scholarly journals Musculoskeletal System for Bio-Inspired Robotic Systems

2016 ◽  
Vol 138 (03) ◽  
pp. S11-S16 ◽  
Author(s):  
Yonas Tadesse ◽  
Lianjun Wu ◽  
Lokesh K. Saharan
Keyword(s):  
Musculoskeletal System ◽  
System Integration ◽  
Degrees Of Freedom ◽  
Manufacturing System ◽  
Biological Systems ◽  
Robotic Systems ◽  
Energy Usage ◽  
3D Printed ◽  
Musculoskeletal Systems ◽  
Novel Design

This article presents a research focused on developing musculoskeletal system for bio-inspired robotic systems. A musculoskeletal system is the fundamental structure that allows complex mobility of biological systems. This paper briefly describes the recently introduced twisted and coiled polymer (TCP) muscles and a novel design of musculoskeletal system based on ball and socket joint, as well as their application in a 3D printed humanoid robot. The challenge to develop such systems is multifaceted, including design, manufacturing, system integration, control methods, and energy usage. Some of the challenges in humanoid design are the degrees of freedom and the synergetic combination of hardware and software to perform a particular task. The other challenge is affordability of the platform. Most humanoids are very expensive. Since the TCP-based actuators are inexpensive and musculoskeletal systems inspired by biological systems are optimum for performance, they will address these problems. The bio-inspired ball and socket joint shown in the article can be cascaded to create complex robots, for example, for the shoulder joint of a humanoid.

Musculoskeletal System for Bio-Inspired Robotic Systems Based on Ball and Socket Joints

2016 ◽  
Author(s):  
Lianjun Wu ◽  
Yonas Tadesse
Keyword(s):  
Musculoskeletal System ◽  
System Integration ◽  
Cost Effective ◽  
Robotic Systems ◽  
Mechanical Transmission ◽  
Artificial Muscles ◽  
Synthetic Materials ◽  
3D Printed ◽  
Promising Solution ◽  
Soft Actuators

Musculoskeletal system is the fundamental structure that allows complex mobility of biological systems. A lot of efforts have been made in the past to mimic this structure using synthetic materials for use in robotic systems. Development challenges for this technology include design and manufacturing, system integration, control methods and energy usage. One of the key elements of musculoskeletal system is artificial muscles or actuators used in this system. Actuators presented in the literature do not match the performance of natural muscles in most of the metrics such as force generation, strain output, frequency, power density, ease of control and repeatability. This paper briefly describes the recently introduced Twisted and Coiled Polymer (TCP) muscles integrated into a ball and socket joint made of ABS plus® material. The proposed structure consists of a class of ball-and-socket joint that incorporates TCP muscles and silicone to generate multidimensional actuation. Most traditional joint-and-actuator assemblies include passive rotary joints actuated by servomotors via gears transmission. Our proposed ABS based 3D printed joint is actuated by artificial muscles without any complex mechanical transmission system. In comparison with other such assemblies, the proposed joint system is a promising solution to the diverse applications in robotics, especially where soft actuators and cost effective solutions are needed.

Design of a Robotic Cameraman With Three Actuators for Laparoscopic Surgery

2006 ◽  
Author(s):  
A. Mirbagheri ◽  
F. Farahmand ◽  
A. Meghdari ◽  
H. Sayyaadi ◽  
L. Savoj ◽  
...  
Keyword(s):  
Minimally Invasive Surgery ◽  
Laparoscopic Surgery ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
Degrees Of Freedom ◽  
Personal Control ◽  
Robotic Systems ◽  
Robotic Arm ◽  
And Control ◽  
Novel Design

Laparoscopic surgery is a specific branch of minimally invasive surgery (MIS) that is performed on the abdomen and endoscopic tools are passed through the incision points and trocars on the abdominal wall, so they can reach the surgical site [1]. Robotic systems have been proved to be very useful as a cameraman in laparoscopic surgery; they are more stable with no fatigue and inattention and reduce the supernumerary staff required, provide excellent geometrical accuracy and improved personal control for the surgeon over the procedure, etc. The available robots for handling and control of laparoscopic lens include at least 4 actuators to fulfill the surgeon’s requirements [2]. The purpose of the present study was to develop a novel design for the laparoscope robotic arm in which while the systems move ability is maintained its active degrees of freedom are reduced.

scholarly journals Topological Analysis of a Novel Compact Omnidirectional Three-Legged Robot with Parallel Hip Structures Regarding Locomotion Capability and Load Distribution

Robotics ◽  
2021 ◽  
Vol 10 (4) ◽  
pp. 117
Author(s):  
David Feller ◽  
Christian Siemers
Keyword(s):  
Degrees Of Freedom ◽  
Topological Analysis ◽  
Legged Robot ◽  
Spherical Parallel Mechanism ◽  
Cad Models ◽  
Central Support ◽  
3D Printed ◽  
Multi Body ◽  
Spherical Parallel Manipulator ◽  
Novel Design

In this study, a novel design for a compact, lightweight, agile, omnidirectional three-legged robot involving legs with four degrees of freedom, utilizing an spherical parallel mechanism with an additional non-redundant central support joint for the robot hip structure is proposed. The general design and conceptual ideas for the robot are presented, targeting a close match of the well-known SLIP-model. CAD models, 3d-printed prototypes, and proof-of-concept multi-body simulations are shown, investigating the feasibility to employ a geometrically dense spherical parallel manipulator with completely spherically shaped shell-type parts for the highly force-loaded application in the legged robot hip mechanism. Furthermore, in this study, an analytic expression is derived, yielding the calculation of stress forces acting inside the linkage structures, by directly constructing the manipulator hip Jacobian inside the force domain.

scholarly journals A millifluidic chip for cultivation of fish embryos and toxicity testing fabricated by 3D printing technology

RSC Advances ◽  
2021 ◽  
Vol 11 (33) ◽  
pp. 20507-20518
Author(s):  
Petr Panuška ◽  
Zuzana Nejedlá ◽  
Jiří Smejkal ◽  
Petr Aubrecht ◽  
Michaela Liegertová ◽  
...  
Keyword(s):  
3D Printing ◽  
Toxicity Testing ◽  
Toxicity Screening ◽  
Printing Technology ◽  
3D Printing Technology ◽  
Fish Embryos ◽  
3D Printed ◽  
Novel Design

A novel design of 3D printed zebrafish millifluidic system for embryonic long-term cultivation and toxicity screening has been developed. The chip unit provides 24 cultivation chambers and a selective individual embryo removal functionality.

Kinematic Analysis and Optimization of a Novel Robot for Surgical Tool Manipulation

2008 ◽  
Author(s):  
Xiaoli Zhang ◽  
Carl A. Nelson
Keyword(s):  
Inverse Kinematics ◽  
Degrees Of Freedom ◽  
Force Feedback ◽  
Robotic Systems ◽  
Small Space ◽  
Surgical Robots ◽  
Tool Positioning ◽  
Rotation Axes ◽  
Surgical Tool ◽  
Linear Nature

The size and limited dexterity of current surgical robotic systems are factors which limit their usefulness. To improve the level of assimilation of surgical robots in minimally invasive surgery (MIS), a compact, lightweight surgical robotic positioning mechanism with four degrees of freedom (DOF) (three rotational DOF and one translation DOF) is proposed in this paper. This spatial mechanism based on a bevel-gear wrist is remotely driven with three rotation axes intersecting at a remote rotation center (the MIS entry port). Forward and inverse kinematics are derived, and these are used for optimizing the mechanism structure given workspace requirements. By evaluating different spherical geared configurations with various link angles and pitch angles, an optimal design is achieved which performs surgical tool positioning throughout the desired kinematic workspace while occupying a small space bounded by a hemisphere of radius 13.7 cm. This optimized workspace conservatively accounts for collision avoidance between patient and robot or internally between the robot links. This resultant mechanism is highly compact and yet has the dexterity to cover the extended workspace typically required in telesurgery. It can also be used for tool tracking and skills assessment. Due to the linear nature of the gearing relationships, it may also be well suited for implementing force feedback for telesurgery.

scholarly journals Tablet fragmentation without a disintegrant: A novel design approach for accelerating disintegration and drug release from 3D printed cellulosic tablets

2018 ◽  
Vol 118 ◽  
pp. 191-199 ◽  
Author(s):  
Basel Arafat ◽  
Magdalena Wojsz ◽  
Abdullah Isreb ◽  
Robert T. Forbes ◽  
Mohammad Isreb ◽  
...  
Keyword(s):  
Drug Release ◽  
Design Approach ◽  
3D Printed ◽  
Novel Design

Controlling Modular Reconfigurable Robots With Handheld Smart Devices

2011 ◽  
Author(s):  
David Ko ◽  
Nalaka Kahawatte ◽  
Harry H. Cheng
Keyword(s):  
Graphical User Interface ◽  
Degrees Of Freedom ◽  
Robotic Systems ◽  
Effective Control ◽  
Smart Devices ◽  
Modular Robots ◽  
Reconfigurable Robots ◽  
Processing Power ◽  
Static Data ◽  
Remote Controller

Highly reconfigurable modular robots face unique teleoperation challenges due to their geometry, configurability, high number of degrees of freedom and complexity. Current methodology for controlling reconfigurable modular robots typically use gait tables to control the modules. Gait tables are static data structures and do not readily support realtime teleoperation. Teleoperation techniques for traditional wheeled, flying, or submerged robots typically use a set of joysticks to control the robots. However, these traditional methods of robot teleoperation are not suitable for reconfigurable modular robotic systems which may have dozens of controllable degrees of freedom. This research shows that modern cell phones serve as highly effective control platforms for modular robots because of their programmability, flexibility, wireless communication capabilities, and increased processing power. As a result of this research, a versatile Graphical User Interface, a set of libraries and tools have been developed which even a novice robotics enthusiast can use to easily program their mobile phones to control their hobby project. These libraries will be beneficial in any situation where it is effective for the operator to use an off-the-shelf, relatively inexpensive, hand-held mobile phone as a remote controller rather than a considerably heavy and bulky remote controllers which are popular today. Several usage examples and experiments are presented which demonstrate the controller’s ability to effectively control a modular robot to perform a series of complex gaits and poses, as well as navigating a module through an obstacle course.

Mechanical Manipulator for Intuitive Control of Endoscopic Instruments With Seven Degrees of Freedom

2004 ◽  
Author(s):  
J. E. N. Jaspers ◽  
M. Shehata ◽  
F. Wijkhuizen ◽  
J. L. Herder ◽  
C. A. Grimbergen
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
Degrees Of Freedom ◽  
Force Feedback ◽  
Robotic Systems ◽  
Complex Tasks ◽  
Steel Wires

Performing complex tasks in Minimally Invasive Surgery (MIS) is demanding due to a disturbed hand-eye co-ordination, the use of non-ergonomic instruments with limited degrees of freedom (DOFs) and a lack of force feedback. Robotic telemanipulatory systems enhance surgical dexterity by providing up to 7 DOFs. They allow the surgeon to operate in an ergonomically favorable position with more intuitive manipulation of the instruments. Commercially available robotic systems, however, are very bulky, expensive and do not provide any force feedback. The aim of our study was to develop a simple mechanical manipulator for MIS. When manipulating the handle of the device, the surgeon’s wrist and grasping movements are directly transmitted to the deflectable instrument tip in 7 DOFs. The manipulator consists of a parallelogram mechanism with steel wires. First phantom experience indicated that the system functions properly. The MIM provides some force feedback improving safety. A set of MIMs seems to be an economical and compact alternative for robotic systems.

Surface and Shape Deposition Manufacturing for the Fabrication of a Curved Surface Gripper

2015 ◽  
Vol 7 (2) ◽  
Author(s):  
Srinivasan A. Suresh ◽  
David L. Christensen ◽  
Elliot W. Hawkes ◽  
Mark Cutkosky
Keyword(s):  
Thin Films ◽  
Laser Cutting ◽  
Biological Systems ◽  
Robotic Systems ◽  
Curved Surfaces ◽  
Structural Elements ◽  
Hard Materials ◽  
Subtractive Manufacturing ◽  
Multiple Materials ◽  
Shape Deposition Manufacturing

Biological systems such as the gecko are complex, involving a wide variety of materials and length scales. Bio-inspired robotic systems seek to emulate this complexity, leading to manufacturing challenges. A new design for a membrane-based gripper for curved surfaces requires the inclusion of microscale features, macroscale structural elements, electrically patterned thin films, and both soft and hard materials. Surface and shape deposition manufacturing (S2DM) is introduced as a process that can create parts with multiple materials, as well as integrated thin films and microtextures. It combines SDM techniques, laser cutting and patterning, and a new texturing technique, surface microsculpting. The process allows for precise registration of sequential additive/subtractive manufacturing steps. S2DM is demonstrated with the manufacture of a gripper that picks up common objects using a gecko-inspired adhesive. The process can be extended to other integrated robotic components that benefit from the integration of textures, thin films, and multiple materials.

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