scholarly journals Method for Robot Manipulator Joint Wear Reduction by Finding the Optimal Robot Placement in a Robotic Cell

2021 ◽  
Vol 11 (12) ◽  
pp. 5398
Author(s):  
Tomáš Kot ◽  
Zdenko Bobovský ◽  
Aleš Vysocký ◽  
Václav Krys ◽  
Jakub Šafařík ◽  
...  
Keyword(s):  
Angular Velocity ◽  
Dynamic Simulation ◽  
Robot Manipulator ◽  
The Other ◽  
Robotic Arm ◽  
Robotic Cell ◽  
Wear Reduction ◽  
Fixed End ◽  
Robot Placement ◽  
Collaborative Robot

We describe a method for robotic cell optimization by changing the placement of the robot manipulator within the cell in applications with a fixed end-point trajectory. The goal is to reduce the overall robot joint wear and to prevent uneven joint wear when one or several joints are stressed more than the other joints. Joint wear is approximated by calculating the integral of the mechanical work of each joint during the whole trajectory, which depends on the joint angular velocity and torque. The method relies on using a dynamic simulation for the evaluation of the torques and velocities in robot joints for individual robot positions. Verification of the method was performed using CoppeliaSim and a laboratory robotic cell with the collaborative robot UR3. The results confirmed that, with proper robot base placement, the overall wear of the joints of a robotic arm could be reduced from 22% to 53% depending on the trajectory.

A Robotic Cell for Embedding Prefabricated Components in Extrusion-Based Additive Manufacturing

2020 ◽  
Author(s):  
Yeo Jung Yoon ◽  
Oswin G. Almeida ◽  
Aniruddha V. Shembekar ◽  
Satyandra K. Gupta
Keyword(s):  
Additive Manufacturing ◽  
Degrees Of Freedom ◽  
Robotic Manipulators ◽  
The Other ◽  
Robotic Arm ◽  
Robotic Cell ◽  
Material Extrusion ◽  
Surface Polishing ◽  
Pick And Place ◽  
6 Degrees Of Freedom

Abstract By attaching a material extrusion system to a robotic arm, we can deposit materials onto complex surfaces. Robotic manipulators can also maximize the task utility by performing other tasks such as assembly or surface polishing when they are not in use for the AM process. We present a robotic cell for embedding prefabricated components in extrusion-based AM. The robotic cell consists of two 6 degrees of freedom (DOF) robots, an extrusion system, and a gripper. One robot is used for printing a part, and the other robot takes a support role to pick and place the prefabricated component and embed it into the part being printed. After the component is embedded, AM process resumes, and the material is deposited onto the prefabricated components and previously printed layers. We illustrate the capabilities of the system by fabricating three objects.

Design, Modelling and Simulation of a Rotational Robotic Arm

2020 ◽  
Author(s):  
Bin Wei
Keyword(s):  
Angular Velocity ◽  
3D Model ◽  
Modelling And Simulation ◽  
Robotic Arm ◽  
Forward Kinematics ◽  
Position Vector ◽  
Control Law ◽  
Model Design ◽  
End Effector ◽  
Design And Optimization

Abstract In this paper, a rotational robotic arm is designed, modelled and optimized. The 3D model design and optimization are conducted by using SolidWorks. Forward kinematics are derived so as to determine the position vector of the end effector with respect to the base, and subsequently being able to calculate the angular velocity and torque of each joint. For the goal positioning problem, the PD control law is typically used in industry. It is employed in this application by using virtual torsional springs and frictions to generate the torques and to keep the system stable.

scholarly journals Implementation of Gesture Control Robotic Arm for Automation of Industrial Application

2020 ◽  
pp. 147-156
Author(s):  
Shriya A. Hande ◽  
Nitin R. Chopde
Keyword(s):  
System Design ◽  
The Other ◽  
Robotic Arm ◽  
Human Hand ◽  
Design And Implementation ◽  
Gesture Control ◽  
Rf Signals ◽  
Pick And Place ◽  
Almost All ◽  
Minimal Effort

<p>In today’s world, in almost all sectors, most of the work is done by robots or robotic arm having different number of degree of freedoms (DOF’s) as per the requirement. This project deals with the Design and Implementation of a “Wireless Gesture Controlled Robotic Arm with Vision”. The system design is divided into 3 parts namely: Accelerometer Part, Robotic Arm and Platform. It is fundamentally an Accelerometer based framework which controls a Robotic Arm remotely utilizing a, little and minimal effort, 3-pivot (DOF's) accelerometer by means of RF signals. The Robotic Arm is mounted over a versatile stage which is likewise controlled remotely by another accelerometer. One accelerometer is mounted/joined on the human hand, catching its conduct (motions and stances) and hence the mechanical arm moves in like manner and the other accelerometer is mounted on any of the leg of the client/administrator, catching its motions and stances and in this way the stage moves as needs be. In a nutshell, the robotic arm and platform is synchronised with the gestures and postures of the hand and leg of the user / operator, respectively. The different motions performed by robotic arm are: PICK and PLACE / DROP, RAISING and LOWERING the objects. Also, the motions performed by the platform are: FORWARD, BACKWARD, RIGHT and LEFT.</p>

scholarly journals Laboratory environment monitoring and specimen transport robots

2019 ◽  
Vol 8 (4) ◽  
pp. 313
Author(s):  
Yi-Chang Wu ◽  
Huan-Chun Wang
Keyword(s):  
Operating System ◽  
Resource Allocation ◽  
Humidity Sensor ◽  
The Other ◽  
Robotic Arm ◽  
Environment Monitoring ◽  
Thermal Camera ◽  
Laboratory Environment ◽  
Robot Operating System ◽  
And Control

Robots have been used in various areas to replace manpower, reduce costs, and facilitate more effective resource allocation. This study sought to assist the business of the bureau by developing two robots using the Robot Operating System. The developed robots have autonomous intelligent navigation functions and are suited to monitor the environment of <br /> the laboratories in the bureau. One robot had a temperature and humidity sensor and an infrared thermal camera, and it could be used to patrol and monitor the laboratory environment. The other robot had drawers in which specimens could be placed; robotic arm in the elevator could coordinate and control elevators, enabling the robot to move and transport specimens autonomously. Plenty of tests were conducted to verify the feasibility <br /> and practicality.

scholarly journals RoboCoDraw: Robotic Avatar Drawing with GAN-Based Style Transfer and Time-Efficient Path Optimization

2020 ◽  
Vol 34 (06) ◽  
pp. 10402-10409
Author(s):  
Tianying Wang ◽  
Wei Qi Toh ◽  
Hao Zhang ◽  
Xiuchao Sui ◽  
Shaohua Li ◽  
...  
Keyword(s):  
Face Image ◽  
Path Optimization ◽  
Robotic Arm ◽  
Human Face ◽  
Generative Adversarial Network ◽  
Style Transfer ◽  
Adversarial Network ◽  
Face Images ◽  
Drawing System ◽  
Collaborative Robot

Robotic drawing has become increasingly popular as an entertainment and interactive tool. In this paper we present RoboCoDraw, a real-time collaborative robot-based drawing system that draws stylized human face sketches interactively in front of human users, by using the Generative Adversarial Network (GAN)-based style transfer and a Random-Key Genetic Algorithm (RKGA)-based path optimization. The proposed RoboCoDraw system takes a real human face image as input, converts it to a stylized avatar, then draws it with a robotic arm. A core component in this system is the AvatarGAN proposed by us, which generates a cartoon avatar face image from a real human face. AvatarGAN is trained with unpaired face and avatar images only and can generate avatar images of much better likeness with human face images in comparison with the vanilla CycleGAN. After the avatar image is generated, it is fed to a line extraction algorithm and converted to sketches. An RKGA-based path optimization algorithm is applied to find a time-efficient robotic drawing path to be executed by the robotic arm. We demonstrate the capability of RoboCoDraw on various face images using a lightweight, safe collaborative robot UR5.

Robust Passive-Active Mounts for Machinery and Equipment

1997 ◽  
Author(s):  
J. Hannsen Su
Keyword(s):  
Resonant Frequency ◽  
Vibration Isolation ◽  
Vibration Suppression ◽  
Low Frequency ◽  
The Other ◽  
Resonant Frequencies ◽  
Vibration Magnitude ◽  
Fixed End ◽  
Degradation Problem ◽  
Universal Application

Abstract Conventional vibration isolation mounts are not as effective as expected on a practical foundation whose resonant frequencies normally are within the bandwidth of interest. In addition, the low frequency enhancement is a characteristic of the passive mounts. Applying inertia actuators to the bottom attachment plate of the conventional mounts overcomes these shortcomings and enhances their performance significantly. This design concept has universal application since it is applicable to any dynamic system. It requires very little power and force capacity, i.e., a small percentage of the disturbance force, from the actuators to be effective for frequencies higher than the resonant frequency of the mount itself. The effectiveness of the proposed mounts for the machinery is demonstrated on the load transmissibility reduction at the foundation support (fixed end) due to disturbance from machinery above mounts. On the other hand, the vibration magnitude reduction of equipment above mounts due to disturbance from the foundation is used for evaluating the equipment isolation effectiveness. There is no stabilty or degradation problem when a number of the passive-active mounts are used on the same foundation. Furthermore, the more of this type of mounts used on a foundation the more effective the vibration suppression and the smaller actuator force requirement for each passive-active mount.

Research on the Kinematic Characteristics of Digging Tree Mechanism of Tree Transplanter

2014 ◽  
Vol 620 ◽  
pp. 381-387 ◽  
Author(s):  
De Jin Zhao ◽  
Yan Ling Guo ◽  
Wen Long Song
Keyword(s):  
Angular Velocity ◽  
Dynamic Simulation ◽  
Analytical Method ◽  
Angular Acceleration ◽  
Hydraulic Cylinder ◽  
Matlab Software ◽  
Kinematic Characteristics ◽  
Adams Software ◽  
Model File

In order to study the kinematic characteristics of the tree transplanter and the hydraulic cylinder, this paper established the model of the tree transplanter with the Cero2.0 software and analyzed kinematic characteristics of the hydraulic cylinder and the tree spade when the tree spade was driven by the hydraulic cylinder with the analytical method. The dynamic simulation curves of the angular velocity and the angular acceleration of the hydraulic cylinder can be obtained with the Matlab software. Then the appropriate format model file was imported into Adams software, and the angular velocity and the angular acceleration of the hydraulic cylinder were analyzed and simulated in Adams. The obtained curves in Adams software were compared with the curves obtained with the Matlab using the analytical method. The result revealed that the trends of the two ways simulation curves were consistent. The comparison showed the analytical method of kinematic characteristics of the tree transplanter and hydraulic cylinder was correct.

Determining Feasible Robot Placements in Robotic Cells for Composite Prepreg Sheet Layup

2019 ◽  
Author(s):  
Rishi K. Malhan ◽  
Ariyan M. Kabir ◽  
Brual Shah ◽  
Timotei Centea ◽  
Satyandra K. Gupta
Keyword(s):  
High Performance ◽  
Computationally Efficient ◽  
Robotic Cell ◽  
Precursor Material ◽  
Robotic Cells ◽  
A Cell ◽  
Complex Decision ◽  
Computationally Efficient Algorithms ◽  
Refinement Strategy ◽  
Robot Placement

Abstract High-performance composites are widely used in industry because of specific mechanical properties and lightweighting opportunities. Current automation solutions to manufacturing components from prepreg (pre-impregnated precursor material) sheets are limited. Our previous work has demonstrated the technical feasibility of a robotic cell to automate the sheet layup process. Many decisions are required for the cell to function correctly, and the time necessary to make these decisions must be reduced to utilize the cell effectively. Robot placement with respect to the mold is a significant and complex decision problem. Ensuring that robots can collaborate effectively requires addressing multiple constraints related to the robot workspace, singularity, and velocities. Solving this problem requires developing computationally efficient algorithms to find feasible robot placements in the cell. We describe an approach based on successive solution refinement strategy to identify a cell design that satisfies all constraints related to robot placement.

scholarly journals Is It Possible to Determine Whether a Star is Rotating About a Unique Axis?

1993 ◽  
Vol 137 ◽  
pp. 566-568 ◽  
Author(s):  
D.O. Gough ◽  
A.G. Kosovichev
Keyword(s):  
Simple Model ◽  
Angular Velocity ◽  
Rotation Axis ◽  
The Other ◽  
The Sun ◽  
Natural Question ◽  
Rotating Stars ◽  
The Core ◽  
Axis Of Rotation ◽  
Fixed Axis

Rotating stars are normally presumed to rotate about a unique axis. Would it be possible to determine whether or not that presumption is correct? This is a natural question to raise, particularly after the suggestion by T. Bai & P. Sturrock that the core of the sun rotates about an axis that is inclined to the axis of rotation of the envelope.A variation with radius of the direction of the rotation axis would modify the form of rotational splitting of oscillation eigenfrequencies. But so too does a variation with depth and latitude in the magnitude of the angular velocity. One type of variation can mimic the other, and so frequency information alone cannot differentiate between them. What is different, however, is the structure of the eigenfunctions. Therefore, in principle, one might hope to untangle the two phenomena using information about both the frequencies and the amplitudes of the oscillations.We consider a simple model of a star which is divided into two regions, each of which is rotating about a different fixed axis. We enquire whether there are any circumstances under which it might be possible to determine seismologically the separate orientations of the axes.

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