The Infona portal uses cookies, i.e. strings of text saved by a browser on the user's device. The portal can access those files and use them to remember the user's data, such as their chosen settings (screen view, interface language, etc.), or their login data. By using the Infona portal the user accepts automatic saving and using this information for portal operation purposes. More information on the subject can be found in the Privacy Policy and Terms of Service. By closing this window the user confirms that they have read the information on cookie usage, and they accept the privacy policy and the way cookies are used by the portal. You can change the cookie settings in your browser.
In this paper an autonomous mobile robot is proposed for inspecting power transmission lines in mountainous regions. After a brief introduction of background and the robot mechanism, the key functionalities of the inspection robot — obstacle detection in traveling, path planning in obstacle crossing and large-angle line climbing, are discussed in detail. Obstacles are detected and recognized efficiently...
Industrial robot is proven to be more cost effective in terms of flexibility, repeatability, and with new functions offer improved accuracy. Since the parts produced in a robotic cell are identical, it is sufficient to determine the sequence of robot moves, in case of single- or dual-gripper, to implement the tasks. How to achieve the maximum/near-maximum throughput in a robotic cell, even a small...
For a biped pole-climbing robot (BiPCR) with dual grippers to climb poles, trusses or trees, a feasible collision-free climbing path is inevitable. In this paper, we utilize the sampling-based algorithm, Bi-RRT, to plan a feasible single-step collision-free climbing motion for BiPCRs in spatial trusses. Under the orientation limit of a 5-DoFs BiPCR, a new state representation along with corresponding...
A general framework of robot manipulation planning for door opening task is proposed in this paper. First grasp pattern, including grasp point and method for various door handles, is defined. Second door-opening pattern, including task planning and trajectory planning, is also proposed. This paper utilizes Kinect as a vision sensor to collect point cloud data of the environment. Viewpoint Feature...
High flexibility and high speed is the goal for industrial manufacturing using robots. However, it is difficult to put them together due to the fact that they are contradicting with each other. To solve this problem, a new high reconfigurable gripper is proposed for robotic manipulator to improve its flexibility, so that the robot can accomplish an assembly task with shorter time. In this paper, the...
This paper presents the development and evaluation of a pneumatically-actuated transferring robotic system that uses visual inspection technology. The objective of this research is to implement the manufacturing automation in a customized industrial forging process. The robot has 5-DOF with a 2-fingered gripper placed on the gantry mechanical structure stage. Furthermore, the robotic system consists...
Piezoelectric actuator can be used for handling and grasping of miniature parts in micro manipulation or robotic assembly where design of micro gripper is a critical issue because the object has to be inserted straightway into a hole during robotic peg-in-hole assembly. In this paper, the compliant micro gripper is designed using bimorph piezoelectric actuators along with a 3-degrees of freedom (DOF)...
We propose a planning method for a gripper grasping daily life objects using quadric surface approximation. This method can decompose the objects to the approximate quadric surfaces. The planner can find regions for contacting fingers quickly so that the gripper grasps the object firmly. The planner evaluates the grasp stability for these postures. The previous evaluation method in surface contact...
This paper presents the structure design and analysis of a novel compliant gripper based on the Scott-Russell (SR) mechanism. An SR mechanism in combination with a parallelogram mechanism enables the achievement of a pure translation of the gripper tips, which is attractive for practical micromanipulation and microassembly applications. As compared with traditional pure-translation grippers, the reported...
The posture-adjustable turntable is playing an important part in testing equipments and other industrial devices. As well known, universal joint is employed to couple two parts that are aligned with a certain angle to transmit torque and speed. There are three major parts in a U-joint: active hinge, cross shaft, and passive hinge. Power is transmitted from the active hinge to the passive hinge via...
The flexible endoscope has great potential to reach a diseased organ through a natural opening of the human body to perform surgeries without leaving a scar on the body surface. Despite such advances in reaching the diseased organ, using the conventional flexible endoscope to complete surgical procedure is still largely constrained by the limited degree-of-freedoms (DOFs) of endoscopic instruments...
This paper presented a novel power transmission lines inspecting robot named “Linebot”, which has high maneuverability and keeps in compact size and lightweight. Linebot has 11 degrees of freedom totally. It equips with two open-close wheels and a pair of grippers, which can be driven separately. As a result, there are three main types of motions to overcome the obstacles on the lines more efficiently...
Set the date range to filter the displayed results. You can set a starting date, ending date or both. You can enter the dates manually or choose them from the calendar.