Papers by Keyword: Manipulators

Abstract: Across land, sea and air, nature has inspired researchers in countless ways, showcasing unique approaches to enhance grasping and manipulation techniques within robotics. The Flora and Fauna have served as ideas for enhanced flexibility, bending, maneuverability and adaptability for various grippers and manipulators in recent times. This study intends to explore the various fabrication methods, material choices and actuation processes used for these bioinspired robotic structures, as well as highlight the different applications, advantages and challenges. As traditional robots lacked the ability to work in unstructured environments and handle delicate operations, this triggered the need for bioinspired design. Through this paper, we connect the principles from nature to engineering, identifying the gap to achieve more efficient, versatile and durable robotic manipulators.

Abstract: Lagrange equations of the second kind are used to describe the dynamics of three-link manipulator lever tunnel stacker. Relative angles of rotation of manipulators units chosen as the generalized coordinates. The problem of the direct dynamics of the manipulator is solved. Expressions control torques for the main types of motion manipulators is given. With an accuracy of 11 %, using the motion simulation built in SOLIDWORKS Motion trajectory. Conclusions are drawn about selected control laws allowing to minimize the working time spent on the installation of the lining elements.

Abstract: In this paper, we describe the development and validation of the kinematic analysis of a low low-cost 4-link robot the first of its kind in Nigeria. This study comprises the following key tasks which describe the methodology for the robot development: design and kinematic analysis of the robot mechanism, construction/fabrication and assembly of the robot, system development (computer interface with the robot) and experimental validation of the robot control. The goal of this robot is to pick an object and drop the object in a specified position. The algorithm to control the robot on the computer was coded in Java and simulated in MATLAB/Simulink platform. The robot was experimentally verified and the results are presented in this paper. The experimental results show that robot development is feasible in Nigeria. The contribution of this study will enhance and promote robot control and development in Nigeria and developing third world countries.

Abstract: With the progress of science and technology, people's desire to improve the work efficiency became stronger and stronger. The demand for applied robots is sharply growing. Compared with the traditional rigid robot, the flexible mechanical structure has the advantages of compact and maneuverable. Thusly, this paper follows the direction of low-cost flexible structure, came up with a four-wire flexible manipulator and completed the prototyping research. This manipulator consists of flexible picking paw, flexible picking arm and control system three mainly parts, can be used in various fields.

Abstract: The forearm is a typical ball and socket joint which have three degrees of freedom rotation. In this case the study of a 3-DOF manipulators is very interesting. In this paper, a novel manipulators based on 3-DOF orthogonal spherical parallel mechanism is proposed. Error analysis play an important role on the design and applications of the manipulators. The error model is derived in closed forms by using differential theory. Error evaluation index is defined. Terminal platform error distribution is analyzed and discussed in detail by using the error model technique. The analytic results indicate error value is smallest in initial position of the manipulators,the bigger value of error distributes in the workspace edge. So, this paper could provide a theoretical foundation for design and application of the manipulators.

Abstract: One of the predominant applications of the theories and principles of robotics is in industrial automation particularly in automotive manufacturing. This paper explores some mini-projects related to industrial automation that will help students and even robotics enthusiasts understand the kinematics of each manipulator. These projects can be as simple as following a straight line to as complex as adding machine vision and online intelligence to the robotics manipulator.

Abstract: In this paper an algebraic formulation is proposed for designing telescopic manipulators when workspace is prescribed in a suitable form. An algorithm has been outlined by using an algebraic formulation for the workspace boundary.