Articulated robot

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

Universal construction robotics interface

Abstract: A method and a system of integrating anew robot into a work environment are provided. A controller receives a signal indicating a presence of a new robot in the work environment. The controller then establishes a negotiation channel between the controller and the new robot and begins to negotiate with the new robot a set of robotic functions controllable by the controller. Based on a comparison between a set of function attributes the new robot and interface attributes of the controller, the controller generates a new robot user interface for controlling the set of robotic functions of the new robot.

S-Surge: Novel Portable Surgical Robot with Multiaxis Force-Sensing Capability for Minimally Invasive Surgery

Abstract: To achieve a compact and lightweight surgical robot with force-sensing capability, in this paper, we propose a surgical robot called “S-surge,” which is developed for robot-assisted minimally invasive surgery, focusing mainly on its mechanical design and force-sensing system. The robot consists of a 4-degree-of-freedom (DOF) surgical instrument and a 3-DOF remote center-of-motion manipulator. The manipulator is designed by adopting a double-parallelogram mechanism and spherical parallel mechanism to provide advantages such as compactness, simplicity, improved accuracy, and high stiffness. Kinematic analysis was performed in order to optimize workspace. The surgical instrument enables multiaxis force sensing including a three-axis pulling force and single-axis grasping force. In this study, it will be verified that it is feasible to carry the entire robot around thanks to its light weight (4.7 kg); therefore, allowing the robot to be applicable for telesurgery in remote areas. Finally, it will be explained how we experimented with the performance of the robot and conducted tissue manipulating task using the motion and force sensing capability of the robot in a simulated surgical setting.

Robot interaction system

Abstract: In the case of a robot interaction system comprising a robot (1) having a robot controller with types of operation and operating modes which influence an associated man-robot interface, the aim is to provide a solution which allows flexible matching of a robot or robot system to different degrees of a man-robot interaction. This is achieved in that the robot controller is equipped with types of operation and operating modes which influence an associated man-robot interface and are designed to be matched and/or to be capable of being matched to different automation degrees of the robot (1) and/or to different time and/or physical positions of the man and robot as interaction partners in a working area.

A robot assistant for unscrewing in hybrid human-robot disassembly

Abstract: The disassembly of end-of-life products has thus far seen minimal industrial application of robotics, aside from manufacturers initiatives to refurbish their own products. Conventional robotics in manufacturing lacks the flexibility to deal with the expected small lot sizes, product deviations and failed operations due to product damage. Disassembly systems not owned by manufacturers need to be readily adaptable to new designs on the market without access to the manufacturers' product information. We present a concept and initial investigations regarding a hybrid disassembly work station with a compliant robot for the task of unscrewing. A novel design for a bit-changing mechanism without external actuation allows the robot to use commonly-available socket wrench bits. The simplicity and easy extensibility of the tooling, an independence from vision systems, and the ability to intuitively teach the robot new positions for the application of skills, opens a potential for a future robot assistant that is easily reconfigured and can be integrated into manual disassembly facilities with minimal additional requirements for skilled labour.

The dexterity and singularities of an underactuated robot

Abstract: Underactuated robots are robotic systems with more joints than actuators. A robot may be underactuated by design as in the case of a hyper-redundant robot with passive joints or may become underactuated as a result of an actuator failure. In this article, we examine the dexterity of underactuated robots whose passive joints operate in either a locked or free-swinging mode. The ability to an analyze the dexterity of an underactuated robot has important applications especially for the control of passive joints with brakes and for the fault tolerance analysis of an otherwise fully actuated kinematically redundant robot. The approach applied here is to use kinematics and dynamics-based formulations of manipulator dexterity. We then characterize passive-joint singularities, i.e., configurations where full end-effector control is lost because one or more joints are passive instead of active. Lastly, we introduce a new characterization of joint-limit singularities, which are configurations where full end-effector control cannot be achieved because one or more joints are at their joint limits. © 2001 John Wiley & Sons, Inc.