Papers by Keyword: Robot Arm

Abstract: In this article, the training parameters of cascade classifiers for specific targets (such as human faces and palms) are obtained by using the program training function provided by OpenCV and adjusting parameters such as the number of positive and negative samples and ratios to achieve better recognition results. Finally, the aiming and locking system for specific targets is constructed by combining recognition, algorithm, and robot control capabilities.

Abstract: Robotics has lots of use in the industrial world and has lots of development since the industrial revolution, due to its qualities of high precision and accuracy. This paper is designed to display the qualities in a form of a writing robot. The aim of this study is to construct the system based on data gathered and to develop the control system based on the model. There are four aspects studied for this project, namely image processing, character recognition, image properties extraction and inverse kinematics. This paper served as discussion in modelling the robotic arm used for writing robot and generating theta for end effector position. Training data are generated through meshgrid, which is the fed through anfis.

Abstract: Modern industrial robots are designed according to the principal design rules to construct light and stiff. When the controllers are used in industrial robots, the problem arises due to the repetitive motion and technical aspects of the controller. In this work, we proposed an alternative electronics controller design for the robotic arm in order to withstand various load conditions. The PIC controller is used to control the robot motion and to reduce time delay of motion and to analyze the performance of the prototype on various load conditions. In this paper, a robotic arm that serves as a tool to lift an object from one place to another where it can be widely used in factory is developed. The main focus of this work is to design, develop and to implement robot arm with enhanced control with stumpy cost. The proposed system is actuated by 3 DC motors and the motion of the robot arm is controlled by PIC micro controller. The robot arm is designed with two degree of freedom and talented to accomplish accurately simple tasks, such as light material handling, which will be integrated into a mobile platform that serves as an assistant for industrial work force. The designed arm lifts up to 2 kg object.

Abstract: The paper brings into attention the dynamic analysis of a bi-mobile mechanism selected from the literature and used for the leg of a mobile platform. Two solutions of bi-mobile mechanical systems applied in such purpose are found. In the classic theory of mechanisms the dynamic models for the mono-mobile mechanisms are known. Through the motion equation these put into evidence the variation of the reduced moment or reduced force applied to the input link for an entire cycle in the permanent regime functioning of the mechanism. In the case of the leg bi-mobile mechanism the approached dynamic model is based on the bi-mobile RTRTR active group firstly applied for a real technique solution in robotics. The mechanism may be also used for robot arms.

Abstract: Robotic arm with six degrees of freedom can be successfully used to do a surgical task through a small incision called (RCM point) on the patient's body. Inverse Kinematics modeling and simulating of a 6 DOF surgical robot is developed in this paper. The mathematical model equations are built using geometric approach and the Denavit-Hartenberg convention. The 3D model of the robot is created by CATIA5 to simulate the motion of the robot in surgical environments. The inverse kinematics equations model is validated through the simulating model. Result confirms that the proposed robot mechanism is applicable for minimally invasive surgery applications.

Abstract: Current packaging robots cannot achieve the required speed due to the use of heavy parts. Magnesium alloys with appropriate surface treatment may be used to replace the traditional steel or aluminum parts and therefore to reduce robot arm weight. In this work, different prototype designs were made to examine the feasibility of the application of light alloys for robot arm, in comparison to conventional materials. Finite element modelling (FEM) studies were performed for structural analysis. The results demonstrated that magnesium alloys has advantages over steel or aluminum alloys in terms of the ratio of modulus over density, and the stress and elastic deformation experienced during operation due to arm weight.

Abstract: The solution selection problem of inverse kinematics for a mechanical arm is an important factor affecting the robot end effector positioning. This paper takes a real robotic arm of four degrees of freedom grasping the target object as the research background and studies the multi-solution problem of the inverse kinematics. Firstly, the paper establishes the kinematics model of the mechanical arm and solved the inverse kinematics equation by multiplying by the inverse of the coordinate transformation matrix on both sides. Secondly, the paper presents an optimization method based on joint minimization aiming at the multi-solution problem, and deals with the singularity of the mechanical arm by using the method of setting threshold in the process of operation, which can get the optimal solution without suffering singularity problems. Finally, the simulation and experiment results show that the joint angle of the mechanical arm changes smoothly during the operation process and singular points do not occur, verifying the effectiveness of the processing method.

Abstract: Forward Kinematic simulation of a 6 DOF surgical robot tracking a path through the constraint of the Remote Center of Motion point (RCM) is developed in this paper. Theoretical calculations of the forward kinematics are analyzed by solving the configuration kinematic equations of the robot. CAD prototype of the surgical robot and the patient are created using CATIA5 part and assembly tools. The theoretical results are validated through a Kinematic simulation of CATIA kinematics. The simulation results confirm the usefulness of the six revolute joint robots in minimally invasive surgery (MIS) and the efficiency of using the power full CATIA5 software to simulate surgical robot, and checking the robot mechanism capability of doing surgical procedures.

Abstract: The paper deals with the problem of suppressing vibration of the arm of Motoman SSF200 robot within the frame of the technological process. Based on an overview of literature, a semi-active vibration control system was selected and a double ended magnetorheological damper (MR) was designed. After testing the acceleration of the robot arm in milling operation without the MR damper, the device was employed and the acceleration of the robot arm in four operation modes was experimentally tested.The conducted research has proved that the double ended MR damper can be practically applied for suppressing the vibration of the robot arm. The higher power to the electromagnet of the MR damper is exposed, the better vibration suppression is. This means that by changing the strength of current, the technological process of the robot arm is under control. Thus, control over the technological process is simplified when the physical characteristics of the milled material, milled tool or operation vary.

Abstract: In this paper, the maintenance manipulator of charged robot is discussed as the main research object. It analyzes the characteristics of the main structure and movement form of the charged robot maintenance manipulator. The analysis of working process and control requirements is made for manipulator. A control system which uses the Siemens S7-200 as the core, is designed to achieve the remote operation and control of manipulator. This article discusses the components of the system and how the electronic control system achievesthe control of each joint with PLC controller as the core.