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This article presents the possibilities of the popular T6 method in robotics, bring this method to the designers of mechanics, technology and architects. Presented description of the method concerns the moments equation for different classes of robots, but it can be used wherever it occurs need to calculate the working force for arm. The T6 method can significantly accelerate and simplify calculations,...
According to China's space station operation and maintenance requirements, this paper first discusses the dual arm robot astronaut mission requirements and design principles. Then the robot's configuration, anthropomorphic robot arm and its driving joint, five fingered dexterous hand, head, neck and other mechanisms are designed in detail. A distributed control scheme for the robot is proposed. The...
This paper reports the motion control of a wall climbing robot. The robot has a pair of driving wheels and a coaxial propeller thruster. Two wheels are used for running on walls, and the thruster located on a gimbal mechanism is controlled corresponding to the orientation of the robot and the slope angle of the wall. The orientation control of the gimbal mechanism is newly proposed, and is experimentally...
In this paper, we develop a tactile and proximity sensor using self-capacitance measurement on the curved surface for human collaboration robot (HCRs). The proposed sensor consists of two measurement electrodes and an elastic body. We produced the prototype sensor using the flexible circuit board. Thus, the sensor can curve in the curved surface. The sensor using self-capacitance measurement can detect...
Window cleaning of skyscrapers and façades is one of the most essential and arduous task that is carried out manually and hence posing a threat to manual cleaner's life. Over years, researchers have created skyscraper / window cleaning robots to automate the process of window cleaning, and they have their own limitations. We introduced a tethered guiding vehicle system (TGV) that would carry an already...
Reducing the grasp candidates for unknown object grasping while maintaining grasp stability is the goal of this paper. In this paper, we propose an efficient and straight forward unknown object grasping method by using concavities of the unknown objects to significantly reduce the grasp candidates. Shortest path concavity is first employed to work out the concavity value for every vertex of the unknown...
The current research trends of object grasping can be summarized as caging grasping and force closure grasping. The motivation of this paper is to combine the advantage of caging grasping and force closure grasping to enable under-actuated grippers like the Lacquey gripper and the parallel grippers like the PR2 gripper to quickly grasp the flat unknown objects. Inspired by the idea that caging grasping...
We have developed Intelligent Motor Modules System which can be applied to Service robot, Home automation, Mobility or various prototypes and products. The system consists of multiple motor modules and several components such as frames. Motor module is integrated with motor, microcontroller, radio frequency (RF) module, battery and rotary encoder. Motor modules connect with each other or other computers...
The bilateral teleoperation with force feedback has been widely used. Besides the stability and transparency of the teleoperation system, the facility of teleoperation can be achieved when the virtual fixture is adopted. This paper presents an online generation approach of the virtual fixture for bilateral teleoperation based on recognition of operation intention. The operation intention is recognized...
There are traditionally two control modes for teleoperation with force feedback. The position control mode is usually adopted in bilateral teleoperation, while the rate control mode is suit for the master device whose workspace is limited. This paper presents a novel fixed point control mode, where the location of the slave manipulator is independent of the motion of the master device. In this mode,...
This paper describes the initial design, control system development and preliminary testing of a robotic gait training device which aims to help teach and/or improve the gait patterns of children affected by cerebral palsy (CP). An H-frame, timing-belt driven, 2 degree-of-freedom stage has been designed and built to guide a child's leg through a gait pattern during over-ground training. The end-effector...
UNEXAR is a mini autonomous underwater robot in a cubic shape similar to a drone. This robot can be used to monitor local environment and observe an object below much more closely than otherwise needing us to wear underwater suit which is bothersome. It can also be used as an exploration device, to map unreachable area somewhere that's not in our line of sight. Robot can also be used to find an object...
The paper present the gripping mechanism, which is analyzed in terms of kinematic and dynamic. Functionally calculation is presenting the gripping mechanism. Also nonlinear dynamical modeling are presented for gripping of objects with different geometries. They presented several variant of the containment mechanism grip.
This paper assesses relative merits and drawbacks of different digital implementations of non-integer order controllers. Twenty-eight formulas are considered. Their frequency behaviours, together with those of discretised CRONE controllers, are compared to the ideal ones. All those formulas are used for implementing controllers found in the literature for a robotic arm. Backward finite difference...
This paper documents the design, development and operation of a submersible tube launched unmanned aerial vehicle (UAV) with launching capability which could be launched from an unmanned underwater robot or a submarine to begin its' mission(s) and to be able to achieve a desired mission scenario. In the past decades, UAV-systems have become useful for a number of applications including, security,...
This paper presents a novel type of tree-climbing robot. The main parts of the robot are 2 vehicles, which are attached on the trunk of a tree and were stick tightly on the tree because of a holding device. A kind of spine array is distributed on the wheels, and the friction is enhanced. Static stress analysis shows that the robot can overcome gravity and can be attached reliably to the tree trunk...
This paper presents the design steps and implementation results of a hybrid force/position control of the arm. The HFP control is based on a Proportional-Derivative Controller combined with feed-forward position control and multi-stage Infinite Impulse Response (IIR) filter in the joint space position control loop. In the outer loop, a resolved-velocity force control scheme is used. The performance...
In this study, we have performed simulations to study actuator forces and stroke lengths, which are required to perform selected movements of the upper body of a humanoid robot. Results from the simulations are used to compare the performance of four types of parallel linkage mechanisms: 6-DOF 6-UCU, 5-DOF redundant 6-UCU-SS, 3-DOF redundant 6-UCU-SR, and 3-DOF redundant 6-UCU-UR hybrid parallel linkage...
In this study, we designed a robot with six degrees of freedom (six-DOF robot) to treat patients with glenohumeral joint (GHJ) disease by using data obtained from a strength sensor and the degree of displacement of the humerus. From a safety perspective, Grade III joint mobilization is conducted to realize a system design capable of being applied for observation and rehabilitation of patients with...
Tendon driven actuators are getting mature in electroactive polymer (EAP) researches. Research and development of the dielectric elastomer (DE) actuator from EAP family, have produced significant progress for decades. Dielectric elastomer is used in this paper to model a micro actuator platform. The parallel platform designing in this paper consists of the kinematics of the platform that is suited...
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