hundred years, the comprehensive study of its potential advantages and limitations when used as a robot is believed to be new. In this paper, the kinematic linearity and dynamic nonlinearity between inputs and outputs are investigated. It is also proven that the two rectilinear input motions which exist in a pantograph structure are not coupled, and therefore are suitable for being adopted as generalized coordinates in control. In addition, a set of physically meaningful dimensionless parameters has been identified. Based on these parameters, kinematic properties for obtaining optimum motion range and workspace are suggested.