Structure Of Robot Arm Research Articles

Robot Arm Structure Design Using Polyamide Evaluated by Finite Element Analysis

Robot Arm Structure Design Using Polyamide Evaluated by Finite Element Analysis

Simulation of Robot Arm for Diabetes Mellitus Patients

Diabetes is caused by metabolic disorders. The treatment is to control blood sugar levels which can be done with non-pharmacological therapy, namely reflexology. The intensity of therapy continuously carried out will speed up the healing process of diabetes. On this basis, we simulated a robotic arm for reflexology treatment for diabetics. The robotic arm system used was five degree of freedom, which used 5 servo motors in the design. The simulation results show that σmaterial ≥ σstructure, so it can be concluded that the material used is rigid and strong to withstand the loads acting on the robot arm structure. While the magnitude of M1 servo motor torque is 2502 Nmm, M2 is 7492 Nmm, M3 is 7492 Nmm, M4 is 6934 Nmm and M5 is 4351 Nmm. In designing the robot arm, 1,2,3,4 servo motors used 8000 Nmm of torque, and 5 servo motors used 4500 Nmm of torque, so the servo motor used was safe to hold the torque on the robot arm.

Cost Effective Robotic System Using Arduino

Robotics these days is winding up progressively well known because of assorted applications. The framework executes Inverse Kinematics of a Robotic Arm and improves its working utilizing Artificial Intelligence, by methods for item following. It will accomplish the objective of picking and setting the ideal item. Continuous framework is utilized to accomplish complex equipment usefulness. The capacity to self-repeat is one of the unmistakable highlights of living life forms. Robots equipped self-replication would profoundly affect the field of apply autonomy by enhancing lifetime and vigor. The point of this diary is to wipe out the manual control for item arranging framework. Robot arm structure in this exploration utilizes two joints, three connections and servo engines to drive. Microcontroller is utilized to create required PWM motion for servo engines. In this exploration the position control of robot arm was planned by utilizing kinematic control techniques. Along these lines, kinematic strategies can clarify the investigative depiction of the geometry movement of the controller with reference to a robot facilitate framework settled to an edge, without thought of the powers or the minutes causing the developments. For arranging framework, Metal finder is utilized to identify the metal or non-metal. This position control of pick and place robot arm is completely tried and the outcome is gotten all the more exactly. In this modern condition taking care of with certain gear will require total exactness such sort of work are being finished by mechanical robots. We are proposing an adjusted technique for machine learning for the modern robots by utilizing Arduino UNO. And furthermore we are taking a shot at replicator display for further more straightforward plan and further by we are planning model that could clarify the working of proposed model as further of replicator.

Multi-objective optimal design of motion precision for fork robot arm in LCD panel manufacturing process system

This paper tried to study the robot arm applied to the LCD panel manufacturing process. There is a fork structure in the robot arm used to perform the stretch into/back the glass-base board cassette. The box beam structure is used as the arm structure, and the carbon-fiber composite material is used to realize the feature of light weight. Multi-objective optimal design based on multi-performance characteristic index and response surface method is adopted to achieve two objective functions: static moving forward precision (SMFP) as well as dynamic moving forward and backward precision (DMFBP). Additionally, three control factors and two noise factors associated with the robot arm structure are selected to illustrate the first order statistical model with the RSM method. Case 1 studied the optimal static moving forward precision (SMFP); Case 2 studied the optimal dynamic moving forward and backward precision (DMFBP); Case 3 studied both SMFP and DMFBP simultaneously. The findings indicate that the optimal belt tension values are obtained for the robot arm to perform the optimal precision under static and dynamic operation; what's more, it is verified that the optimal statistical model can provide a good reference for creating a cloud model to improve the manufacturing process in the era of industry 4.0.

PERANCANGAN STRUKTUR RANGKA LENGAN ROBOT MEKANIK PEMINDAH BAHAN TIPE CARTESIAN COORDINATE

This study describes the design of skeletal structure of mechanical robot arm of cartesian coordinate material type with area of 60 x 50 cm using 2 main axis that is X axis and Y axis. This study aims to determine the movement system, frame construction, welded joints. Based on the design results, the driving force using the stepper motor OMHT17-275 for the driving force on the X axis that has a torque of 0.249 Nm, stepper motor OM5014-075 for the motor on Y axis which has a torque of 0.235 Nm. The stresses occurring in the lead screw are the compressive stress of 3.9 MPa, the bending stress of 0.028 MPa, and the shear stress of 3.3 MPa. The amount of stress that occurs in the lead screw is still below the yield strength of the material, so the lead screw is quite safe. Analyze on linear rod Y axis with S45C material get load 51,993 N caused stress 0,00245 MPa < material stres permit 29,419 MPa, and deflection 0,052 mm < software simulation result 0,072 mm, so material is considered safe. Analysis on linear rod X-axis with S45C material got 14,715 N caused stress 0.000721 MPa < material stres permit 29,419 MPa, and curve or buckling force on Y axis was 10,322 kg. The stress value that occurs < the stress of the material permit, therefore the design able to withstand the load occur. From the calculation of the tensile stress of 1.83 MPa < welding stress allowable 53.75 MPa, so the welding is considered safe. The shear stress value that occurs at 1.83 MPa < stress allowable 47.37 MPa, so the welding is considered safe.

Efficient Structure-Based Models for the McKibben Contraction Pneumatic Muscle Actuator: The Full Description of the Behaviour of the Contraction PMA

To clarify the advantages of using soft robots in all aspects of life, the effective behaviour of the pneumatic muscle actuator (PMA) must be known. In this work, the performances of the PMA are explained and modelled with three formulas. The first formula describes the pulling force of the actuator based on the structure parameters; furthermore, the formula presented is the generalised contraction force for wholly-pneumatic muscle actuators. The second important model is the length formula, which is modified to our previous work to fit different actuator structures. Based on these two models, the stiffness of the actuator is formulated to illustrate its variability at different air pressure amounts. In addition, these formulas will make the selection of proper actuators for any robot arm structure easier using the knowledge gained from their performance. On the other hand, the desired behaviour of this type of actuator will be predefined and controlled.

Complexity of the forward kinematic map

The main objective of this paper is to introduce a new method for qualitative analysis of various designs of robot arms. To this end we define the complexity of a map, examine its main properties and develop some methods of computation. In particular, when applied to a forward kinematic map associated to some robot arm structure, the complexity measures the inherent discontinuities that arise when one attempts to solve the motion planning problem for any set of input data. In the second part of the paper, we consider instabilities of motion planning in the proximity of singular points, and present explicit computations for several common robot arm configurations.

Modal and harmonic response analysis of key components of robotic arm based on ANSYS

To study the problem of vibration of harmonic response of robotic arm under the load, a three-dimensional model of the frame of the robotic arm was created in the Solidworks, then the model was imported into ANSYS for modal analysis. We obtained the frequency of natural vibration and the effect of response of the key components of robotic arm by above analysis. The natural frequency of the robotic arm can be kept away from the frequency of vibration of machine completely, and thus poor working conditions caused by resonance can be avoided. Next the analysis of harmonic response was also performed on the basis of modal analysis. According to the above analysis we obtained displacement diagram and stress distribution diagram of harmonic response. The analysis has a referenced value to design and improve the structure of robotic arm.

Research regarding the influence of driving-wires length change on positioning precision of a robotic arm

The paper emphasise positioning precision of an elephant's trunk robotic arm which has joints driven by wires with variable length while operating The considered 5 degrees of freedom robotic arm has a particular structure of joint that makes possible inner actuation with wire-driven mechanism. We analyse solely the length change of wires as a consequence due inner winding and unwinding on joints for certain values of rotational angles. Variations in wires length entail joint angular displacements. We analyse positioning precision by taking into consideration equations from inverse kinematics of the elephant's trunk robotic arm. The angular displacements of joints are considered into computational method after partial derivation of positioning equations. We obtain variations of wires length at about tenths of micrometers. These variations employ angular displacements which are about minutes of sexagesimal degree and, thus, define positioning precision of elephant's trunk robotic arms. The analytical method is used for determining aftermath design structure of an elephant's trunk robotic arm with inner actuation through wires on positioning precision. Thus, designers could take suitable decisions on accuracy specifications limits of the robotic arm.

軽量柔軟インフレータブルロボットアームの高出力化のための構造の改良

軽量柔軟インフレータブルロボットアームの高出力化のための構造の改良

LEAP MOTION UNDERWATER ROBOTIC ARM CONTROL

The robotic arm structure and control algorithm are designed for a purpose, to pick and place an object task at underwater which is attached to a ROV (Remotely Operated Underwater Vehicle). It is controlled by an innovated gesture control system, Leap Motion controller. The arm structure of pick and place is controlled by Arduino as microcontroller to control the angles and displacements of the servomotor precisely. The detection of position and orientation of the fingers and hands processed by develop control algorithm in Javascript language and sent to the Arduino. Meanwhile, a detailed 3D drawing is drawn precisely by using SolidWorks for the fabrication. After the platform is completed, kinematic and inverse kinematic equations and calculations are programed into JavaScript language for the control algorithm. Lastly, the hardware and software combined all together. With developed control algorithm, the robotic arm mimics human’s fingers and arm movements which more user friendly interface especially underwater scavenging and salvaging. Since it designed for underwater, the accuracy and precision are crucial for robotic arms, it undergo several experiments and tests for investigate reliability performance of developed robotic arm.

New Solution for Telescopic Robotic Arm

This paper deals with a Robotic arm actuated by a monomobil telescopic planetary gear and servo DC motor. Experimental model of robot was designed and manufactured at the Faculty of Engineering from Sibiu, (Patent no. 112418 CI6.B25J 18/02). The Servo DC as actuator drives a reel. Wires on the reel will produce displacement of telescopic modules from robotic arm structure. The reference as a voltage for future arm displacement is provided by a PWM generator. The rotation of the reel in one way or another has the effect of lengthening or shortening robotic arm. Robotic arm length is directly related to the PWM signal. Control of robotic arm positioning is done with a linear transducer.

Structure and Motion Analysis of Robotic Arm Based on SolidWorks and Arduino

This paper discusses a robotic arm which is driven by servo device. Arduino hardware and program is used to control its motion. It can complete an action that extracts an object from a place to another. It is available for handling material in production line, machine loading and unloading work in practical application. SolidWorks is also used to model and analyze its motion.

Contributions to the Constructive Optimization of an Orientation Module in the Structure of the TRR Industrial Robot

The author of the present paper proposes a constructive version, selected on the grounds of dynamic and organological equations, which enables an optimum design and operation of the (MO Sil) orientation module that possesses two degrees of freedom, to which the prehension device is attached, in the mechanical structure of the TRR-type serial modular industrial robot. This paper aims at highlighting the dynamic modelling of the mechanical structure of the TRR-type robot by using Lagrangian formalism, with aspects regarding the MO Sil module’s organological construction as well as with the 3D modelling of the orientation module in the mechanical structure of the robotic arm. Another important issue that this paper deals with is the mathematical-organological algorithm used for the selection of the servomotors actuating the orientation movable system in the mechanical structure of the robot.

An Investigation into the Use of Industrial Robots for Machining Soft and Low Density Materials with HSM Technique

The needs to comply with an increasingly competitive international market lead industries to some innovative solutions, such as the use of robotic arms as machine tools. Although these solutions present some well known drawbacks, there are some advantages and niches of application where success is possible. The present work investigates the use of such pieces of equipment to machine aluminum alloys AA2024 applying high speed machining (HSM) technique, assessing surface finishing as a function of different orientation angles between end mill and machined surface. It also tests the best condition to machine foam for prototyping applications. Results indicate that the directions close to the normal are the best compromises because of dynamic stability of the robot arm structure and roughness as low as 4 µm Ra are possible to be achieved in aluminum alloys. A complex shape such as a semi sphere can be easily machined in foam for rapid and accurate prototype machining. Surface finishing can be very smooth and well suitable for industrial applications in such materials.

DESIGN, CONTROL AND EVALUATION OF A WHOLE-SENSITIVE ROBOT ARM FOR PHYSICAL HUMAN-ROBOT INTERACTION

The paper focuses on design and control of a new anthropomorphic robot arm enabling the torque measurement in each joint to ensure safety while performing tasks of physical interaction with human and environment. When the contact of the robot arm with an object occurs, local admittance algorithm provides active compliance of corresponding robot arm joint. Thus, the whole structure of the manipulator can safely interact with an unstructured environment. The detailed design procedure of the 4-DOF robot arm and optical torque sensors is described in the paper. The experimental results of joint admittance control revealed the feasibility of the proposed approach to provide safe interaction of entire structure of robot arm with a person. The control system with load angle position feedback and lead compensator is proposed to improve dynamic behavior of flexible joint arm. The experimental results show high performance of the developed controller in terms of successful damping of vibrations.

2A2-C19 マルチエージェントシステムによる柔軟な運動学計算モデルの構成法

The paper presents a method for calculating to kinematics of robot arm by means of multi-agents scheme. Kinematics model consists of metaphysical agent corresponding to the computing element of local direct and inverse kinematics, and so on. The computation of kinematics is executed by agents to exchange information with each other. Kinematics models for various types of robot arms can be constructed by relating among agent in according with robot arm structure.

Present and future robot control development—An industrial perspective

Robot control is a key competence for robot manufacturers and a lot of development is made to increase robot performance, reduce robot cost and introduce new functionalities. Examples of development areas that get big attention today are multi robot control, safe control, force control, 3D vision, remote robot supervision and wireless communication. The application benefits from these developments are discussed as well as the technical challenges that the robot manufacturers meet. Model-based control is now a key technology for the control of industrial robots and models and control schemes are continuously refined to meet the requirements on higher performance even when the cost pressure leads to the design of robot mechanics that is more difficult to control. Driving forces for the future development of robots can be found in, for example, new robot applications in the automotive industry, especially for the final assembly, in small and medium size enterprises, in foundries, in food industry and in the processing and assembly of large structures. Some scenarios on future robot control development are proposed. One scenario is that light-weight robot concepts could have an impact on future car manufacturing and on future automation of small and medium size enterprises (SMEs). Such a development could result in modular robots and in control schemes using sensors in the robot arm structure, sensors that could also be used for the implementation of redundant safe control. Introducing highly modular robots will increase the need of robot installation support, making Plug and Play functionality even more important. One possibility to obtain a highly modular robot program could be to use a recently developed new type of parallel kinematic robot structure with large work space in relation to the robot foot print. For further efficient use of robots, the scenario of adaptive robot performance is introduced. This means that the robot control is optimised with respect to the thermal and fatigue load on the robot for the specific program that the robot performs. The main conclusion of the presentation is that industrial robot development is far away from its limits and that a lot of research and development is needed to obtain a more widely use of robot automation in industry.

STIFFNESS REGULATION AND POSITION CONTROL TECHNOLOGY OF A PNEUMATIC MUSCLE ROBOT ARM

In the case that the high compliance and high safety are required, the use of pneumatic muscle for robot joints is a good choice. In this paper, a bio-mimic structure of pneumatic muscle robot arm is introduced and the differential pressure principle is applied to control the arm. In order to solve the practical problems that difficult regulation with pneumatic muscle and the lower accuracy of position control, a proportional stiffness regulation method with easy implementing feature is presented through theoretical analysis and experiments. On this basis, the position control of the joint with pneumatic muscle is implemented, for which the adaptive and self-learning neural-PSD controller is adopted. Tests indicate that the joint stiffness is easy to regulate by the method and joint operation shows a quick response and high accuracy.

Dynamic Aspects in Satellite Capturing by Robotic Manipulator

AbstractSince several years the interest in offering satellite services for maintenance and repair of malfunctioned satellites is strongly increasing. Currently, a very typical and actual application is dedicated to the rescue of a defect satellite (Rosat) in low earth orbit by means of a servicer satellite based manipulator [1]. The dynamic aspects are carefully considered in order to minimize both, the strong vibrational behavior of the combined satellite system, and the mechanical stresses in the slender boom and the robotic joints and arm structure, and consequently, to find the optimal capturing strategy.