Robotica最新文献_第6页

Inverse dynamics analysis of a 6-RR-RP-RR parallel manipulator with offset universal joints 带偏移万向节的 6-RR-RP-RR 并联机械手的逆动力学分析

IF 2.7 4区计算机科学

Robotica Pub Date : 2024-03-26 DOI: 10.1017/s0263574724000365

Huze Huang, Hasiaoqier Han, Dawei Li, Zhenbang Xu, Qingwen Wu

{"title":"Inverse dynamics analysis of a 6-RR-RP-RR parallel manipulator with offset universal joints","authors":"Huze Huang, Hasiaoqier Han, Dawei Li, Zhenbang Xu, Qingwen Wu","doi":"10.1017/s0263574724000365","DOIUrl":"https://doi.org/10.1017/s0263574724000365","url":null,"abstract":"This paper presents an algorithm for solving the inverse dynamics of a parallel manipulator (PM) with offset universal joints (RR–joints) via the Newton–Euler method. The PM with RR–joints increase the joint stiffness and enlarge the workspace but introduces additional joint parameters and constraint torques, rendering the dynamics more complex. Unlike existing studies on PMs with RR–joints, which emphasize the kinematics and joint performance, this paper studies the dynamical model. First, an iterative algorithm is established through a rigid body velocity transformation, which calculates the input parameters of the link velocity and acceleration. A linear system of equations in matrix form is then established for the entire PM through the Newton–Euler method. By using the generalized minimal residual method (GMRES) to solve the equation system, all the forces and torques on the joints can be obtained, from which the required actuation force can be derived. This method is validated through numerical simulations using the automatic dynamic analysis of multibody systems software. The proposed method is suitable for establishing the dynamic model of complex PMs with redundant or hybrid structures.","PeriodicalId":49593,"journal":{"name":"Robotica","volume":"26 1","pages":""},"PeriodicalIF":2.7,"publicationDate":"2024-03-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140300258","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Multi-objective optimization approach for coverage path planning of mobile robot 移动机器人覆盖路径规划的多目标优化方法

IF 2.7 4区计算机科学

Robotica Pub Date : 2024-03-25 DOI: 10.1017/s0263574724000377

Monex Sharma, Hari Kumar Voruganti

{"title":"Multi-objective optimization approach for coverage path planning of mobile robot","authors":"Monex Sharma, Hari Kumar Voruganti","doi":"10.1017/s0263574724000377","DOIUrl":"https://doi.org/10.1017/s0263574724000377","url":null,"abstract":"Coverage path planning (CPP) is a subfield of path planning problems in which free areas of a given domain must be visited by a robot at least once while avoiding obstacles. In some situations, the path may be optimized for one or more criteria such as total distance traveled, number of turns, and total area covered by the robot. Accordingly, the CPP problem has been formulated as a multi-objective optimization (MOO) problem, which turns out to be a challenging discrete optimization problem, hence conventional MOO algorithms like Non-dominated Sorting Genetic Algorithm-2 (NSGA-II) do not work as it is. This study implements a modified NSGA-II to solve the MOO problem of CPP for a mobile robot. In this paper, the proposed method adopted two objective functions: (1) the total distance traveled by the robot and (2) the number of turns taken by the robot. The two objective functions are used to calculate energy consumption. The proposed method is compared to the hybrid genetic algorithm (HGA) and the traditional genetic algorithm (TGA) in a rectilinear environment containing obstacles of various complex shapes. In addition, the results of the proposed algorithm are compared to those generated by HGA, TGA, oriented rectilinear decomposition, and spatial cell diffusion and family of spanning tree coverage in existing research papers. The results of all comparisons indicate that the proposed algorithm outperformed the existing algorithms by reducing energy consumption by 5 to 60%. This paper provides the facility to operate the robot in different modes.","PeriodicalId":49593,"journal":{"name":"Robotica","volume":"22 1","pages":""},"PeriodicalIF":2.7,"publicationDate":"2024-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140300110","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Structure design and kinematic performance of the deployable translational parallel tape-spring manipulator 可展开平移平行带簧机械手的结构设计和运动学性能

IF 2.7 4区计算机科学

Robotica Pub Date : 2024-03-22 DOI: 10.1017/s0263574724000353

Hu Liu, Yawen Qin, Yi Yang

{"title":"Structure design and kinematic performance of the deployable translational parallel tape-spring manipulator","authors":"Hu Liu, Yawen Qin, Yi Yang","doi":"10.1017/s0263574724000353","DOIUrl":"https://doi.org/10.1017/s0263574724000353","url":null,"abstract":"A deployable manipulator has the characteristics of a small installation space and a large workspace, which has great application prospects in small unmanned platforms. Most existing deployable manipulators are designed based on rigid links, whose complexity and mass inevitably increase sharply with increasing numbers of rigid links and joints. Inspired by the remarkable properties of tape springs, this paper proposes novel deployable parallel tape-spring manipulators with low mass, simple mechanics, and a high deployed-to-folded ratio. First, a double C-shaped tape spring is presented to improve the stability of the structure. The combined fixed drive component (CFDC) and combined mobile drive component (CMDC) are designed. Then, novel 2-DOF and 3-DOF deployable translational parallel manipulators are proposed based on the CFDC and CMDC, and their degrees-of-freedom (DOFs), kinematics, and stability are analyzed. The coiled tape spring is regarded as an Archimedean spiral, which can significantly improve the accuracy of kinematic analysis. The correction coefficient of the Euler formula is obtained by comparison with simulation results and experimental results. Furthermore, the stability spaces of the 2-DOF and 3-DOF deployable parallel manipulators are given. Finally, a prototype is fabricated, and experiments are conducted to validate the proposed design and analysis.","PeriodicalId":49593,"journal":{"name":"Robotica","volume":"5 1","pages":""},"PeriodicalIF":2.7,"publicationDate":"2024-03-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140204171","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

An improved iterative approach with a comprehensive friction model for identifying dynamic parameters of collaborative robots 使用综合摩擦模型的改进迭代法确定协作机器人的动态参数

IF 2.7 4区计算机科学

Robotica Pub Date : 2024-03-20 DOI: 10.1017/s0263574724000341

Zeyu Li, Hongxing Wei, Chengguo Liu, Ye He, Gang Liu, Haochen Zhang, Weiming Li

引用次数: 0

Wireless vision-based digital media fixed-point DSP processor depending robots for natural calamities 基于无线视觉的数字媒体定点 DSP 处理器，取决于自然灾害机器人

IF 2.7 4区计算机科学

Robotica Pub Date : 2024-03-15 DOI: 10.1017/s0263574724000225

S. Mary Joans, N. Gomathi, P. Ponsudha

{"title":"Wireless vision-based digital media fixed-point DSP processor depending robots for natural calamities","authors":"S. Mary Joans, N. Gomathi, P. Ponsudha","doi":"10.1017/s0263574724000225","DOIUrl":"https://doi.org/10.1017/s0263574724000225","url":null,"abstract":"Natural calamities are affecting many parts of the world. Natural disasters, terrorist attacks, earthquakes, wildfires, floods and all unpredicted phenomena. Disasters cause emergency conditions, so imperative to coordinate the prompt delivery of essential services to the sufferers. Often, disasters lead many people to perish by becoming trapped inside, but many more also perish as a result of individuals receiving rescue either too late or not at all. The implementation and design of a Receiver module utilizing Davinci code processor DVM6437, Wireless camera receiver, Zigbee Transceiver and Global Positioning System (GPS) is proposed in this manuscript for Wireless Vision-based Semi-Autonomous rescue robots that are employed in rough terrain. The receiver side’s Zigbee transceiver module eliminates the limitations of tele-operating rescue robots by enabling the control station to receive GPS data signals and aids in robot management by sending control signals wirelessly. Half and full-duplex communication are supported by the Davinci processor DVM6437, a digital media fixed-point DSP processor that relies on Very Long Instruction Words. It includes an extensive instruction set that is ideal for real-time salvage operations. DVM processor is coded utilizing MATLAB Simulink. MATLAB codes and Simulink blocks are employed under Embedded IDE link.","PeriodicalId":49593,"journal":{"name":"Robotica","volume":"21 1","pages":""},"PeriodicalIF":2.7,"publicationDate":"2024-03-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140147364","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Heavy-duty hexapod robot sideline tipping judgment and recovery 重型六足机器人边线倾翻判断和恢复

IF 2.7 4区计算机科学

Robotica Pub Date : 2024-03-15 DOI: 10.1017/s0263574724000274

Lianzhao Zhang, Fusheng Zha, Wei Guo, Chen Chen, Lining Sun, Pengfei Wang

{"title":"Heavy-duty hexapod robot sideline tipping judgment and recovery","authors":"Lianzhao Zhang, Fusheng Zha, Wei Guo, Chen Chen, Lining Sun, Pengfei Wang","doi":"10.1017/s0263574724000274","DOIUrl":"https://doi.org/10.1017/s0263574724000274","url":null,"abstract":"Heavy-duty hexapod robots are well-suited for physical transportation, disaster relief, and resource exploration. The immense locomotion capabilities conferred by the six appendages of these systems enable traversal over unstructured and challenging terrain. However, tipping can be a serious concern when moving with a tripod gait in these challenging environments, which may cause irreversible consequences such as compromised movement control and potential damage. In this paper, we focus on heavy-duty hexapod robot sideline tipping judgment and recovery during tripod gait motion, and a novel sideline tipping judgment and recovery method is proposed by adjusting an optimal swinging leg to the stance state. Considering the locomotion environments, motion mode, and tipping analysis, the robot’s stability margin is quantified, and the tipping event is evaluated by the Force Angle Stability Measure (FASM). The recovery method is initiated upon detecting that the robot is tipping, which involves the selection of an adjustment leg and the determination of an optimal foothold. Since the FASM is based on the foot force and robot center of gravity (CoG), the stability margin quantification expression is reformulated to the constraint form of quadratic programming (QP). Furthermore, a foot force distribution method, integrating stability margin considerations into the QP model, has been devised to ensure post-adjustment stability of the landing leg. Experiments on tipping judgment and recovery demonstrate the effectiveness of the proposed approaches on tipping judgment and recovery.","PeriodicalId":49593,"journal":{"name":"Robotica","volume":"33 1","pages":""},"PeriodicalIF":2.7,"publicationDate":"2024-03-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140147367","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

An experimental evaluation of robot-stopping approaches for improving fluency in collaborative robotics 对机器人停止方法的实验评估，以提高协作机器人技术的流畅性

IF 2.7 4区计算机科学

Robotica Pub Date : 2024-03-15 DOI: 10.1017/s0263574724000262

Lorenzo Scalera, Federico Lozer, Andrea Giusti, Alessandro Gasparetto

引用次数: 0

Research and experiment on active training of lower limb based on five-bar mechanism of man-machine integration system 基于人机一体化系统五杆机构的下肢主动训练研究与实验

IF 2.7 4区计算机科学

Robotica Pub Date : 2024-03-14 DOI: 10.1017/s0263574724000304

Jianghong Sun, Fuqing Hu, Keke Gao, Feng Gao, Chao Ma, Junjian Wang

{"title":"Research and experiment on active training of lower limb based on five-bar mechanism of man-machine integration system","authors":"Jianghong Sun, Fuqing Hu, Keke Gao, Feng Gao, Chao Ma, Junjian Wang","doi":"10.1017/s0263574724000304","DOIUrl":"https://doi.org/10.1017/s0263574724000304","url":null,"abstract":"In view of the fact that the current research on active and passive rehabilitation training of lower limbs is mainly based on the analysis of exoskeleton prototype and the lack of analysis of the actual movement law of limbs, the human-machine coupling dynamic characteristics for active rehabilitation training of lower limbs are studied. In this paper, the forward and inverse kinematics are solved on the basis of innovatively integrating the lower limb and rehabilitation prototype into a human-machine integration system and equivalent to a five-bar mechanism. According to the constraint relationship of hip joint, knee joint and ankle joint, the Lagrange dynamic equation and simulation model of five-bar mechanism under the constraint of human physiological joint motion are constructed, and the simulation problem of closed-loop five-bar mechanism is solved. The joint angle experimental system was built to carry out rehabilitation training experiments to analyze the relationship between lower limb error and height, weight and BMI, and then, a personalized training planning method suitable for people with different lower limb sizes was proposed. The reliability of the method is proved by experiments. Therefore, we can obtain the law of limb movement on the basis of traditional rehabilitation training, appropriately reduce the training speed or reduce the man-machine position distance and reduce the training speed or increase the man-machine distance to reduce the error to obtain the range of motion angle closer to the theory of hip joint and knee joint respectively, so as to achieve better rehabilitation.","PeriodicalId":49593,"journal":{"name":"Robotica","volume":"36 1","pages":""},"PeriodicalIF":2.7,"publicationDate":"2024-03-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140127924","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Adaptive fractional-order integral fast terminal sliding mode and fault-tolerant control of dual-arm robots 双臂机器人的自适应分数阶积分快速终端滑动模式和容错控制

IF 2.7 4区计算机科学

Robotica Pub Date : 2024-03-07 DOI: 10.1017/s0263574724000328

Le Anh Tuan, Quang Phuc Ha

{"title":"Adaptive fractional-order integral fast terminal sliding mode and fault-tolerant control of dual-arm robots","authors":"Le Anh Tuan, Quang Phuc Ha","doi":"10.1017/s0263574724000328","DOIUrl":"https://doi.org/10.1017/s0263574724000328","url":null,"abstract":"Closed-loop kinematics of a dual-arm robot (DAR) often induces motion conflict. Control formulation is increasingly difficult in face of actuator failures. This article presents a new approach for fault-tolerant control of DARs based on advanced sliding mode control. A comprehensive fractional-order model is proposed taking nonlinear viscous and viscoelastic friction at the joints into account. Using integral fast terminal sliding mode control and fractional calculus, we develop two robust controllers for robots subject to motor faults, parametric uncertainties, and disturbances. Their merits rest with their strong robustness, speedy finite-time convergence, shortened reaching phase, and flexible selection of derivative orders. To avoid the need for full knowledge of faults, robot parameters, and disturbances, two versions of the proposed approach, namely adaptive integral fractional-order fast terminal sliding mode control, are developed. Here, an adaptation mechanism is equipped for estimating a common representative of individual uncertainties. Simulation and experiment are provided along with an extensive comparison with existing approaches. The results demonstrate the superiority of the proposed control technique. The robot performs well the tasks with better responses (e.g., with settling time reduced by at least 16%).","PeriodicalId":49593,"journal":{"name":"Robotica","volume":"64 1","pages":""},"PeriodicalIF":2.7,"publicationDate":"2024-03-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140056721","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Force analysis of a soft-rigid hybrid pneumatic actuator and its application in a bipedal inchworm robot 软硬混合气动致动器的受力分析及其在双足尺蠖机器人中的应用

IF 2.7 4区计算机科学

Robotica Pub Date : 2024-03-07 DOI: 10.1017/s0263574724000298

Zhujin Jiang, Ketao Zhang

{"title":"Force analysis of a soft-rigid hybrid pneumatic actuator and its application in a bipedal inchworm robot","authors":"Zhujin Jiang, Ketao Zhang","doi":"10.1017/s0263574724000298","DOIUrl":"https://doi.org/10.1017/s0263574724000298","url":null,"abstract":"This paper systematically investigates a soft-rigid hybrid pneumatic actuator (SRHPA), which consists of a rigid-foldable twisting skeleton capable of a large range of helical motion and a soft bellows muscle with high linear driving force. Considering the unique varying-pitch helical motion of the foldable skeleton, the analytical model mapping the input force generated by the bellows muscle and output forces of the actuator is revealed and verified with a simulation of the force analysis. Prototypes of the actuator are developed by fabricating the twisting skeleton with multilayered aluminum composite panels and 3D-printing the bellows muscle with thermoplastic polyurethane (TPU) 95A filament. The static and dynamic performances of the prototypes are tested to validate the analytical modeling of output forces. Using the actuator as a module, a novel bipedal inchworm robot with four modules is developed and tested to demonstrate its adaptability in confined space by switching between the going-straight, the turning-around, and the rotating gaits. The hybrid actuator and the inchworm robot with zero onboard electronics have the potential to be deployed in extreme environments where pneumatically actuated systems are preferred over electrical machines and drives, such as in nuclear and explosive environments.","PeriodicalId":49593,"journal":{"name":"Robotica","volume":"64 1","pages":""},"PeriodicalIF":2.7,"publicationDate":"2024-03-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140057010","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0