Papers by Keyword: Robot

Abstract: Fiber-reinforced thermoplastics (FRTP) offer high strength-to-weight ratios as well as weldability and recyclability, making them attractive for lightweight applications. Conventional thermoforming of continuous FRTP, however, requires part-specific molds, limiting economic viability for prototypes, individual parts, and small series. This study investigates a robotic hot double-sided incremental forming (DSIF) process developed for dieless, flexible forming of continuous FRTP sheets together with metal dummy sheets. Five different generic demonstrator parts with varying wall angles, degrees of symmetry, forming depths, and sizes were formed to assess process capability. Results demonstrate that typical defects such as fabric wrinkling and deconsolidation can be successfully avoided, and that the geometric accuracy achievable is comparable to that of metal DSIF. Challenges exist in forming larger parts due to the failure of the employed metal dummy sheets.

Abstract: An information model of an ancient building in Odessa was built during its restoration with the calculation and strengthening of load-bearing structures. The Autodesk Revit complex was used to build the model. Visualization was performed in the Lumion program. The load-bearing capacity of reinforced concrete structures – lintels and floor slabs – was checked. A technical examination showed that the floor slabs had no damage and did not need reinforcement, so a model of the slab was built in ANSYS 21R2 and an analysis of its load-bearing capacity and deformability was performed using the finite element method, which showed that the stresses and deflections of the slab under operating loads are significantly less than the maximum values. And upon visual inspection of the jumpers, it turned out that some of them were damaged in the stretched area and needed reinforcement. This reinforcement was carried out with steel fiber reinforced concrete, having previously carried out laboratory experimental studies and computer modeling in Autodesk Robot Structural Analysis Professional.

Abstract: The development of arthropod-inspired robotic architecture, modeled after the limbs of insects and other animals, has enabled robots to behave more flexibly and adaptively in different environments. Among these designs, hexapod robots have gained significant attention due to their potential use in disaster rescue scenarios, providing vital support for lifesaving and damage control in emergency situations. This study addresses the numerical analysis of a hexapod robot specifically tailored for use in disaster areas, with a particular focus on the crucial aspect of material optimization. Hexapod robots, equipped with articulated legs that mimic insect-like movements, have shown remarkable success in exploration tasks, especially in navigating hard-to-reach places. The main body of the robot was designed using durable yet lightweight materials to optimize load-bearing capacity for the required equipment and rescue tools. A thorough static numerical analysis was performed to ensure the structural integrity and efficiency of the robot. Finite element simulation programs were used for the static numerical analysis, allowing evaluation of the stresses and deformations to which the robot would be subjected under various loading conditions. The selection of materials played a critical role in improving the robot's performance and survivability during disaster operations. Various materials, including composites and advanced alloys, were tested, and analyzed for their mechanical properties and suitability for harsh conditions. In particular, the resistance of the robot to the impact of a falling cubic reinforced concrete element was investigated by simulating a stone collapse. The results of this study shed light on the influence of materials on the robot's ability to cope with unpredictable and challenging scenarios, ultimately contributing to the development of more robust and reliable Hexapod robots for disaster operations. The results of this research contribute significantly to ongoing advances in robotics technology for disaster operations. By leveraging the unique characteristics of arthropod-inspired Hexapod robots and optimizing their material composition, this study highlights the potential of these mobile devices to revolutionize rescue operations in challenging and hazardous environments, ultimately saving lives and minimizing the impact of disasters.

Abstract: Lung cancer is the most common cancer globally with over 2 million new cases diagnosed every year. Fortunately, if caught early, the likelihood of survival is greatly improved. If diagnosed in Stage I, survival rates are >75% over 5 years, vs. just 1% if diagnosed in Stage IV. Early diagnosis requires finding and sampling (biopsy) small, peripheral nodules that are located in the parenchima of the lung and predominately outside small airways. Currently, for early diagnosis a bronchoscope is inserted into the lung airway but due to large size it cannot reach the small airways. Therefore, the doctor has to advance a sharp biopsy needle blindly from the tip of the bronchoscope and into the lung tissue in the approximate direction of the nodule. This blind procedure has low accuracy and carries a high risk of misdiagnosis. Currently, to improve the accuracy, real time x-ray (fluoroscopy) is use which causes exposure of the patient and physician to harmful radiation. Computer and image assisted surgery and medical robotics present viable solutions but are not optimal at present. The scope of our research was to develop a robotic solution for increased precision and accuracy of early diagnosis and treatment of lung cancer, to increase procedure success rate, decrease patient radiation and stress exposure, and reduce the procedure cost. For this purpose, we developed an advanced prototype of a robotic system which is small in size, easy to use and effective. To demonstrate its effectiveness in navigating to peripheral small size lung cancer lesions, we performed laboratory tests or a realistic lung airway model. The preliminary tests of a novel medical robot using a complex lung airway model proved that our catheter driving robotic system is working as designed and allows navigation, through a complex 3D channels structure like the bronchial tree, in both manipulator and robotic modes without fluoroscopy scanning. The robotic system is more precise and stable, and can avoid patient injury and instrument damage due to accidental impact with the airway wall. Because it could be controlled from a different room via the software platform, using this robotic system can drastically reduce radiation exposure of the patient and totally avoid the exposure of the doctor. Another benefit of the proposed robotic system is that it uses currently available catheters in which a reusable electromagnetic guide wire is temporarily inserted to guide the tip of the catheter towards hard to reach targets. After the target is confirmed, the sensor can be retracted and the catheter can be used for its routine function such as biopsy collection. Future development will include placement of a force sensor at the tip of the catheter to “feel” the wall and adapt the speed of insertion in order to avoid wall damage and an improved algorithm to increase the speed in the automatic mode.

Abstract: Automation plays a key role in the realisation of the Factory 4.0 and technological research, combined with the use of innovative materials, contributes to the improvement of products in terms of functional, technical and production quality. Within this context, the so-called Digital Twin allows to reproduce the real behaviour of a production system in a virtual environment, giving the possibility to numerically perform the desired analysis. Human-robot interaction (HRI) is increasing in those workplaces where the manual activity is not safe nor efficient in terms of performance (e.g. cycle time) and it is characterised by several levels of interaction (cooperation, collaboration and coexistence). The aim of this paper is to propose a numerical procedure that, based on the simulation, allows verifying the process feasibility, validating the interaction between human and robot and programming the logic controller to be implemented on the real robot. A case study about assembling of composite components of an aircraft fuselage panel is proposed. The use of the robot allows to speed up the processes of drilling and sealing, leaving to human less dangerous operations.

Abstract: Industrial robots are increasingly used to automate technological processes, such as machining, welding, paint coating, assembly, etc. Automation rationalizes material flows, integrates production facilities and reduces the need for manufacturing inventory, provides cost savings for human maintenance. Technology development and growing competition have an influence on production growth and increase of product quality, and thus the new possibilities in innovation of industrial robot are searched for. One of the possibilities is applying of an inertial navigation system into robot control. This article focuses on new trends in manufacturing technology: design of Inertial Measurement Unit (IMU) for a robotic application control. The Arduino platform is used for the IMU as a hardware solution. The advantage of this platform is low cost and wide range of sensors and devices that are compatible with this platform. For scanning, the MEMS sensor MPU6050 is used, which includes a 3-axis gyroscope and an accelerometer in one chip. New trends in manufacturing facilities, especially robotics innovation and automation, will enable the productivity to grow in production processes.

Abstract: Marinha Grande is a city in Leiria’s district, Portugal. Marinha Grande is known as the moulding city, influenced by the glass, plastic and rapid manufacturing industry. Its history comes from the 18th century with the first glass factory. In order to improve technological development in the local industry, Centre for rapid and sustainable product development (CDRsp) was established in 2007.With that historical know-how and data-based moulding manufacturing, this work goal is to link that data with today’s technology, implementing the Industry 4.0. That information would be stored in a Cloud-Based Design and Manufacturing (CBDM) as well as the real-time operational data. Accessing to that cloud, the design and production engineers can work together to digitally create a product without having to stop the machinery.To implement these concepts, this paper suggests a Digital Twin (DT) to take advantage of the historical information allied to the existent industrial machinery. It suggests a digital twin of a robotic arm with an additive or hybrid manufacturing tool, printing big parts (e.g. garden benches or urban furniture) with reused materials such as tire, cork, wood or stone pow loads.

Abstract: Measurement strategies for testing fuel tank corrosion using the ultrasonic Phased Array technology, these have been developed by companies producing ultrasonic measuring instruments, are only applied when performing manual measurement. Therefore, the applying of these measurement strategies for self-propelled robot carrying ultrasonic transducers to automate the testing process have not met the demand. This article presents the results of a study to develop a measurement strategy for testing fuel tank corrosion based on the specification of the self-propelled robot, the ability to build a corrosion map from collected image data by robot. Experimental results show that, with the three proposed measurement strategies using robot, the measurement strategy for moving the robot from bottom to top up will have the shortest testing time, image data are next and data coupling to build a corrosion map is easy. In addition, the process of building a corrosion map can be automatically performed on the computer, making the assessment process more convenient, accurate and faster.

Abstract: This article presents the possibilities of education of teachers in secondary vocational schools in the field of robotics. It is possible to use the assembly cell with SCARA robot, which is provided with a visual recognition system components. The second option consists of the use of virtual laboratory. Virtual laboratory enabling projects to work with robots, NC machines, conveyors and other types of objects. The solution is a system for recording special marks under which a computer generates the appropriate object.

Abstract: Among the problems of major concern faced by the geriatric community the fore most is considered to be: “as we grow older it gets difficult to walk”. As they lose their strength to withstand their weight they become weak to walk on their own. Through this project a design is proposed for an assistive modular lower limb exoskeleton robot to enable aged people to walk on their own. The design is mainly based on the amplification of the pressure applied on the thighs and ankles of the legs and these pressures are used to move the legs of the robot which support the legs of the user. Since the user is capable of generating a minimum pressure on their own the working of the gait pattern is mainly based on the movement of knee and ankle, and so only the knee and the ankle are considered in this design. Another reason is that the major weight of the body acts on the knee and the foot while walking. The working of the robot is mainly based on the layered control algorithm embedded on the microcontroller acting through the sensors and actuators. Pressure sensors are used to measure the applied pressure and electrical actuators are used due to their lesser weight. Based on the experimental results obtained with the working robot the design would be fine-tuned for optimized performance.