Accessible Region and Synthesis of Robot Arms

1981 ◽  
Vol 103 (4) ◽  
pp. 803-811 ◽  
Author(s):  
Y. C. Tsai ◽  
A. H. Soni
Keyword(s):  
Closed Loop ◽  
Robotic Arm ◽  
Robot Arm ◽  
Robotic Arms ◽  
Cam Mechanism ◽  
Design Charts ◽  
Accessible Region ◽  
Special Cases ◽  
Cam Follower ◽  
Synthesis Procedure

The present paper deals with the study of determining accessible region for two and three-link robotic arms with pin-joints. Based on the derivation of the loci-curves traced by a two-link robotic arm, design charts are developed. Such design charts are utilized in determining the accessible regions of a three-link robotic arm. Following the analysis of the accessible regions of two and three-link robotic arms, the paper presents a synthesis procedure to synthesize two and three-link robotic arms. Given a set of end-positions of a two or three-link robot arm, the proposed synthesis procedure will yield the dimensions and the location of the robot arm which will enclose within its accessible region the design points. The same synthesis procedure is proposed to trace a specific planar point-path. The present paper further examines the potential application of the synthesis procedure of two and three-link robotic arms in synthesizing a closed-loop mechanism for point-path generation. The two-link robotic arm is examined for the case where the end positions lie on a fixed circle. This case leads to the synthesis of a four-bar mechanism for a special point-path curve. The synthesis procedure may be extended from the four-bar synthesis to a cam-follower (non-circular-cam) system where the follower is the two link robotic arm. A further extension of this procedure is demonstrated in synthesizing analytically the dual-cam mechanisms derived from the stephenson six-link mechanism. The present investigation examines all three possible cases of dual-cam mechanisms. For special cases, it is demonstrated that such dual-cam mechanism may be degenerated to synthesize a mechanism with one cam pair.

scholarly journals Design Of 4DOF 3D Robotic Arm to Separate the Objects Using a Camera

2021 ◽  
Vol 3 (1) ◽  
pp. 27-35
Author(s):  
Akhmad Fahruzi ◽  
Bimo Satyo Agomo ◽  
Yulianto Agung Prabowo
Keyword(s):  
Inverse Kinematics ◽  
Robotic Arm ◽  
Robot Arm ◽  
Fixed Position ◽  
End Effector ◽  
Robotic Arms ◽  
Work Area ◽  
Intended Object ◽  
Place Of Origin ◽  
Prototype Design

Nowadays robotic arm is widely used in various industries, especially those engaged in manufacturing. Robotic arms are usually used to perform jobs such as picking up and moving goods from their place of origin to the location desired by the operator. In this study, a 3d 4 DOF (Degree of Freedom) robotic arm. The prototype was made to move goods with random coordinates to places or boxes whose coordinates were determined in advance. The robot can know the coordinates of the object to be taken or moved. The arm robot prototype design is completed with a camera connected to a computer, where the camera is installed statically (fixed position) above the robot's work area. The camera functions like image processing to detect the object's position by taking the coordinates of the object. Then the object coordinates will be input into inverse kinematics that will produce an angle in every point of the servo arm so that the position of the end effector on the robot arm can be founded and reach the intended object. From the results of testing and analysis, it was found that the error in the webcam test to detect object coordinates was 2.58%, the error in the servo motion test was 12.68%, and the error in the inverse kinematics test was 7.85% on the x-axis, the error was 6.31% on the y-axis and an error of 12.77% on the z-axis. The reliability of the whole system is 66.66%.

scholarly journals Modeling Method of Autonomous Robot Manipulator Based on D-H Algorithm

2021 ◽  
Vol 2021 ◽  
pp. 1-10
Author(s):  
Jie Cai ◽  
Jinlian Deng ◽  
Wei Zhang ◽  
Weisheng Zhao
Keyword(s):  
Robot Manipulator ◽  
Algebraic Method ◽  
Modeling Method ◽  
Inverse Solution ◽  
Geometric Method ◽  
Experimental Simulation ◽  
Robotic Arm ◽  
Robot Arm ◽  
Robotic Arms ◽  
Joint Variable

With the continuous development of science and technology, robotics is widely used in various fields. In recent years, more and more research studies have been done on the control of autonomous robotic manipulators. How to quickly, accurately, and smoothly grasp objects has always been a difficult point of research. As the robot’s executive mechanism, the robot arm plays an important role in whether the robot can complete a specific task. Therefore, the research on the robot arm is also the main topic in the development of robot technology. The control theory, kinematics, and human-computer interaction of robotic arms are the focus of the research in the field of robotic arms. Based on the above background, the research content of this paper is the research on the modeling method of autonomous robotic manipulator based on D-H algorithm. This paper uses D-H modeling method to model a four-degree-of-freedom robotic arm and gives the forward kinematics equation of the robotic arm. The inverse solution of the manipulator was given by the method and the geometric method, and the joint variable values were calculated. Finally, through experimental simulation, the experimental results show that the inverse solution of the end position of the machine by the geometric method is in the range of 2∼4 mm, and the inverse solution of the end position of the machine by the algebraic method is in the range of 6∼14 mm. It is more accurate to find the inverse solution of the geometrical method of the manipulator than the algebraic method.

Design Methodology for Robotic Manipulator for Overground Physical Interaction Tasks

2020 ◽  
Vol 12 (4) ◽  
Author(s):  
Sambad Regmi ◽  
Yun Seong Song
Keyword(s):  
Dynamic Characteristics ◽  
Design Methodology ◽  
Design Method ◽  
Mechanical Impedance ◽  
Robotic Arm ◽  
Physical Interaction ◽  
Robot Arm ◽  
Robotic Arms ◽  
Mathematical Simulations ◽  
Early Design Phase

Abstract We present a new design method that is tailored for designing a physical interactive robotic arm for overground physical interaction. Designing such robotic arms present various unique requirements that differ from existing robotic arms, which are used for general manipulation, such as being able to generate required forces at every point inside the workspace and/or having low intrinsic mechanical impedance. Our design method identifies these requirements and categorizes them into kinematic and dynamic characteristics of the robot and then ensures that these unique considerations are satisfied in the early design phase. The robot’s capability for use in such tasks is analyzed using mathematical simulations of the designed robot, and discussion of its dynamic characteristics is presented. With our proposed method, the robot arm is ensured to perform various overground interactive tasks with a human.

scholarly journals EEG-Emulated Control Circuits for Brain-Machine Interface

2021 ◽  
Author(s):  
Liljana Bozinovska ◽  
Bozinovski Adrijan
Keyword(s):  
Mobile Robot ◽  
Human Body ◽  
Closed Loop ◽  
Brain Computer Interface ◽  
Robotic Arm ◽  
Brain Machine Interface ◽  
Flip Flop ◽  
Robotic Arms ◽  
Machine Interface ◽  
Control Circuits

This paper reviews efforts in a new direction of the EEG research, the direction of EEG emulated control circuits. Those devices are used in brain computer interface (BCI) research. BCI was introduced 1973 as a challenge of using EEG signals to control objects external to the human body. In 1988 an EEG-emulated switch was used in a brain machine interface (BMI) for control of a mobile robot. The same year a closed loop CNV paradigm was used in a BMI to control a buzzer. In 2005 a CNV flip-flop was introduced which opened the direction of EEG-emulated control circuits. The CNV flip-flop was used for BMI control of a robotic arm in 2009, and for control of two robotic arms in 2011. In 2015 an EEG demultiplexer was introduced. The EEG emulated demultiplexer demonstrated control of a robotic arm to avoid an obstacle. The concept of an EEG emulated modem was also introduced. This review is a contribution toward investigation in this new direction of EEG research.

Development of an Affordable 7-DOF Robotic Arm for Education in Mechanisms and Robotics

2016 ◽  
Author(s):  
Stylianos Kavousanakis ◽  
Anthony H. Jones ◽  
Stefan Kenway ◽  
Guowu Wei
Keyword(s):  
Low Cost ◽  
Industrial Applications ◽  
Structure Design ◽  
Robotic Arm ◽  
Robot Arm ◽  
Level Control ◽  
Robotic Arms ◽  
Postgraduate Level ◽  
Automation And Control ◽  
And Robotics

Although there are a number of commercialized 7-DoF robotic arms that are suitable for industrial applications and project research use, the high cost of such robotic arms has impeded the hands-on sessions constructed in the undergraduate and postgraduate level courses/modules for the purpose of studying, understanding and investigating of the redundant 7-DoF robotic arm for the education in mechanisms and robotics. In order to provide an affordable solution, this paper presents the development of a low-cost module-based 7-DoF robotic arm. Structure design of the robot arm is introduced and its kinematics is formulated based on product of exponentials representation. By using 3D printing system, the proposed robotic arm is then fabricated and assembled, and integrated with servo motors and Arduino low-level control kits, a functionally feasible prototype is developed. Tests are subsequently carried out so as to check the performance of the proposed robotic arm and to identify errors and defects for improving and optimizing the design. Integrating with MATLAB Robotic Toolbox and Arduino low-cost control platform, the robotic arm presented in this paper can be used for the purpose of mechanisms and robotics education in the courses such as robotic kinematics, automation and control, and robotic programming and planning.

Industrial part localization and grasping using a robotic arm guided by 2D monocular vision

2018 ◽  
Vol 45 (6) ◽  
pp. 794-804 ◽  
Author(s):  
Zhaohui Zheng ◽  
Yong Ma ◽  
Hong Zheng ◽  
Yu Gu ◽  
Mingyu Lin
Keyword(s):  
Camera Calibration ◽  
High Precision ◽  
Calibration Method ◽  
Monocular Vision ◽  
Robotic Arm ◽  
Robot Arm ◽  
Content Type ◽  
Calibration Algorithm ◽  
Target Locating ◽  
Practical Implications

Purpose The welding areas of the workpiece must be consistent with high precision to ensure the welding success during the welding of automobile parts. The purpose of this paper is to design an automatic high-precision locating and grasping system for robotic arm guided by 2D monocular vision to meet the requirements of automatic operation and high-precision welding. Design/methodology/approach A nonlinear multi-parallel surface calibration method based on adaptive k-segment master curve algorithm is proposed, which improves the efficiency of the traditional single camera calibration algorithm and accuracy of calibration. At the same time, the multi-dimension feature of target based on k-mean clustering constraint is proposed to improve the robustness and precision of registration. Findings A method of automatic locating and grasping based on 2D monocular vision is provided for robot arm, which includes camera calibration method and target locating method. Practical implications The system has been integrated into the welding robot of an automobile company in China. Originality/value A method of automatic locating and grasping based on 2D monocular vision is proposed, which makes the robot arm have automatic grasping function, and improves the efficiency and precision of automatic grasp of robot arm.

Improved Artificial Potential Field Method Manipulator Inverse Kinematics

2013 ◽  
Vol 273 ◽  
pp. 119-123
Author(s):  
Ding Jin Huang ◽  
Teng Liu
Keyword(s):  
Potential Field ◽  
Inverse Kinematics ◽  
Search Space ◽  
Field Method ◽  
Robotic Arm ◽  
Artificial Potential Field ◽  
Robot Arm ◽  
Potential Field Method ◽  
Inverse Kinematics Problem ◽  
Artificial Potential Field Method

The use of traditional analytical method for manipulator inverse kinematics is able to get a display solution with the limitations of the application, only when the robotic arm has a specific structure. In view of the insufficient, this paper presents an improved artificial potential field method to solve the inverse kinematics problem of the manipulator which does not have a special structure. Firstly, establish the standard DH model for the robot arm. Then the strategy that improves search space of artificial potential field method and motion control standard is presented by combining artificial potential field method with the manipulator. Finally, the simulation results show that the proposed method is effective.

scholarly journals Closed-Loop Behavior of an Autonomous Helicopter Equipped with a Robotic Arm for Aerial Manipulation Tasks

10.5772/53754 ◽  
2013 ◽  
Vol 10 (2) ◽  
pp. 145 ◽  
Author(s):  
Konstantin Kondak ◽  
Kai Krieger ◽  
Alin Albu-Schaeffer ◽  
Marc Schwarzbach ◽  
Maximilian Laiacker ◽  
...  
Keyword(s):  
Closed Loop ◽  
Robotic Arm ◽  
Aerial Manipulation ◽  
Autonomous Helicopter

scholarly journals An integrated system design interface for operating 8-DoF robotic arm

2022 ◽  
Author(s):  
Madhav Rao
Keyword(s):  
Upper Limb ◽  
System Integration ◽  
Integrated System ◽  
Microsoft Kinect ◽  
Robotic Arm ◽  
Robot Arm ◽  
Game Engine ◽  
Kinematic Modeling ◽  
Articulated Robot ◽  
Integrated System Design

This study examines the system integration of a game engine with robotics middleware to drive an 8 degree offreedom (DoF) robotic upper limb to generate human-like motion for telerobotic applications. The developed architectureencompasses a pipeline execution design using Blender Game Engine (BGE) including the acquisition of real humanmovements via the Microsoft Kinect V2, interfaced with a modeled virtual arm, and replication of similar arm movements on the physical robotic arm. In particular, this study emphasizes the integration of a human “pilot” with ways to drive such a robotic arm through simulation and later, into a finished system. Additionally, using motion capture technology, a human upper limb action was recorded and applied onto the robot arm using the proposed architecture flow. Also, we showcase the robotic arm’s actions which include reaching, picking, holding, and dropping an object. This paper presentsa simple and intuitive kinematic modeling and 3D simulation process, which is validated using 8-DoF articulated robot to demonstrate methods for animation, and simulation using the designed interface.

scholarly journals Gesture Control of Robotic Arm

2017 ◽  
Vol 7 (1) ◽  
pp. 1
Author(s):  
Dharshan Y. ◽  
Vivek S. ◽  
Saranya S. ◽  
Aarthi V.R. ◽  
Madhumathi T.
Keyword(s):  
Batch Process ◽  
Robotic Arm ◽  
Robotic Arms ◽  
Key Technology ◽  
Cleaning Robot ◽  
Gesture Control ◽  
Major Chemical

<div><p><em>Robots have become a key technology in various fields. Robotic arms are mostly remote controlled by buttons or panels and sometimes in batch process they are autonomous. The usage of panel boards or control sticks includes a lot of hardwiring and subject to malfunction.  It also induces some stress on the operators. Hence major chemical industries like cosmetic manufacturing, paint manufacturing and Biosynthesis laboratory etc., which deals with hazardous environment due to the chemicals and other bio substances, involve humans for the processing. The aim is to reduce the bulk of wiring in the robotic arms and reduce the effort and number of operators in controlling the robotic arm operations. To implement gestures into the process this would be a major breakthrough. This can also be used as pick &amp; place robot, a cleaning robot in chemical industries where a human does not need to directly involved in the process of cleaning the chemicals and also for coating underground tanks.</em></p></div>

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