Articulated robot

About: Articulated robot is a research topic. Over the lifetime, 4364 publications have been published within this topic receiving 52442 citations.

Static performance improvement of an industrial robot by means of a cable-driven redundantly actuated system

Abstract: Every industrial robot has a specific kinematics, which often results in anisotropic performance within its workspace in terms of force and velocity. A cable-driven system can be used to improve the force manipulability of a robot by introducing an actuation redundancy. Such system acts directly on the robot end-effector increasing its flexibility of use in applications where a higher and more uniform force performance is required. This work is focused on high-thrust operations, for example robotic friction stir welding or incremental forming, realized by means of a highly anisotropic industrial robot.

Tea serving robot suspended from ceiling

Abstract: A suspended-from-ceiling type tea serving robot for household use is proposed in this paper. The duty of the tea serving robot is to serve a drink to a bedridden person. A bedridden person can order the robot to bring a cup of tea without hesitation, and therefore can avoid his dehydration. A hand of the robot is suspended from a ceiling, of a house, and driven three dimensionally in the orthogonal coordinates. No installing area is required to utilize the robot because of the suspended structure from a ceiling. The hand swings as a pendulum. A vibration reducing control is proposed to decrease the hand vibration. The swing of the hand is detected by a swing angular detection system. The tea serving experiments are carried out. The robot will be sure to carry the filled teacup without spilling out its contents.

Performance evaluation on land of an amphibious spherical mother robot in different terrains

Abstract: In recent years, a variety of underwater microrobots were applied widely to underwater operations in limited spaces. The robots had some limitations of locomotion velocity and enduring time because of their compact structures. For solving these problems, we proposed a mother-son robot cooperation system and designed a novel amphibious spherical robot as the mother robot to carry the microrobots as son robots for collaboration. The spherical mother robot consisted of a sealed hemispheroid, two openable quarter spherical shells, a plastic circular plate, a plastic shelf for carrying microrobots and four actuating units. Each unit was composed of a water jet propeller and two servo motors, each of which could rotate 90° in horizontal or vertical direction respectively. The robot could implement on-land locomotion, as well as underwater locomotion. In this paper, a prototype spherical mother robot was developed and three walking gaits, decided by the duty factory, were designed for the on-land motion of the robot. Then the walking experiments were carried out in different terrains for evaluating the performance of the robot. From the results, the robot has a higher walking performance on tile floor. Under a control frequency of 3.33 Hz in Gait 3, we got a maximal walking velocity of 22.5 cm/s. For climbing performance, Gait 2 has the best performance on a steep slope with the inclination angle of 8°.

Smooth control of an articulated mobile robot with switching constraints

Abstract: The paper describes a smooth controller of an articulated mobile robot with switching constraints. The use of switching constraints associated with grounded/lifted wheels is an effective method of controlling various motions; e.g. the avoidance of a moving obstacle. A model of an articulated mobile robot that has active and passive wheels and active joints with switching constraints is derived. A controller that accomplishes the trajectory tracking of the robot’s head and subtasks using smooth joint input is proposed on the basis of the model. Simulations and experiments are presented to show the effectiveness of the proposed controller.