Articulated robot

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

Obstacle Performance Analysis of Mine Research Robot Based on Terramechanics

Abstract: A tracked robot is designed for mine research and rescue. The robot is introduced from mechanism, hardware system to software system. As an outdoor all-terrain research and rescue robot, it should have some special designs, such as reconfigurable structure, suspension system and anti-explosive and waterproof. Two pairs of swing arms are equipped in the front and the rear of the robot. Their motions improve robot's obstacle performance. The sensors equipped on the robot consist of CCD cameras, CO, CH4, temperature and air speed. Because the robot runs in a destroyed mine, the common methods of obstacle performance analysis do not fit the robot in this unstructured environment. The gravity center of robot and the type of terrain play a very important role in the obstacle performance analysis, so the effect of CG position is discussed, and the interaction between robot and terrain are analyzed based on terramechanics. These results are valuable to design and control the robot.

Articulated body mobile robot

Abstract: 多関節構造からなる新しい移動ロボットの提案を行う.提案する形態は車や無限軌道車, 脚方式と並んで移動ロボットを構成する基本形態の一つであり, 特に移動ロボットが狭い空間を多量の物資を積載して移動しなければならない場合に有効である.実際に全6節, 16自由度, 全長1, 391mm, 全重量27.8kgの機械モデルKR-Iを試作し, その駆動制御実験により提案する移動ロボットがある程度の高速移動性と対地適応性を有することを示す.

Design and implementation of a low cost 3D printed humanoid robotic platform

Abstract: Humanoid robot with dual manipulators and dexterous hands shows great significance in domestic, medical and service applications. They can provide companion, operation, manipulation, material handling and many other services to human beings. However, current humanoid robots are either too expansive or too clumsy. There is a trade-off between robot flexibility and costs. It is a huge obstacle blocking the road of humanoid robot toward our daily life. In this paper, the design and implementation of a low cost dual wheel and dual arm humanoid robotic platform is introduced. The robot is based on the open source 3D printed humanoid robot “InMoov”. To fully explore the potential of “InMoov”, we redesigned its electrical system based on the developed Embedded Controller, and equipped it with a Mini PC and a touch screen for human-robot interaction. By using the 485 bus and modbus protocol, the wiring complexity is greatly decreased. A differential drive mobile platform is integrated to enable the robot with mobility and furthermore, a data glove system is also designed to explore a new type of robot programming technology. Robot Operating System(ROS) is used to realize the robot control and human-robot interaction. Comparing to the existing humanoid robots, the developed humanoid robotic platform is low cost but has fully functionality.

Development of a climbing robot with vacuum attachment cups

Abstract: The problem of a wall-climbing robot is holding on the wall. There are many factors, which effect in holding, all forces, robot movement and mechanical design. In this paper an autonomous mobile robot, which moves on horizontal and vertical surfaces using an electro- pneumatically vacuum cups attachment system is presented. The original robot construction, developed as a cleaning robot, includes two triangular platforms that provide a light weight. The system modelling and simulation were performed by means of SolidWorks - Cosmos Motion software package. The robot driving is ensured by a comand system developed using LabView software facilities.

A Novel Reconfiguration Strategy of a Delta-Type Parallel Manipulator

Abstract: This work introduces a novel reconfiguration strategy for a Delta-type parallel robot. The robot at hand, whose patent is pending, is equipped with an intermediate mechanism that allows for modifying the operational Cartesian workspace. Furthermore, singularities of the robot may be ameliorated owing to the inherent kinematic redundancy introduced by four actuable kinematic joints. The velocity and acceleration analyses of the parallel manipulator are carried out by resorting to reciprocal-screw theory. Finally, the manipulability of the new robot is investigated based on the computation of the condition number associated with the active Jacobian matrix, a well-known procedure. The results obtained show improved performance of the robot introduced when compared with results generated for another Delta-type robot.