Articulated robot

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

Design and Control of 6-DOF Mechanism for Twin-Frame Mobile Robot

Abstract: A new lightweight six-legged robot that uses a simple mechanism and can move and work with high efficiency has been developed. This robot consists of two leg-bases with three legs each, and walks by moving each leg-base alternately. These leg-bases are connected to each other with a 6 degrees of freedom (DOF) mechanism. While designing this robot, the output force, velocity, and workspace of various connection mechanisms were compared, and the results showed that good performance could be achieved with a serial/parallel hybrid mechanism. The serial/parallel hybrid mechanism consists of three 6-DOF serially linked arms positioned with radial symmetry about the center of each leg-bases each leg-base is composed of two active and four passive joints. Walking experiments with this robot confirmed that this mechanism has satisfactory performance not only as a walking robot, but also as an active walking platform. Furthermore, in this robot, the entire leg-drive mechanism acts as a 6-axis force sensor, and individual sensors at the feet are not necessary. The forces and moments can be calculated from the changes in the joint angles. Experiments conducted verified that smooth contact with the ground by the swing-leg and successful switching from swing to support leg can be achieved using this force control and force measurement method.

Follow-the-Contact-Point gait control of centipede-like multi-legged robot to navigate and walk on uneven terrain

Abstract: This paper proposes a novel locomotion control scheme of centipede-like multi-legged robot, which is called Follow-the-Contact-Point (FCP) gait control. A centipede-like multi-legged robot is composed of segmented trunks which have a pair of legs and are connected with fore and/or rear ones by joints. This control scheme realizes locomotion control of multi-legged robot on uneven terrain with perfectly decentralized manner. The main concept of the control scheme is to relay the contact points from the fore leg to the rear leg. By creating contact points of the first legs adequately on the environment, the robot can climb over obstacles and be navigated successfully. Finally, the result of physical simulation of a 20-legged robot shows the availability of the proposed method.

Design and analysis of a 3-PPR planar robot with U-shape base

Abstract: In this paper, a planar 3-PPR parallel robot with a non-symmetrical base is proposed. The topology of base platform design is addressed for maximizing the robot's workspace. A robot with U-shape base is designed and analyzed. The new robot reveals some interesting features, such as decoupled degrees of freedom and large reachable and orientational workspace.

Intelligent feedforward control and payload estimation for a two-link robotic manipulator

Abstract: Conventional model-based computed torque control fails to produce a good trajectory tracking performance in the presence of payload uncertainty and modeling error. The challenge is to provide accurate dynamics information to the controller. A new control architecture that incorporates a neural-network, fuzzy logic and a simple proportional-derivative (PD) controller is proposed to control an articulated robot carrying a variable payload. An off-line trained feedforward (multilayer) neural network takes payload mass estimates from a fuzzy-logic mass estimator as one of the inputs to represent the inverse dynamics of the articulated robot. The effectiveness of the proposed architecture is demonstrated by experiment on a two-link planar manipulator with changing payload mass. Experimental results show that this control architecture achieves excellent tracking performance in the presence of payload uncertainty.

3D Printing Technology-based an Amphibious Spherical Robot

Abstract: It has long been recognized that the employment of underwater robots have important practical significance, which includes pipe survey, oceanic search, under-ice exploration, mine reconnaissance, dam inspection, ocean survey and so on. Owing to the limitation of underwater environment, some regular sized robots are not suitable for limited spaces. Thus some micro-robots appeared, while sacrificed important abilities such as locomotion velocity and enduring time to achieve compact sizes. Then a mother-son robot system was proposed in our previous researches, which included several micro-robots as sons and an amphibious spherical robot as the mother. The mother robot was adopted to make up for the shortages of micro- robots. This paper mainly focused on the structure and mechanism of the mother robot. The mother robot was designed with a spherical structure, which was composed of a fixed hemisphere hull and two operable quarter spherical hulls. It was actuated by four water-jet propellers and ten servomotors, capable of moving on land and in underwater environment. We developed a prototype and evaluated its walking and swimming motions in our previous experiments. Due to some problems in the process of assembly, the motion stability and reliability performed not so well. So, in this paper, we improved the structure and mechanism of the robot based on 3D Printing, which could eliminate some manufacture difficulties, shorten the production cycle, improve water-tightness, and enhance the robot's overall stability, compactness and aesthetics.