Papers by Keyword: Manipulator

Abstract: The paper presents a general view on the evolution of the endoscopic instrumentation as manipulators of the urinary tract. Afterwards in the years 1990s the flexible endoscopes have found their way into the bladder, ureter and kidney, revolutionizing endoscopy in urology. The urologists continue to adapt the rigid and flexible cystoscopes to modify old procedures and innovate new ones so that little or no postoperative hospitalization is required. Standard rigid cystoscopy is generally performed with the patient in the lithotomy position. A large variety of flexible and semi-rigid graspers and biopsy forceps are also available for use through the standard working post of the modern-day cystoscope. Additionally, the laser fibers can be used through a standard cystoscope. Alternatively, the instruments such as the rigid biopsy forceps and graspers are structurally incorporated into the bridge. The development of extracorporeal shock wave lithotripsy (ESWL) and the ureteroscopy revolutionized the treatment of ureteral calculi.

Abstract: In this paper a modal and dynamic analysis of a snake like robot is performed. Modal analysis consist in determination of own vibration modes and natural frequencies. The proposed dynamic analysis was performed in order to determine the variation time/frequency laws for the cinematic and dynamics parameters.

Abstract: Previous researches have confirmed that MCF (magnetic compound fluid) slurry shows outstanding performance in the nanoprecision polishing of flat surfaces and V-grooves. However, no investigations have been conducted on the polishing of aspheric surfaces using MCF slurry. In this work, a novel method employing a doughnut-shaped MCF polishing tool and a 6-DOF manipulator has been proposed for the aspheric surface polishing. The time consumption for forming stable polishing tool and its final appearance are investigated. Flat aluminum alloy workpieces that can be considered as a kind of aspheric elements with infinite curve radius were adopted in the investigation of the polished forces under variable parameters. As a typical experimental result, with MCF3 slurry, 2.5ml volume of supplied slurry and work gap 3.5 mm, the surface roughness Ra decreases from 125nm to almost 10nm after 90 min polishing, confirming that the proposed method has the potential to polish aspheric surfaces.

Abstract: The concept of parallel manipulator is becoming more popular in modern manufacturing processes due to its various inherent advantages like rigidity, less inertia and accuracy. This project focuses on modeling, simulation and dynamic analysis of inverted tripod parallel manipulator which has three degree of freedom (1 transverse in z axis and rotation motion in x and y axis). The Stewart Gough parallel manipulator consists of moving platform connected to fixed platform with six links (6 Degree of Freedom).This inverted tripod parallel manipulator consists of movable platform connected to the fixed platform with only three links so it has better rigidity compared to Stewart Gough platform. The Stewart Gough parallel manipulator is considered to be highly stable because moving platform size is smaller than the fixed platform. Inverted type parallel manipulator consists of moving platform bigger than the fixed platform. So to improve the stiffness and precision ball screw is used for the support of links. The design of parallel manipulator is done considering rigidity, strength and efficiency of the system. The modeling of the tripod manipulator is done using PRO-E software. Kinematic analysis has been carried out and the stiffness analysis will be done by using ANSYS and ADAMS software.

Abstract: In this paper we propose the gripper handle real-time based embedded system for operating robot manipulator. The general gripper has only a simple function and has also I/O module. Thus general gripper and position based robot controller combination is not suitable for precision process operation, IT assembly process. In order to give various functions and intelligence to the gripper, it is necessary to have an embedded controller that real-time guarantees. The proposed embedded system have five component that handle the pose of the gripper, measure the pose and translation of gripper, motoring the gripping tip, operate the stiffness of the gripper and communicate with Ethernet interface to the external robot controller. The external robot interface parts are supported to communicate with various external robot maker, KUKA, DENSO, ROBOSTAR etc. The validation and functional ability is tested on the LAB environment.

Abstract: The current study reveals a method of cinematic calculus of a manipulator, whose geometry has been created according to the model of a plant. The calculus method has been experimentally checked on a scale model.

Abstract: There are often designed such constructional elements in the engineering practice that are specified for sensing of operational loading and for a precise setting of the individual components in the given technical device, for example components of a robot arm. Positioning of the robot arms is regulated by means of power output setting (or torque setting) of the driving parts (motors) predominately. Driving effect is transferred between the individual components by means of the connecting parts designed for transfer of force flow. There is described in this paper such design of modification for constructional element of the robot arm, which enables to perform measuring of torque in the joining parts of the robot arm during a current operation.

Abstract: This paper describes the system of telecontrol with two manipulators, that allows to grasp synchronously the object, position and orientation of which is determined by the vision system. The proposed algorithm of the computing system forms the control signals for all drives of manipulators. The simulation results confirm the efficiency of this algorithm and the overall system.

Abstract: Security systems employ the RFID method to protect objects and data and to ensure public safety and the safety of commercial activity, e.g. through the control over technological processes. The research activity aimed at improving the level of safety of electronic and technical protection needs to be verified through the manufacture of prototype IDs with RFID inlays.The authors presents an original experimental device enabling the implementation of individual chips in RFID inlays, which were made on a flexible base to which an RFID antenna is attached. The collection of the chip from the dispenser and an unambiguous orientation of the soldered tips in relation to the antenna are provided by a four-axis vacuum manipulator cooperating with a vision system identifying the location of the chip on the manipulator and its final application area. A computer control system enables the operation in two modes, i.e. a semi-automatic mode in which it is possible to manually control the order and the way in which individual tasks are performed, and an automatic mode conducted according to the designed algorithm. The developed device is intended for research on the ways to improve the manufacturing techniques and electronic document protection by means of RFID technologies.

Abstract: This paper use the laser sensor to primary mapping the position of the artifacts. Then manipulator carry through accurately positioning on the artifacts by machine vision. Then the manipulator accurately capture the artifact by adjust error automatically. By using laser sensor and machine vision, the robot on industrial production line can more accurately positioning fetching artifacts and the requirements of industrial production line for precise localization of robot.