Bibliografie tematiche / Pneumatic robotic manipulator

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Letteratura scientifica selezionata sul tema "Pneumatic robotic manipulator"

Autore: Grafiati

Pubblicato: 4 giugno 2021

Ultima modifica: 1 febbraio 2022

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Articoli di riviste sul tema "Pneumatic robotic manipulator"

Wang, Yaxi, e Qingsong Xu. "Design and Fabrication of a New Dual-Arm Soft Robotic Manipulator". Actuators 8, n. 1 (4 gennaio 2019): 5. http://dx.doi.org/10.3390/act8010005.

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This paper presents the design and implementation of a dual-arm soft robotic manipulator. It consists of two soft manipulators, which are driven by pneumatic actuators. Each soft manipulator is composed of three soft modules, and each module includes three evenly distributed cavities inside. The flexible bending deformation of the soft module is produced by regulating the air pressure and changing the applying sequence to the cavities. The design and fabrication of the manipulator are presented in detail. The cooperation of the dual-arm soft robotic manipulator is implemented by adopting visual servo control. Experimental testing was carried out to demonstrate the manipulator performance. Unlike a single-arm manipulator, the robotic manipulator with dual arms features high flexibility, adaptability, and safety. The feasibility of the proposed dual-arm soft robotic manipulator is demonstrated by executing assembly tasks.

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Paoletti, P., G. W. Jones e L. Mahadevan. "Grasping with a soft glove: intrinsic impedance control in pneumatic actuators". Journal of The Royal Society Interface 14, n. 128 (marzo 2017): 20160867. http://dx.doi.org/10.1098/rsif.2016.0867.

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The interaction of a robotic manipulator with unknown soft objects represents a significant challenge for traditional robotic platforms because of the difficulty in controlling the grasping force between a soft object and a stiff manipulator. Soft robotic actuators inspired by elephant trunks, octopus limbs and muscular hydrostats are suggestive of ways to overcome this fundamental difficulty. In particular, the large intrinsic compliance of soft manipulators such as ‘pneu-nets’—pneumatically actuated elastomeric structures—makes them ideal for applications that require interactions with an uncertain mechanical and geometrical environment. Using a simple theoretical model, we show how the geometric and material nonlinearities inherent in the passive mechanical response of such devices can be used to grasp soft objects using force control, and stiff objects using position control, without any need for active sensing or feedback control. Our study is suggestive of a general principle for designing actuators with autonomous intrinsic impedance control.

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Tadano, Kotaro, Kenji Kawashima, Kazuyuki Kojima e Naofumi Tanaka. "Development of a Pneumatic Surgical Manipulator IBIS IV". Journal of Robotics and Mechatronics 22, n. 2 (20 aprile 2010): 179–88. http://dx.doi.org/10.20965/jrm.2010.p0179.

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In teleoperated, minimally invasive surgery systems, the measurement and conveyance of a sense of force to the operator is problematic. In order to carry out safer and more precise operations using robotic manipulators, force measurement and operator feedback are very important factors. We previously proposed a pneumatic surgical manipulator that is capable of estimating external force without the use of force sensors. However, the force estimation had a sensitivity of only 3 N because of inertia and friction effects. In this paper, we develop a new and improved model of the pneumatic surgical manipulator, IBIS IV. We evaluate its performance in terms of force estimation. The experimental results indicate that IBIS IV estimates external forces with a sensitivity of 1.0 N. We also conduct an in-vivo experiment and confirm the effectiveness and improvement of the manipulator.

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Lovekin, D., G. R. Heppler e J. McPhee. "DESIGN AND ANALYSIS OF A FACILITY FOR FREE – FLOATING FLEXIBLE ROBOTIC MANIPULATORS". Transactions of the Canadian Society for Mechanical Engineering 24, n. 2 (giugno 2000): 375–90. http://dx.doi.org/10.1139/tcsme-2000-0030.

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The development of the Waterloo Flexible Link Experimental (WATFLEX) facility was initiated at the University of Waterloo to provide resources for conducting experiments involving the dynamics and control of flexible robotic manipulators – specifically, two dimensional dynamic mass capture, impact dynamics and vibration suppression. The system consists of a number of different subsystems including the robotic manipulator, motion and deflection sensors, the digital controller, the data acquisition system, and the pneumatic system that floats the manipulator on a support structure. In this paper, the design and current status of each of these subsystems is described. Experimental analysis results of the support table, the data acquisition system, and some analog sensors are presented and analyzed.

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Alexsander, Gmiterko, Miková Ľubica e Prada Erik. "ANALYSIS OF AIR-SPRING FOR A LINK OF HYPER-REDUNDANT MANIPULATOR". TECHNICAL SCIENCES AND TECHNOLOG IES, n. 4 (14) (2018): 66–77. http://dx.doi.org/10.25140/2411-5363-2018-4(14)-66-77.

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Urgency of the research. This research paper deals with a designing and analyzing of link for hyper-redundant manipulator/mechanism. The paper investigates 6-DOF manipulator link, consisting of pneumatic as well as electromagnetic actuators. A motion of upper platform of the link is reached by pneumatic actuators, namely air-springs. The main focus of this research is analysis of air-spring and its properties. From this reason FEM analysis is done in software SolidWorks. In the conclusion the results are discussed. Pneumatic actuators can play interesting role in order to be possible to change the mechanical properties of the manipulators. Target setting. Analysis of air-spring actuator for hyper-redundant manipulator. Actual scientific researches and issues analysis. Most of robotic arms consist of electrical actuators. Using pneumatic actuators the manipulator gets new properties like changing stiffness. Uninvestigated parts of general matters defining. Air-springs are still in the process of investigation from the view of mechanisms actuator. The research objective. In the paper simulations and analysis of the air-spring are done. The statement of basic materials. This paper investigates the area of modeling in software SolidWorks. At first CAD model of new segment for hyperredundant manipulator is introduced and its basic parts are described. Then, in the preprocessing phase, the detailed steps of its setup SolidWorks computation core were described. The second half of the article is to focus on the calculation and assessment of simulation results. Conclusions. The paper introduces new kind of manipulator link. The link is analyzed and tested by simulation.

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Porsch, Marcia Regina Maboni Hoppen, Luiz Antonio Rasia, Nelson José Thesing, Patricia Carolina Pedrali e Antonio Carlos Valdiero. "Low Cost Robotic Manipulator for Family Agriculture". Journal of Agricultural Studies 7, n. 2 (28 settembre 2019): 225. http://dx.doi.org/10.5296/jas.v7i4.15369.

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This article introduces or designs and practices a Gantry pneumatic robotic manipulator for greenhouse automation. The prototype was built on the reduced model for sowing and harvesting vegetables using the familiar concept of agriculture. Low-cost robotic handlers can contribute to improved working conditions in family farming and enable strategies to diversify agricultural activities for low-income families. The system has two degrees of freedom, was mounted on a metal workbench using cylinders and specially manufactured guided cable actuator. The control system includes nonlinear compensations of the servo valves used. Functional tests used step input electrical signals (-4 V to +4 V and -8 V to +8 V) using open loop circuit for robot pressure and positioning control. The results obtained are important for perfecting the robotic manipulator for family farming applications.

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Prada, Erik, Ivan Virgala, Grzegorz Granosik, Alexander Gmiterko e Štefan Mrkva. "Simulation Analysis of Pneumatic Rubber Bellows for Segment of Hyper-Redundant Robotic Mechanism". Applied Mechanics and Materials 611 (agosto 2014): 10–21. http://dx.doi.org/10.4028/www.scientific.net/amm.611.10.

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Abstract (sommario):

The paper deals with a design and simulations of segment for hyper-redundant manipulator. In the paper 6-DOF manipulator segment, which consists of pneumatic and electromagnetic actuators, is designed. CAD model of the segment is introduced and basic parts are described. The basic motion is reached by pneumatic actuator which works through the rubber bellows and it utilizes their expansion properties. Main focus of the study besides segment design is analysis of rubber bellows. From this reason FEM analysis is done in software SolidWorks. In the conclusion the results are discussed.

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Chung, Jae H., e Changhoon Kim. "Modeling and control of a new robotic deburring system". Robotica 24, n. 2 (31 ottobre 2005): 229–37. http://dx.doi.org/10.1017/s0263574705002067.

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This paper discusses the modeling and control of a robotic manipulator with a new deburring tool, which integrates two pneumatic actuators to take advantage of a double cutting action. A coordination control method is developed by decomposing the robotic deburring system into two subsystems; the arm and the deburring tool. A decentralized control approach is pursued, in which suitable controllers were designed for the two subsystems in the coordination scheme. In simulation, three different tool configurations are considered: rigid, single pneumatic and integrated pneumatic tools. A comparative study is performed to investigate the deburring performance of the deburring arm with the different tools. Simulation results show that the developed robotic deburring system significantly improves the accuracy of the deburring operation.

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Kim, Changhoon, e Jae H. Chung. "Modeling and Control of a New Robotic Deburring System". Journal of Manufacturing Science and Engineering 129, n. 5 (23 febbraio 2007): 965–72. http://dx.doi.org/10.1115/1.2738514.

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This paper discusses the modeling and control of a robotic manipulator with a new deburring tool, which integrates two pneumatic actuators to take advantage of a double cutting action. A coordination control method was developed by decomposing the robotic deburring system into two subsystems: the arm and the deburring tool. A decentralized control approach was pursued in which suitable controllers were designed for the two subsystems in the coordination scheme. Robust feedback linearization was utilized to minimize the undesirable effect of external disturbances, such as static and Coulomb friction and nonlinear compliance of the pneumatic cylinder stemming from the compressibility of air. The developed coordination control method demonstrated its efficacy in terms of deburring accuracy and speed. Simulation results show that the developed robotic deburring system significantly improves the accuracy of the deburring operation.

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Guschin, Ivan, Anton Leschinskiy, Andrey Zhukov, Alexander Zarukin, Vyacheslav Kiryukhin, Vladimir Levschanov, Victor Prikhod'ko et al. "Radiation-tolerant robotic complex URS-2". Robotics and Technical Cybernetics 9, n. 2 (30 giugno 2021): 142–50. http://dx.doi.org/10.31776/rtcj.9209.

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The results of the development of a radiation-tolerant robotic complex URS-2 for operation in hot cells at nuclear enterprises are presented. The robotic complex consists of several original components: robotic arm, control device with force feedback, control panel with hardware buttons and touch screen, control computer with system and application software, control-and-power cabinet. The robotic manipulator has 6 degrees of freedom, replaceable pneumatic grippers and is characterized by high radiation tolerance, similar to that of mechanical master-slave manipulators. The original design of the control device based on the delta-robot model that implements a copying mode of manual control of the robotic complex with force feedback is presented. The hardware and software solutions developed has made it possible to create a virtual simulator of the RTC for testing innovative methods of remote control of the robot, as well as teaching operators to perform technological tasks in hot cells. The experimental model of the robotic complex has demonstrated the ability to perform basic technological tasks in a demo hot cell, both in manual and automatic modes.

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Più fonti

Tesi sul tema "Pneumatic robotic manipulator"

Lee, Kam-fat Jonathan. "Design and control of a robotic manipulator with an active pneumatic balancing system /". [Hong Kong] : University of Hong Kong, 1992. http://sunzi.lib.hku.hk/hkuto/record.jsp?B13194367.

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李錦發 e Kam-fat Jonathan Lee. "Design and control of a robotic manipulator with an active pneumatic balancing system". Thesis, The University of Hong Kong (Pokfulam, Hong Kong), 1992. http://hub.hku.hk/bib/B31210429.

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Yang, Hee Doo. "Design, Manufacturing, and Control of Soft and Soft/Rigid Hybrid Pneumatic Robotic Systems". Diss., Virginia Tech, 2019. http://hdl.handle.net/10919/100635.

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Abstract (sommario):

Soft robotic systems have recently been considered as a new approach that is in principle better suited for tasks where safety and adaptability are important. That is because soft materials are inherently compliant and resilient in the event of collisions. They are also lightweight and can be low-cost; in general, soft robots have the potential to achieve many tasks that were not previously possible with traditional robotic systems. In this paper, we propose a new manufacturing process for creating multi-chambered pneumatic actuators and robots. We focus on using fabric as the primary structural material, but plastic films can be used instead of textiles as well. We introduce two different methods to create layered bellows actuators, which can be made with a heat press machine or in an oven. We also describe origami-like actuators with possible corner structures. Moreover, the fabrication process permits the creation of soft and soft/rigid hybrid robotic systems, and enables the easy integration of sensors into these robots. We analyze various textiles that are possibly used with this method, and model bellows actuators including operating force, restoring force, and estimated geometry with multiple bellows. We then demonstrate the process by showing a bellows actuator with an embedded sensor and other fabricated structures and robots. We next present a new design of a multi-DOF soft/rigid hybrid robotic manipulator. It contains a revolute actuator and several roll-pitch actuators which are arranged in series. To control the manipulator, we use a new variant of the piece-wise constant curvature (PCC) model. The robot can be controlled using forward and inverse kinematics with embedded inertial measurement units (IMUs). A bellows actuator, which is a subcomponent of the manipulator, is modeled with a variable-stiffness spring, and we use the model to predict the behavior of the actuator. With the model, the roll-pitch actuator stiffnesses are measured in all directions through applying forces and torques. The stiffness is used to predict the behavior of the end effector. The robotic system introduced achieved errors of less than 5% when compared to the models, and positioning accuracies of better than 1cm.
Doctor of Philosophy

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Missiaggia, Leonardo. "Planejamento otimizado de trajetória para um robô cilíndrico acionado pneumaticamente". reponame:Biblioteca Digital de Teses e Dissertações da UFRGS, 2014. http://hdl.handle.net/10183/96327.

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Este trabalho consiste na elaboração de uma estratégia para a geração de trajetórias otimizadas para um robô cilíndrico de cinco graus de liberdade acionado pneumaticamente. Como resultado da aplicação do método desenvolvido obtêm-se as trajetórias no espaço das juntas que resultam no movimento adequado do efetuador do robô, de acordo com algum critério de otimização. Para a obtenção das trajetórias das juntas do robô a partir de uma dada trajetória desejada para o efetuador, resolveu-se o problema de cinemática inversa por meio de uma abordagem algébrica. Para a geração de trajetórias entre os pontos no espaço de trabalho do robô propõe-se a utilização de um algoritmo de aproximação de pontos através de splines compostas por polinômios de sétimo grau. Essa escolha garante a continuidade da função de posição, bem como de suas três primeiras derivadas, sendo essa uma condição necessária para a implantação de importantes leis e estratégias de controle (como, por exemplo, a estratégia em cascata, utilizada com sucesso no controle de sistemas servopneumáticos). O método proposto para a geração de splines possibilita, através do ajuste de parâmetros em função da exigência de cada aplicação, a obtenção de curvas no espaço das juntas com valores otimizados de jerk, aceleração ou velocidade. Para aplicação na geração de trajetórias para o robô, a interpolação dos pontos é realizada no espaço dos atuadores a fim de fornecer ao controlador as curvas de referência para posição, velocidade, aceleração e jerk. Para a demonstração da aplicação do método no seguimento de trajetórias, são utilizadas como referência curvas tridimensionais cujos valores numéricos são comparados com os resultados fornecidos a partir da metodologia proposta. Assim, uma vez calculadas as trajetórias em cada uma das juntas através da cinemática inversa, utiliza-se as transformações homogêneas da cinemática direta do robô, obtidas a partir do método de Denavit-Hartenberg, para obter a trajetória do efetuador e verificar a funcionalidade do modelo resultante.
This work consists of developing a strategy to generate optimized trajectories for a cylindrical robot with five degrees of freedom which is actuated pneumatically. As a result of the application of the developed method, trajectories in joint space are obtained and result in the proper motion of the robot’s end-effector according to a given optimizing criteria. In order to obtain the trajectories of the robot’s joints from a given desired trajectory for the end-effector, the problem of inverse kinematics was solved by an algebraic approach. To generate trajectories between points in the robot’s workspace it was proposed the use of an algorithm for approximation of points through splines composed by seventh degrees polynomials. This choice ensures the continuity of the position function as well as its first three derivatives. It is a necessary condition for the implementation of important laws and control strategies (for example, the cascade strategy which is successfully used in servo-pneumatic control systems). The proposed method to generate splines allows, through the adjustment of parameters taking into account the requirements of each application, the obtainment of curves in the joint space with optimized values of jerk, acceleration and speed. In order to apply the method in the generation of trajectories for the robot, the interpolation of the points is performed in the space of the actuators with the purpose of providing the controller reference curves for position, speed, acceleration and jerk. To demonstrate the application of the method in trajectory tracking, three-dimensional curves are used and their numerical values are compared with the results provided by the proposed methodology. Therefore, once the calculated trajectory in each joint through inverse kinematics is obtained, homogeneous transformations of the direct kinematics of the robot, obtained by Denavit-Hartenberg’s method, are employed to find out the trajectory of the end-effector and verify the functionality of the resulting model.

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Allgayer, Renan Schmidt. "Desenvolvimento de um manipulador robótico cilíndrico acionado pneumaticamente". reponame:Biblioteca Digital de Teses e Dissertações da UFRGS, 2011. http://hdl.handle.net/10183/32023.

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Abstract (sommario):

Este trabalho aborda o projeto de um manipulador robótico cilíndrico acionado pneumaticamente de baixo custo e com 5 graus de liberdade. Este robô está sendo desenvolvido para realizar operações de movimentação de peças que venham a substituir postos de trabalho com ambiente insalubre e/ou de ações repetitivas nas quais as exigências de precisão, velocidade e capacidade de carga sejam limitadas. Os requisitos de projeto foram obtidos por meio de uma pesquisa em uma fábrica de ferramentas manuais. É apresentada a proposta de uma estrutura mecânica para suprir parte significativa das necessidades usuais de movimentação de peças em indústrias manufatureiras e o seu correspondente modelo teórico dinâmico não-linear, considerando o equacionamento dos atuadores pneumáticos acoplados ao sistema mecânico. Finalmente, é apresentado o projeto de um controlador linear por meio da técnica de realimentação de estados, com os ganhos definidos pela alocação de pólos a partir de um modelo linearizado de 3ª ordem. Para validação do modelo teórico e do algorítmo de controle propostos são apresentadas simulações de movimentação ponto a ponto e seguimento de trajetória. Os resultados mostram que a precisão de posicionamento do efetuador final é adequada para as tarefas de manipulação.
This work proposes the design of a low cost cylindrical robotic manipulator actuated pneumatically with 5 degrees of freedom. This robot is being developed to perform manipulation of parts, aiming to replace tasks usually performed in unhealthy environment and/or repetitive actions in which the requirements of accuracy, speed and load capacity are limited. The project requirements were obtained through a research in a manual tools factory. It is proposed a geometry that is intended to meet a significant amount of the usual moving parts demands in manufacturing industries and its corresponding nonlinear dynamic theoretic model, considering the pneumatic actuators model coupled to the mechanical system. Finally, the application of a linear control-law based on the technique of state feedback with design made by pole assignment using a linearized model of 3rd order is described. For validation of the theoretic model and proposed control algorithm are presented simulations of point to point regulation problem and trajectory tracking. The results show that the positioning accuracy of the end effector is suitable for achieving the planned tasks.

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Rijo, Marcos Giovane de Quevedo. "Desenvolvimento da base e controle do grau de liberdade rotacional de um robô cilíndrico com acionamento pneumático". reponame:Biblioteca Digital de Teses e Dissertações da UFRGS, 2013. http://hdl.handle.net/10183/75734.

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Este trabalho aborda o desenvolvimento da estrutura da base e do sistema de acionamento, transmissão e controle do 1º grau de liberdade de um robô cilíndrico de 5 graus de liberdade acionado pneumaticamente. A base é construída com alumínio estruturado de elevada rigidez, o que confere a sua estrutura mecânica baixas deformações em situações de operação do robô. Além de constituir a estrutura de apoio do manipulador, a base serve de repositório para diversos componentes de sensoriamento e comando dos diversos graus de liberdade do robô e ainda apresenta elementos estruturais que são utilizados como acumuladores de ar comprimido que servem para atenuar as flutuações de pressão nos atuadores pneumáticos. O 1º grau de liberdade do robô, de acordo com a concepção de um robô cilíndrico, é relativo ao giro do conjunto de elos do manipulador em torno do eixo vertical. O seu movimento é comandado por um atuador pneumático linear acoplado a um eixo rotativo por uma correia sincronizadora. O controlador proposto é baseado na técnica de realimentação de estados com alocação de polos e compensa a variação do momento de inércia do manipulador devida ao movimento do robô. Este esquema é baseado em um modelo matemático parametrizado que provê continuamente o valor de massa equivalente acoplada ao primeiro grau de atuador de liberdade. Assim, a cada ciclo de controle, os ganhos do controlador são recalculados a partir do valor atual da massa equivalente, visando a compensar sua variação. São apresentados resultados experimentais e discussões sobre o cálculo da massa equivalente e desempenho do controlador no seguimento de trajetória.
This work deals with the design of the base frame, drive, transmission and control systems used in the first degree of freedom of a pneumatically actuated cylindrical robot with five degrees of freedom. The base is constructed with high stiffness aluminum parts, which achieve low mechanical deformation in operational working conditions. Furthermore, the base structure in used as sensor and pneumatic components compartment and comprises aluminum structural elements that are used as accumulators compressed air used for reducing the pressure fluctuations on the pneumatic actuators operation. The first degree of freedom, according to the usual design of a cylindrical robot, is relative to the rotation of the manipulator arm around its vertical axis. This degree of freedom is controlled by a linear pneumatic actuator coupled to a rotary axis mechanism by an industrial synchronous belt. The proposed controller is based on the state feedback technique with pole location and compensates the variation of the moment of inertia of the manipulator due to the motion of the robot. This scheme is based on a parameterized mathematical model that continuously provides the equivalent mass value coupled to the first degree of freedom actuator. So, in each control cycle, the controller gains are recalculated on the basis of the equivalent mass, compensating its variation. Results of experiments and discussions about the equivalent mass calculation and controller performance are presented.

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SCOFANO, FELIPE DOS SANTOS. "DEVELOPMENT OF A THREE DEGREE-OF-FREEDOM PNEUMATIC LINK FOR FLEXIBLE ROBOTIC MANIPULATORS". PONTIFÍCIA UNIVERSIDADE CATÓLICA DO RIO DE JANEIRO, 2006. http://www.maxwell.vrac.puc-rio.br/Busca_etds.php?strSecao=resultado&nrSeq=9226@1.

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PONTIFÍCIA UNIVERSIDADE CATÓLICA DO RIO DE JANEIRO
PETRÓLEO BRASILEIRO S. A.
CONSELHO NACIONAL DE DESENVOLVIMENTO CIENTÍFICO E TECNOLÓGICO
Recentemente, grande interesse tem se voltado na robótica para o conceito de manipuladores flexíveis. Estes dispositivos apresentam uma coluna vertebral deformável continuamente, em oposição aos tradicionais manipuladores robóticos elo/junta/elo com elos rígidos. Sistemas flexíveis oferecem um aumento em potencial da capacidade de interação com o ambiente, estando aptos a se ajustarem às limitações do meio através de sua deformação. Robôs flexíveis oferecem possibilidades atrativas para o uso em diversas aplicações, como em posicionamento em ambientes complexos com obstáculos, endoscópios ativos, e manuseamento de materiais frágeis. O uso de polímeros, em particular elastômeros, tem sido explorado nestes manipuladores para promover simplicidade de operação e menor rigidez, necessária para uma interação homemmáquina com maior segurança. Usufruindo-se destes conceitos, esta dissertação aborda o desenvolvimento de um manipulador pneumático flexível de longo alcance. O manipulador é composto por uma estrutura modular, formada por vários elos ligados serialmente, permitindo que em sua extremidade sejam acopladas ferramentas que auxiliem a execução de diferentes tarefas. O sistema é baseado em um atuador pneumático denominado Músculo Artificial Pneumático (Pneumatic Artificial Muscles, PAM). Ao serem pressurizados, estes dispositivos se contraem, exercendo uma força em sua extremidade proporcional à pressão aplicada. A movimentação do manipulador desenvolvido é obtida a partir da diferença de pressão entre câmaras independentes localizadas em seu interior. Modelos analíticos dos sistemas desenvolvidos foram elaborados. O controle do manipulador é feito a partir de servoválvulas pneumáticas controladas por computador. Experimentos foram realizados para verificar os modelos desenvolvidos. O sistema desenvolvido pode ser aplicado à tarefa de inspeção interna de reservatórios de combustíveis. Inspeções internas atualmente requerem um completo esvaziamento do reservatório, se tornando muito trabalhosas e resultando em altos custos. Uma versão do manipulador é adaptada para executar esta tarefa sem a necessidade de esvaziar os tanques, devido à segurança intrínseca do sistema pneumático.
Recently, the concept of flexible manipulators has attract great interest. These devices present a continuously deforming vertebral column, in opposition to the traditional robotic manipulators link/joint/link with rigid links. Flexible systems offer a potential increase in the capacity of interaction with the environment, being apt to adjust itself to the constrants through its deformation. Flexible robots offer attractive possibilities for usage in many applications, as complex environments positioning with active obstacles, endoscopies, and manipulating fragile materials. Polymers, specially elastomers, have been explored in these manipulators to guarantee simple operation and minor rigidity, necessary for a higher security man-machine interaction. Making a good use of these conceptions, this dissertation presents the development of a long-reach flexible pneumatic manipulator. The manipulator is composed of a modular structure, formed by links attached serially, allowing tools to be connected in its end-point for assistence in different tasks. The system is based on a pneumatic actuator called Pneumatic Artificial Muscle (PAM). When pressurized, these devices contract themselves, exerting a proportional force in its end-points proportional to the applied pressure. The manipulator´s motion is obtained from the pressure difference between the independent chambers located in its interior. Developed systems analytical models have been elaborated. Pneumatic valves, commanded by computer, control the manipulator. Experiments have been carried through to test the developed models. The developed system can be applied to internal inspection of fuel tanks. Internal inspections currently require a complete tank ullage, becoming very laborious and resulting in high costs. A manipulator´s version is adapted to execute this task in a full fueled tank, due to intrinsic security of the pneumatic system.

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Terry, Jonathan Spencer. "Adaptive Control for Inflatable Soft Robotic Manipulators with Unknown Payloads". BYU ScholarsArchive, 2018. https://scholarsarchive.byu.edu/etd/6769.

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Soft robotic platforms are becoming increasingly popular as they are generally safer, lighter, and easier to manufacture than their more rigid, heavy, traditional counterparts. These soft platforms, while inherently safer, come with significant drawbacks. Their compliant components are more difficult to model, and their underdamped nature makes them difficult to control. Additionally, they are so lightweight that a payload of just a few pounds has a significant impact on the manipulator dynamics. This thesis presents novel methods for addressing these issues. In previous research, Model Predictive Control has been demonstrably useful for joint angle control for these soft robots, using a rigid inverted pendulum model for each link. A model describing the dynamics of the entire arm would be more desirable, but with high Degrees of Freedom it is computationally expensive to optimize over such a complex model. This thesis presents a method for simplifying and linearizing the full-arm model (the Coupling-Torque method), and compares control performance when using this method of linearization against control performance for other linearization methods. The comparison shows the Coupling-Torque method yields good control performance for manipulators with seven or more Degrees of Freedom. The decoupled nature of the Coupling-Torque method also makes adaptive control, of the form described in this thesis, easier to implement. The Coupling-Torque method improves performance when the dynamics are known, but when a payload of unknown mass is attached to the end effector it has a significant impact on the dynamics. Adaptive Control is needed at this point to compensate for the model's poor approximation of the system. This thesis presents a method of layering Model Reference Adaptive Control in concert with Model Predictive Control that improves control performance in this scenario. The adaptive controller modifies dynamic parameters, which are then delivered to the optimizer, which then returns inputs for the system that take all of this information into account. This method has been shown to reduce step input tracking error by 50% when implemented on the soft robot.

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Thatcher, Terence W. "Control system architectures for distributed manipulators and modular robots". Thesis, Loughborough University, 1987. https://dspace.lboro.ac.uk/2134/12467.

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This thesis outlines the evolution of computer hardware and software architectures which are suitable for the programming and control of modular robots and distributed manipulators. Fundamental aspects of automating manufacturing functions are considered and the use of flexible machines, constructed from components of a family of mechanical modules and associated control system elements, are proposed. Many of the features of these flexible machines can be identified with those of conventional industrial robots. However a broader class of manufacturing machine is represented in as much as the industrial user defines the kinematics and dynamics of the manipulator. Such flexible machines can be referred to as "modular robots" or, where the mechanical modules are arranged in concurrently operating but mechanically decoupled groups, as "distributed manipulators". The main body of the work reported centred on the design of a family of computer control system elements which can serve a range of distributed manipulator and modular robot forms. These control system elements, whose cost is commensurate with the size and complexity of the manipulator's mechanical configuration, necessarily have many of the features found in robot controllers but also require properties of reconfigurability, programmability, and control system performance for the considerable array of manipulator configurations which can be constructed.

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Kraus, Dustan Paul. "Coordinated, Multi-Arm Manipulation with Soft Robots". BYU ScholarsArchive, 2018. https://scholarsarchive.byu.edu/etd/7066.

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Soft lightweight robots provide an inherently safe solution to using robots in unmodeled environments by maintaining safety without increasing cost through expensive sensors. Unfortunately, many practical problems still need to be addressed before soft robots can become useful in real world tasks. Unlike traditional robots, soft robot geometry is not constant but can change with deflation and reinflation. Small errors in a robot's kinematic model can result in large errors in pose estimation of the end effector. This error, coupled with the inherent compliance of soft robots and the difficulty of soft robot joint angle sensing, makes it very challenging to accurately control the end effector of a soft robot in task space. However, this inherent compliance means that soft robots lend themselves nicely to coordinated multi-arm manipulation tasks, as deviations in end effector pose do not result in large force buildup in the arms or in the object being manipulated. Coordinated, multi-arm manipulation with soft robots is the focus of this thesis. We first developed two tools enabling multi-arm manipulation with soft robots: (1) a hybrid servoing control scheme for task space control of soft robot arms, and (2) a general base placement optimization for the robot arms in a multi-arm manipulation task. Using these tools, we then developed and implemented a simple multi-arm control scheme. The hybrid servoing control scheme combines inverse kinematics, joint angle control, and task space servoing in order to reduce end effector pose error. We implemented this control scheme on two soft robots and demonstrated its effectiveness in task space control. Having developed a task space controller for soft robots, we then approached the problem of multi-arm manipulation. The placement of each arm for a multi-arm task is non-trivial. We developed an evolutionary optimization that finds the optimal arm base location for any number of user-defined arms in a user-defined task or workspace. We demonstrated the utility of this optimization in simulation, and then used it to determine the arm base locations for two arms in two real world coordinated multi-arm manipulation tasks. Finally, we developed a simple multi-arm control scheme for soft robots and demonstrated its effectiveness using one soft robot arm, and one rigid robot with low-impedance torque control. We placed each arm base in the pose determined by the base placement optimization, and then used the hybrid servoing controller in our multi-arm control scheme to manipulate an object through two desired trajectories.

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Capitoli di libri sul tema "Pneumatic robotic manipulator"

Feja, K., M. Kaczmarski e P. Riabcew. "Manipulators Driven by Pneumatic Muscles". In Climbing and Walking Robots, 775–82. Berlin, Heidelberg: Springer Berlin Heidelberg, 2006. http://dx.doi.org/10.1007/3-540-26415-9_93.

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Zhang, Xiang, Zhuoqun Liu, Hongwei Liu, Lu Cao, Xiaoqian Chen e Yiyong Huang. "Design and Experiment of a Foldable Pneumatic Soft Manipulator". In Intelligent Robotics and Applications, 183–92. Cham: Springer International Publishing, 2019. http://dx.doi.org/10.1007/978-3-030-27535-8_17.

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Aliseychik, Anton, Viktor Glazunov, Igor Orlov, Vladimir Pavlovsky e Marina Shishova. "Control Design for Pneumatic Manipulation Robot". In ROMANSY 21 - Robot Design, Dynamics and Control, 163–70. Cham: Springer International Publishing, 2016. http://dx.doi.org/10.1007/978-3-319-33714-2_18.

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Van Damme, M., R. Van Ham, B. Vanderborght, F. Daerden e D. Lefeber. "Design of a “Soft” 2-DOF Planar Pneumatic Manipulator". In Climbing and Walking Robots, 559–66. Berlin, Heidelberg: Springer Berlin Heidelberg, 2006. http://dx.doi.org/10.1007/3-540-26415-9_67.

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Tomori, Hiroki, Tomohiro Koyama, Hiromitsu Nishikata, Akinori Hayasaka e Ikumi Suzuki. "Developing a Flexible Segment Unit for Redundant-DOF Manipulator Using Bending Type Pneumatic Artificial Muscle". In ROMANSY 23 - Robot Design, Dynamics and Control, 272–79. Cham: Springer International Publishing, 2020. http://dx.doi.org/10.1007/978-3-030-58380-4_33.

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Yusof, Ahmad Anas, Ihsan Ismail, Syarizal Bakri, Mohd Khairi Mohamed Nor e Rabiah Ahmad. "Preparation, Field Observation and Survey on STEM Engagement of 5-Axis Pick-and-Place Pneumatic Robotic Arm Remote-Manipulation". In Lecture Notes in Mechanical Engineering, 219–30. Singapore: Springer Singapore, 2018. http://dx.doi.org/10.1007/978-981-10-8788-2_21.

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Savkiv, Volodymyr, Roman Mykhailyshyn, Frantisek Duchon, Olegas Prentkovskis, Pavlo Maruschak e Illia Diahovchenko. "Analysis of Operational Characteristics of Pneumatic Device of Industrial Robot for Gripping and Control of Parameters of Objects of Manipulation". In TRANSBALTICA XI: Transportation Science and Technology, 504–10. Cham: Springer International Publishing, 2020. http://dx.doi.org/10.1007/978-3-030-38666-5_53.

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Manuel, Juan, Jesus Carlos, Efren Gorrostieta-Hurtado, Rene de Jesus Romero-Troncoso, Jose Emilio e Francisco Hernandez-Hernandez. "Pneumatic Fuzzy Controller Simulation vs Practical Results for Flexible Manipulator". In Automation and Robotics. I-Tech Education and Publishing, 2008. http://dx.doi.org/10.5772/6104.

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E., Jakub, Ryszard F. e Pawel A. "Fuzzy Logic Positioning System of Electro-Pneumatic Servo-Drive". In Robot Manipulators Trends and Development. InTech, 2010. http://dx.doi.org/10.5772/9197.

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Manuel, Juan, Efren Gorrostieta-Hurtado, Jesus Carlos, Rene de Jesus Romero-Troncoso, Marco-Antonio Aceves e Sandra Canchol. "Dynamic Behavior of a Pneumatic Manipulator with Two Degrees of Freedom". In Robot Manipulators Trends and Development. InTech, 2010. http://dx.doi.org/10.5772/9201.

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Atti di convegni sul tema "Pneumatic robotic manipulator"

Trivedi, Deepak, Daniel Lesutis e Christopher D. Rahn. "Dexterity and Workspace Analysis of Two Soft Robotic Manipulators". In ASME 2010 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2010. http://dx.doi.org/10.1115/detc2010-28719.

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Soft robotic manipulators are continuum robots made of soft materials that undergo continuous elastic deformation and produce motion with a smooth backbone curve. These manipulators offer significant advantages over traditional manipulators due to their ability to conform to their surroundings, move with dexterity and manipulate objects of widely varying size using whole arm manipulation. Soft robotic manipulators are complex and difficult to design, model and fabricate. In this paper, we present a cost effective design for a pneumatic air muscle based soft robotic manipulator in which the actuators for the distal section extend from the base to the tip of the arm, thereby simplifying the pneumatic design and eliminating the need for endplates. We compare the workspace and dexterity of continuous tube (CT) design with a previously developed OctArm type manipulator and conclude that although the two designs have comparable workspace area, the OctArm workspace has better dexterity characteristics.

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Robinson, R. M., B. K. S. Woods, R. D. Vocke, N. M. Wereley e Curt S. Kothera. "High Specific Power Actuators for Robotic Manipulators". In ASME 2010 Conference on Smart Materials, Adaptive Structures and Intelligent Systems. ASMEDC, 2010. http://dx.doi.org/10.1115/smasis2010-3902.

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Recent advances in actuator technology suggest that the implementation of reliable, high power-to-weight ratio pneumatic actuation systems is now possible for robotic platforms. Current robotic manipulator arms for casualty extraction and patient placement use hydraulic actuation, whereas related robotic prosthetic devices use large, heavy actuator motors. We have developed an alternative solution to robotic manipulation that employs pneumatic artificial muscles (PAMs) to generate desired joint torque and range of motion. The goal of this study is to determine the size and configuration of a robotic manipulator for battlefield casualty extraction. Following characterization and comparison of different-sized PAM actuators, a prototype of a PAM robotic manipulator arm was constructed. A quasi-static model for the PAM actuators is applied to system modeling. This model includes the Gaylord force from pressure effects on the braid, as well as a nonlinear Mooney-Rivlin term that considers the elastic energy of the bladder. Experiments are performed to measure joint torque over the manipulator range of motion. The model developed here is experimentally validated.

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Robinson, Ryan, Norman Wereley e Curt Kothera. "Control of a Heavy-Lift Robotic Manipulator with Pneumatic Artificial Muscles". In 53rd AIAA/ASME/ASCE/AHS/ASC Structures, Structural Dynamics and Materials Conference
20th AIAA/ASME/AHS Adaptive Structures Conference
14th AIAA. Reston, Virigina: American Institute of Aeronautics and Astronautics, 2012. http://dx.doi.org/10.2514/6.2012-1518.

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Robinson, Ryan M., Norman M. Wereley e Curt S. Kothera. "Model-Based Feedforward Control of a Robotic Manipulator With Pneumatic Artificial Muscles". In ASME 2012 Conference on Smart Materials, Adaptive Structures and Intelligent Systems. American Society of Mechanical Engineers, 2012. http://dx.doi.org/10.1115/smasis2012-8084.

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Pneumatic artificial muscles (PAMs) are lightweight, flexible actuators capable of higher specific work than comparably-sized hydraulic actuators at the same pressure and electric motors. PAMs are composed of an elastomeric bladder surrounded by a helically braided sleeve. Lightweight, compliant actuators are particularly desirable in portable, heavy-lift robotic systems intended for interaction with humans, such as those envisioned for patient assistance in hospitals and battlefield casualty extraction. However, smooth and precise control remains difficult because of nonlinearities in the dynamic response. The objective of this paper is to develop a control algorithm that satisfies accuracy and smooth motion requirements for a two degree-of-freedom manipulator actuated by pneumatic artificial muscles and intended for interaction with humans, such as lifting a human. This control strategy must be capable of responding to large, abrupt variations in payload weight over a high range of motion. In previous work, the authors detailed the design and construction of a proof-of-concept PAM-based manipulator. The present work investigates the feasibility of combining output feedback using proportional-integral-derivative control or fuzzy logic control with model-based feedforward compensation to achieve improved closed-loop performance. The model upon which the controller is based incorporates the internal airflow dynamics, the geometric parameters of the pneumatic actuators, and the arm dynamics. Simulations were performed in order to validate the control algorithm, guide controller design, and predict optimal gains. Using real-time interface software and hardware, the controller was implemented and experimentally tested on the manipulator. Performance was evaluated for several trajectories, and different payload weights. The effect of varying the feedforward gain was also analyzed. Model refinement further improved performance.

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Cukla, Anselmo Rafael, Rafael Crespo Izquierdo, Eduardo André Perondi, Mario Roland Sobczyk, Flavio José Lorini e José Barata. "Trajectory Planning Based on Firefly Metaheuristic Algorithm Applied to Pneumatically Driven Modular Robots". In 9th FPNI Ph.D. Symposium on Fluid Power. American Society of Mechanical Engineers, 2016. http://dx.doi.org/10.1115/fpni2016-1556.

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One of the main goals of modern manufacturing systems lies in attaining more flexibility and reutilization capabilities with lower costs. This paper presents the development of a proposal for the design and development of mechatronic modules to use on the mounting of robot manipulators based on the concept of “agent”, which is largely employed in informatics systems. We first describe the main features of this research project, after focusing on its current development stage, which regards the conception of a general methodology for trajectory planning of modular robotic systems. The proposed solution is evaluated and validated by means of a case study focused on robots with pneumatic actuators. In this case study, the structure of a modular pneumatic Cartesian robot and its main characteristics (kinematic chain, workspace, etc.) is developed under modular agent concepts. Using a proposed task to be performed by the manipulator, a working path is defined by means of cubic spline interpolation curves, and an objective function for the optimization problem is written so as to minimize the movement time between the beginning and the end of the trajectory. The proposed optimization problem is numerically solved based on the use of the Firefly Metaheuristic Algorithm and, finally, the trajectory planning curves obtained by means of this strategy are presented and discussed.

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Garcia, Martin, Amir Ali Amiri Moghadam, Ayse Tekes e Randy Emert. "Development of a 3D Printed Soft Parallel Robot". In ASME 2020 International Mechanical Engineering Congress and Exposition. American Society of Mechanical Engineers, 2020. http://dx.doi.org/10.1115/imece2020-23138.

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Abstract This paper reports on design, fabrication, and kinematics modeling of a 3D printed soft parallel robot equipped with soft pneumatic actuators. Soft robotics is an emerging field of research which facilitates safe human machine interface. Soft elastomeric actuators made through molding process are one of the key elements of soft robotic systems. However, molding process is tedious and time consuming making the fabrication process undesirable. Recently reported 3D printed soft pneumatic actuators pave the way for manufacturing of novel soft actuators and robots with complex geometries. The current work can be considered as a proof of concept for 3D printing of a soft parallel robot. The robot consists of two soft pneumatic actuators that are connected to two passive links by mean of flexible hinges. The robot has two degrees of freedom and can be used in planar manipulation tasks. Moreover, a number of robots can be configured to operate in a cooperative manner to increase the manipulation dexterity. A kinematic model is developed to simulate the motion of robot end-effector. Through application of the kinematic model it has been shown that the robot is capable of following any planar trajectories within its workspace. Also, pseudo-rigid-body model (PRBM) is used to develop a dynamic model of the soft robot to more accurately predict the robot interaction with its environment and also develop advanced control system for robust position control of the robot.

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Unsal, S., A. Shirkhodaie e A. H. Soni. "Nonparametric Object Recognition With a New Tactile Sensor". In ASME 1992 Design Technical Conferences. American Society of Mechanical Engineers, 1992. http://dx.doi.org/10.1115/detc1992-0448.

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Abstract Adding sensing capability to a robot provides the robot with intelligent perception capability and flexibility of decision making. To perform intelligent tasks, robots are highly required to perceive their operating environment, and react accordingly. With this regard, tactile sensors offer to extend the scope of intelligence of a robot for performing tasks which require object touching, recognition, and manipulation. This paper presents the design of an inexpensive pneumatic binary-array tactile sensor for such robotic applications. The paper describes some of the techniques implemented for object recognition from binary sensory information. Furthermore, it details the development of software and hardware which facilitate the sensor to provide useful information to a robot so that the robot perceives its operating environment during manipulation of objects.

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Gryparis, Dimitris, George Andrikopoulos e Stamatis Manesis. "Parallel Robotic Manipulation via Pneumatic Artificial Muscles". In 11th International Conference on Informatics in Control, Automation and Robotics. SCITEPRESS - Science and and Technology Publications, 2014. http://dx.doi.org/10.5220/0005008700290036.

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Netwall, Christopher J., James P. Thomas, Michael S. Kubista, Kerry A. Griffith, Christopher Kindle, Jordan Schlater, Joseph T. Hays, Phillip A. Feerst e Norman Wereley. "Pneumatic Artificial Muscle Actuators With Integrated Controls for Space Flight Applications". In ASME 2019 Conference on Smart Materials, Adaptive Structures and Intelligent Systems. American Society of Mechanical Engineers, 2019. http://dx.doi.org/10.1115/smasis2019-5630.

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Abstract The U.S. Naval Research Laboratory (NRL) has been developing a space-rated 7 degree of freedom (DOF) robot arm with a high payload-to-mass ratio as an alternative design to motor-gear driven robotic manipulators. The robot arm employs antagonistic pairs of pneumatic artificial muscle (PAM) actuators to control each degree-of-freedom (DOF) to achieve large force outputs relative to the PAM component masses. A novel feature of the NRL PAM actuator was the integration of the pneumatic control components inside the pressure-bladder, which not only reduces the volume of the robotic arm hardware but also reduces the pressurized-gas actuation volume in the PAM enabling significant reductions in gas consumption during actuation. This multifunctional design enables reductions in launch-weight costs and increases in operational endurance for space applications. The integration of these PAMs into a well-designed robotic-arm structure, in tandem with a newly developed control algorithm, has the potential to exceed the performance metrics of traditional motor-driven robot arms. This paper describes the development of the improved efficiency PAM design that is advancing this technology towards space flight readiness.

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Miron, Geneviève, Alexandre Girard, Jean-Sébastien Plante e Martin Lepage. "Design and Manufacturing of Embedded Pneumatic Actuators for an MRI-Compatible Prostate Cancer Binary Manipulator". In ASME 2012 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2012. http://dx.doi.org/10.1115/detc2012-71380.

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Magnetic Resonance Imaging (MRI) compatible robots can assist physicians in precisely inserting biopsy needles or therapeutic instruments directly into millimeter-size tumors using MR imaging feedback. MRI systems although present a challenging environment, including high magnetic fields and limited space, making the development of MRI-compatible robots complex. This paper presents an MRI-compatible pneumatic actuation technology consisting of molded polymer structures with embedded air-muscle, operated in a binary fashion. While having good positioning accuracy, the technology presents advantages of compactness, perfect MRI-compatibility, simplicity, and low cost. Here we specifically report the design and validation of a transperineal prostate cancer manipulator prototype having 20 embedded air-muscles distributed in four star-like polymer structures. Structures are made of silicone elastomer, using lost-core injection molding. The molded compliant joints of the muscles eliminate sliding surfaces, for low motion hysteresis and good repeatability. A simple and effective two-level design method for polymer air-muscles is proposed, using a manipulator model and three muscle models: geometrical, finite elements and uniaxial analytic. Binary control of each air-muscle assures stability and accuracy with minimized costs and complexity. The manipulator is tested MRI-compatible with no effects on the signal-to-noise ratio and, with appropriate image feedback, reaches targets with repeatability and accuracy under 0.5 mm. The embedded approach reveals to be a key feature since it reduces hysteresis errors by a factor of 6.6 compared to a previous non-embedded version of the manipulator. The successful validation of this binary manipulator opens the door to a new design paradigm for low cost and highly capable pneumatic robots, specifically for the intra-MRI manipulation.

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