scholarly journals 3D Printed Walking Robot Based on a Minimalist Approach

2021 ◽  
Author(s):  
Ivan Chavdarov
Keyword(s):  
3D Printing ◽  
Central Axis ◽  
Walking Robots ◽  
Simple Design ◽  
Walking Robot ◽  
Minimalist Approach ◽  
3D Printed ◽  
Static Conditions ◽  
And Control ◽  
Design And Testing

3D printing technology enables the design and testing of highly complex robot prototypes and joints. Here an original idea for a walking robot is presented, based on a minimalist approach. Although the robot has a simple mechanical structure using only 2 motors, it can walk, turn around its central axis and climb high obstacles. The simple design ensures higher reliability in terms of mechanics and control. A design principle is suggested, which minimizes power consumption during climbing. The kinematics and static conditions for overcoming an obstacle are analyzed and the movements of the robot are simulated. A 3D-printed prototype of the robot is created. It is used for experiments to test the efficiency of different materials and shapes for the robot’s feet when climbing. The results are ranked and compared with the efficiency of other walking robots.

scholarly journals Design and kinematics of a 3-D printed walking robot “Big Foot”, overcoming obstacles

2019 ◽  
Vol 16 (6) ◽  
pp. 172988141989132
Author(s):  
Ivan Chavdarov ◽  
Bozhidar Naydenov
Keyword(s):  
Control System ◽  
Walking Robots ◽  
Energy Losses ◽  
Simple Design ◽  
Walking Robot ◽  
Minimum Number ◽  
And Control ◽  
Original Concept ◽  
Dimensional Optimization

The proposed study presents an original concept for the design of a walking robot with a minimum number of motors. The robot has a simple design and control system, successfully moves by walking, avoids or overcomes obstacles using only two independently controlled motors. Described are basic geometric and kinematic dependencies related to its movement. It is proposed optimization of basic dimensions of the robot in order to reduce energy losses when moving on flat terrain. Developed and produced is a 3-D printed prototype of the robot. Simulation and experiments for overcoming an obstacle are presented. Trajectories and instantaneous velocities centers of links from the robot are experimentally determined. The phases of walking and the stages of overcoming an obstacle are described. The theoretical and experimental results are compared. The suggested dimensional optimization approaches to reduce energy loss and experimental determination of the instant center of rotation are also applicable to other walking robots.

Switchable Bistability in 3D Printed Shells With Bio-Inspired Architectures and Spatially Distributed Pre-Stress

2018 ◽  
Author(s):  
Karl Jin Ang ◽  
Katherine S. Riley ◽  
Jakob Faber ◽  
Andres F. Arrieta
Keyword(s):  
3D Printing ◽  
Room Temperature ◽  
Fused Deposition Modeling ◽  
Element Analysis ◽  
Fused Deposition ◽  
Spatially Distributed ◽  
Deposition Modeling ◽  
3D Printed ◽  
And Control ◽  
Careful Design

Using fused deposition modeling (FDM) 3D printing, we combine a bio-inspired bilayer architecture with distributed pre-stress and the shape memory behavior of polylactic acid (PLA) to manufacture shells with switchable bistability. These shells are stiff and monostable at room temperature, but become elastic and bistable with fast morphing when heated above their glass transition temperature. When cooled back down, the shells retain the configuration they were in at the elevated temperature and return to being stiff and monostable. These programmed deformations result from the careful design and control of how the filament is extruded by the printer and therefore, the resulting directional pre-stress. Parameter studies are presented on how to maximize the pre-stress for this application. The shells are analyzed using nonlinear finite element analysis. By leveraging the vast array of geometries accessible with 3D printing, this method can be extended to complex, multi-domain shells, including bio-inspired designs.

A Miniature, 3D-Printed, Walking Robot With Soft Joints

2017 ◽  
Author(s):  
Anthony DeMario ◽  
Jianguo Zhao
Keyword(s):  
3D Printing ◽  
Numerical Method ◽  
Body Length ◽  
Soft Materials ◽  
Search And Rescue ◽  
Walking Robot ◽  
Miniature Robots ◽  
Revolute Joints ◽  
3D Printed ◽  
Locomotion Speed

Miniature robots have many applications ranging from military surveillance to search and rescue in disaster areas. Nevertheless, the fabrication of such robots has traditionally been labor-intensive and time-consuming. This paper proposes to directly leverage multi-material 3D printing (MM3P) to fabricate centimeter-scale robots by utilizing soft materials to create soft joints in replacement of revolute joints. We demonstrate the capability of MM3P by creating a miniature, four-legged walking robot. Moreover, we establish a numerical method based on the Psuedorigid-Body (PRB) 1R model to predict the motion of the leg mechanism with multiple soft joints. Experimental results verify the proposed numerical method. Meanwhile, a functional walking robot actuated by a single DC motor is demonstrated with a locomotion speed of one body length/sec. The proposed design, fabrication, and analysis for the walking robot can be readily applied to other robots that have mechanisms with soft joints.

scholarly journals Degradation Classification of 3D Printing Thermoplastics Using Fourier Transform Infrared Spectroscopy and Artificial Neural Networks

2018 ◽  
Vol 8 (8) ◽  
pp. 1224 ◽  
Author(s):  
Sung-Uk Zhang
Keyword(s):  
Neural Networks ◽  
Artificial Neural Networks ◽  
3D Printing ◽  
Thermal Degradation ◽  
Fused Deposition Modeling ◽  
Learning Strategy ◽  
Fused Deposition ◽  
3D Printed ◽  
Artificial Neural ◽  
And Control

Fused deposition modeling (FDM) is the most popular technology among 3D printing technologies because of inexpensive and flexible extrusion systems with thermoplastic materials. However, thermal degradation phenomena of the 3D-printed thermoplastics is an inevitable problem for long-term reliability. In the current study, thermal degradation of 3D-printed thermoplastics of ABS and PLA was studied. A classification methodology using deep learning strategy was developed so that thermal degradation of the thermoplastics could be classified using FTIR and Artificial Neural Networks (ANNs). Under given data and predefined rules for ANNs, ANN models with nine hidden layers showed the best results in terms of accuracy. To extend this methodology, other thermoplastics, several new datasets for ANNs, and control parameters of ANNs could be further investigated.

Bibot-U6: A Novel 6-DoF Biped Active Walking Robot - Modeling, Planning and Control

2014 ◽  
Vol 11 (02) ◽  
pp. 1450014 ◽  
Author(s):  
Xuefeng Zhou ◽  
Yisheng Guan ◽  
Haifei Zhu ◽  
Wenqiang Wu ◽  
Xin Chen ◽  
...  
Keyword(s):  
Degrees Of Freedom ◽  
Biped Robot ◽  
High Energy ◽  
Walking Robots ◽  
Walking Robot ◽  
Biped Robots ◽  
Planning And Control ◽  
Biped Walking Robot ◽  
And Control ◽  
High Energy Consumption

Most of current biped robots are active walking platforms. Though they have strong locomotion ability and good adaptability to environments, they have a lot of degrees of freedom (DoFs) and hence result in complex control and high energy consumption. On the other hand, passive or semi-passive walking robots require less DoFs and energy, but their walking capability and robustness are poor. To overcome these shortcomings, we have developed a novel active biped walking robot with only six DoFs. The robot is built with six 1-DoF joint modules and two wheels as the feet. It achieves locomotion in special gaits different from those of traditional biped robots. In this paper, this novel biped robot is introduced, four walking gaits are proposed, the criterion of stable walking is addressed and analyzed, and walking patterns and motion planning are presented. Experiments are carried out to verify the locomotion function, the effectiveness of the presented gaits and to illustrate the features of this novel biped robot. It has been shown that biped active walking may be achieved with only a few DoFs and simple kinematic configuration.

Quality control issues in 3D-printing manufacturing: a review

2018 ◽  
Vol 24 (3) ◽  
pp. 607-614 ◽  
Author(s):  
Hsin-Chieh Wu ◽  
Tin-Chih Toly Chen
Keyword(s):  
Quality Control ◽  
3D Printing ◽  
Control Charts ◽  
Product Life Cycle ◽  
Three Dimensional ◽  
Effect Analysis ◽  
Content Type ◽  
Printing Quality ◽  
3D Printed ◽  
And Control

Purpose This study aims to investigate issues of quality and quality control (QC) in three-dimensional (3D) printing by reviewing past work and current practices. Possible future developments are also discussed. Design/methodology/approach After a discussion of the major quality dimensions of 3D-printed objects, the applications of some QC techniques at various stages of the product life cycle (including product design, process planning, incoming QC, in-process QC and outgoing QC) are introduced. Findings The application of QC techniques to 3D printing is not uncommon. Some techniques (e.g. cause-and-effect analysis) have been applied extensively; others, such as design of experiments, have not been used accurately and completely and therefore cannot optimize quality. Taguchi’s method and control charts can enhance the quality of 3D-printed objects; however, these techniques require repetitive experimentation, which may not fit the work flow of 3D printing. Originality/value Because quality issues may discourage customers from buying 3D-printed products, enhancing 3D printing quality is imperative. In addition, 3D printing can be used to manufacture diverse products with a reduced investment in machines, tools, assembly and materials. Production economics issues can be addressed by successfully implementing QC.

Untethered Hovering Flapping Flight of a 3D-Printed Mechanical Insect

2011 ◽  
Vol 17 (2) ◽  
pp. 73-86 ◽  
Author(s):  
Charles Richter ◽  
Hod Lipson
Keyword(s):  
3D Printing ◽  
Insect Flight ◽  
Flapping Wing ◽  
Wing Design ◽  
Mechanical Parts ◽  
Design Cycle ◽  
3D Printed ◽  
Printed Materials ◽  
And Control ◽  
3D Printing Technique

This project focuses on developing a flapping-wing hovering insect using 3D-printed wings and mechanical parts. The use of 3D printing technology has greatly expanded the possibilities for wing design, allowing wing shapes to replicate those of real insects or virtually any other shape. It has also reduced the time of a wing design cycle to a matter of minutes. An ornithopter with a mass of 3.89 g has been constructed using the 3D printing technique and has demonstrated an 85-s passively stable untethered hovering flight. This flight exhibits the functional utility of printed materials for flapping-wing experimentation and ornithopter construction and for understanding the mechanical principles underlying insect flight and control.

scholarly journals Construction and Control of the Bipedal Walking Robot

2019 ◽  
Vol 252 ◽  
pp. 02009
Author(s):  
Patryk Nowak ◽  
Andrzej Milecki ◽  
Marcin Białek
Keyword(s):  
Lower Limbs ◽  
Bipedal Walking ◽  
Second Phase ◽  
Walking Robot ◽  
Current Position ◽  
Servo Drives ◽  
Simplified Algorithm ◽  
Robotic Leg ◽  
And Control ◽  
Design And Testing

This article describes the design and testing of a walking robot. In the first stage, the mechanical behaviour of human’s lower limbs during the walk was observed and described to acquire data for the development of a simplified algorithm to control the legs of a walking robot. The second phase was the designing stage of the bipedal walking. Each robotic leg was equipped with six servo-drives. A gyroscope module with an accelerometer was used to measure the current position of the robot’s structure in space. The controller of a walking robot was developed and programmed based on Arduino Mega. The control algorithm stabilises the robot in an upright position. Potentiometers placed in the axes enabled measurements of angular positions of individual servos during the movement and were used to control walking. The programming of the movement is done through a smartphone which communicates with the robot's main controller using Bluetooth. Finally, the article describes the testing of the developed bipedal walking robot, documenting satisfactory results in walking.

scholarly journals 3D Printing in Development of Nanomedicines

Nanomaterials ◽  
2021 ◽  
Vol 11 (2) ◽  
pp. 420 ◽  
Author(s):  
Keerti Jain ◽  
Rahul Shukla ◽  
Awesh Yadav ◽  
Rewati Raman Ujjwal ◽  
Swaran Jeet Singh Flora
Keyword(s):  
3D Printing ◽  
Biomedical Applications ◽  
Conventional Medicine ◽  
Three Dimensional ◽  
Polymeric Materials ◽  
Three Dimensional Printing ◽  
3D Printed ◽  
Manufacturing Techniques ◽  
The One ◽  
And Control

Three-dimensional (3D) printing is gaining numerous advances in manufacturing approaches both at macro- and nanoscales. Three-dimensional printing is being explored for various biomedical applications and fabrication of nanomedicines using additive manufacturing techniques, and shows promising potential in fulfilling the need for patient-centric personalized treatment. Initial reports attributed this to availability of novel natural biomaterials and precisely engineered polymeric materials, which could be fabricated into exclusive 3D printed nanomaterials for various biomedical applications as nanomedicines. Nanomedicine is defined as the application of nanotechnology in designing nanomaterials for different medicinal applications, including diagnosis, treatment, monitoring, prevention, and control of diseases. Nanomedicine is also showing great impact in the design and development of precision medicine. In contrast to the “one-size-fits-all” criterion of the conventional medicine system, personalized or precision medicines consider the differences in various traits, including pharmacokinetics and genetics of different patients, which have shown improved results over conventional treatment. In the last few years, much literature has been published on the application of 3D printing for the fabrication of nanomedicine. This article deals with progress made in the development and design of tailor-made nanomedicine using 3D printing technology.

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