scholarly journals Kinematic Analysis of 6-DOF Arms for H20 Mobile Robots and Labware Manipulation for Transportation in Life Science Labs

2016 ◽  
Vol 10 (4) ◽  
pp. 40-52 ◽  
Author(s):  
Mohammed M. Ali ◽  
Hui Liu ◽  
Norbert Stoll ◽  
Kerstin Thurow
Keyword(s):  
Mobile Robots ◽  
Kinematic Analysis ◽  
Life Science ◽  
Science Labs

scholarly journals Flexible IoT Gas Sensor Node for Automated Life Science Environments Using Stationary and Mobile Robots

Sensors ◽  
2021 ◽  
Vol 21 (21) ◽  
pp. 7347
Author(s):  
Sebastian Neubert ◽  
Thomas Roddelkopf ◽  
Mohammed Faeik Ruzaij Al-Okby ◽  
Steffen Junginger ◽  
Kerstin Thurow
Keyword(s):  
Mobile Robots ◽  
Gas Sensors ◽  
Sensor Node ◽  
Occupational Safety ◽  
Life Science ◽  
Practical Investigations ◽  
Vapor Source ◽  
Fast Detection ◽  
Automation Systems ◽  
Science Laboratories

In recent years the degree of automation in life science laboratories increased considerably by introducing stationary and mobile robots. This trend requires intensified considerations of the occupational safety for cooperating humans, since the robots operate with low volatile compounds that partially emit hazardous vapors, which especially do arise if accidents or leakages occur. For the fast detection of such or similar situations a modular IoT-sensor node was developed. The sensor node consists of four hardware layers, which can be configured individually regarding basic functionality and measured parameters for varying application focuses. In this paper the sensor node is equipped with two gas sensors (BME688, SGP30) for a continuous TVOC measurement. In investigations under controlled laboratory conditions the general sensors’ behavior regarding different VOCs and varying installation conditions are performed. In practical investigations the sensor node’s integration into simple laboratory applications using stationary and mobile robots is shown and examined. The investigation results show that the selected sensors are suitable for the early detection of solvent vapors in life science laboratories. The sensor response and thus the system’s applicability depends on the used compounds, the distance between sensor node and vapor source as well as the speed of the automation systems.

A Novel Hybrid 3-RPR Mechanism With Scalable Platforms for Self-Crossing Locomotion

2014 ◽  
Author(s):  
Ruiming Li ◽  
Zhihuai Miao ◽  
Yan’an Yao ◽  
Xianwen Kong
Keyword(s):  
Mobile Robots ◽  
Kinematic Analysis ◽  
Parallel Mechanism ◽  
Mechanical Design ◽  
Hybrid Mechanism ◽  
Wide Range ◽  
Contraction And Expansion

To investigate novel mobile robots is still of its fantasy. In this paper, we proposed a novel hybrid 3-RPR mechanism with scalable platforms for self-crossing locomotion. The hybrid mechanism is constructed by replacing the lower and upper rigid platforms of over-constrained 3-RPR parallel mechanism (PM) each with a scalable planar 3P mechanism. Through the contraction and expansion of the two scalable platforms, the mechanism can achieve a novel locomotion, which is called self-crossing locomotion (SCL). By actuating three limbs, the mechanism can also achieve inchworm locomotion and combined locomotion of SCL and inchworm locomotion. The mobility and kinematic analysis of the mechanism are then dealt with. As a demonstration, the pipe-climbing gaits with the above modes of locomotion are planned. According to the gaits analysis, the mechanism can adapt to a wide range of pipe diameters and overcome bigger fracture in pipe. The specific mechanical design is introduced and the prototype is fabricated to verify the feasible of the mechanism.

Use of the reduced eye in life‐science labs

1980 ◽  
Vol 48 (6) ◽  
pp. 494-495
Author(s):  
Ann Jervie Sefton
Keyword(s):  
Life Science ◽  
Science Labs

The Kinematics of Wheeled Mobile Robots With Dual-Wheel Transmission Units

2004 ◽  
Author(s):  
Chao Chen ◽  
Svetlana Ostrovskaya ◽  
Jorge Angeles
Keyword(s):  
Computational Complexity ◽  
Mobile Robots ◽  
Closed Form ◽  
Kinematic Analysis ◽  
Inverse Kinematic ◽  
Driving Mechanism ◽  
Real Time Control ◽  
Wheeled Mobile Robots ◽  
Time Control ◽  
Inverse Kinematic Analysis

The Dual-Wheel Transmission (DWT) unit, an innovative driving mechanism for wheeled mobile robots (WMRs), was introduced elsewhere. In this paper we conduct the direct and inverse kinematic analysis of WMRs with such units. This analysis can be applied as well to other types of WMRs equipped with conventional wheels. Both central and offset types of wheel units are discussed. The closed form symbolic solutions provided in this paper may reduce the computational complexity, as required in the real time control of such systems. Furthermore, the underlying relations reveal the geometric and physical meanings of the constraints imposed on the robots at hand.

scholarly journals A Kinematic Analysis of Cooperation for Two Mobile Robots along a Wavy Road.

1994 ◽  
Vol 12 (7) ◽  
pp. 1013-1020 ◽  
Author(s):  
Yuji Yasui ◽  
Fumio Hara ◽  
Toshiyuki Aritake
Keyword(s):  
Mobile Robots ◽  
Kinematic Analysis
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