Design of a Novel Robotic Fish Structure Utilizing PVC Gel Actuators

In this research work, it has been designed a bionic robot fish structure, can swim underwater. The active compact body is powered by eight sets of symmetric PVC gel actuators with a caudal fin. The robot’s 200 mm-long, fish structure design incorporates a 55.52 angle to optimize the fish dynamics movement. It’s a fast and smooth operation and can swim. The robot can swim fast and quietly by using the right positions and the appropriate actuators on PVC gel actuators. This design entails a unique architecture that enables the robot to move safely and unobtrusively at the same time, which makes it suitable equipment for different exploration and surveillance missions in the water with speed and silent operation as the foremost concern.

基于Robotstudio的工业机器人课程教学设计与实践

阐述工业机器人实训课程教学实践,将Robotstudio软件融入课程教学中,探讨以实例项目驱动的教学内容设计,以虚实结合手段提升课堂教学效果的教学模式,从而实现教学与实践的统一。

RobotStudio的方形锂电池搬运装盒仿真研究

为解决体积较小的锂电池如柱状类18650锂电池、方形锂电池和纽扣状锂电池等装盒包装工作导致的占用生产线劳动力,以及繁琐重复的小体积锂电池手工装盒易导致工厂劳动人员疲劳等问题,以方形锂电池搬运装盒为研究对象,设计出一种用搬运机器人取代人工操作的方案,利用RobotStudio软件模拟这一过程。最后利用RobotStudio分析搬运机器人速度对其功耗的影响,为实际生产提供参考依据。

Improved approach to quality function deployment based on Pythagorean fuzzy sets and application to assembly robot design evaluation

Quality function deployment(QFD)is an effective method that helps companies analyze customer requirements(CRs).These CRs are then turned into product or service characteristics,which are translated to other attributes.With the QFD method,companies could design or improve the quality of products or services close to CRs.To increase the effectiveness of QFD,we propose an improved method based on Pythagorean fuzzy sets(PFSs).We apply an extended method to obtain the group consensus evaluation matrix.We then use a combined weight determining method to integrate former weights to objective weights derived from the evaluation matrix.To determine the exact score of each PFS in the evaluation matrix,we develop an improved score function.Lastly,we apply the proposed method to a case study on assembly robot design evaluation.

MECHANISM DESIGN AND MOTION ANALYSIS OF A SPHERICAL MOBILE ROBOT

A new spherical mobile robot BHQ-1 is designed. The spherical robot is driven by two internally mounted motors that induce the ball to move straight and turn around on a fiat surface. A dynamic model of the robot is developed with Lagrange method and factors affecting the driving torque of two motors are analyzed. The relationship between the turning radius of the robot and the length of two links is discussed in order to optimize its mechanism design. Simulation and experimental results demonstrate the good controllability and motion performance of BHQ-1.

Design and Analysis of Gecko-like Robot

Gecko-like robot（Geckobot）,an important branch of bionic robotics,is a robot that simulates gecko＇s capacity to climb walls and ceilings.The work environment of the traditional wall-climbing robot is greatly limited as the moving structure and adsorption principle of the robot have nothing to do with the real gecko.However,the adsorption principle and moving mode of the real gecko can provide a new way to break through the restrictions of the traditional wall-climbing robot.Inspired by the moving mechanism of geckos, this paper develops the Geckobot with motile body.Two types of Geckobots are addressed：one with compliant flat bar as the body,and the other with prismatic joint as the body.The compliant body not only resembles the moving mode of the real gecko body,but also simplifies the Geckobot＇s structure.The prismatic joint body is used to adapt the change of body length in ground-to-wall transition. The gait planning on the plane and the transition between perpendicular intersectional planes is discussed,with an emphasis on the analysis of the kinematics degree of freedom（DOF） and body posture.Central pattern generator（CPG） neural network is realized in LabVIEW and utilized to control Geckobot＇s movement.The CPG scheme in Lab VIEW is given,and how CPG is used to control Geckobot to turn or move forward is explored.Simulations are conducted in ADAMS to verify the feasibility of the structure design and gait planning and to acquire some parameters for practical Geckobot development.The experiment with Geckobot-Ⅰand Geckobot-Ⅱon their crawling capacity on the plane and the ground-to-wall transition finds that the robot can complete the crawling movement and ground-to-wall transition,verifying the feasibility of the structure design,gait planning and the CPG motion control.The Geckobot structure design approach,gait planning and the CPG motion control presented would be useful for the research on wall-climbing robots.

Biologically Inspired Behaviour Design for Autonomous Robotic Fish

Behaviour-based approach plays a key role for mobile robots to operate safely in unknown or dynamically changing environments. We have developed a hybrid control architecture for our autonomous robotic fish that consists of three layers： cognitive, behaviour and swim pattern. In this paper, we describe some main design issues of the behaviour layer, which is the centre of the layered control architecture of our robotic fish. Fuzzy logic control （FLC） is adopted here to design individual behaviours. Simulation and real experiments are presented to show the feasibility and the performance of the designed behaviour layer.

Analysis and design of microsoccer robot

From the analysis of mirosot robot soccer, the design of the robot is discussed in detail covering the basic ideas of design, the general design procedure, main calculations, and the cinematic model of robot, etc.

Design Considerations for an Underactuated Robotic Finger Mechanism

A design approach is presented in this paper for underactuation in robotic finger mechanisms. The characters of underactuated finger mechanisms are introduced as based on linkage and spring systems. The feature of self-adaptive enveloping grasp by underactuated finger mechanisms is discussed with feasible in grasping unknown objects. The design problem of robotic fingers is analyzed by looking at many aspects for an optimal functionality. Design problems and requirements for underactuated mechanisms are formulated as related to human-like robotic fingers. In particular, characteristics of finger mechanisms are analyzed and optimality criteria are summarized with the aim to formulate a general design algorithm. A general multi-objective optimization design approach is applied as based on a suitable optimization problem by using suitable expressions of optimality criteria. An example is illustrated as an improvement of finger mechanism in Laboratory of Robotics and Mechatronics （LARM） Hand. Results of design outputs and grasp simulations are reported with the aim to show the practical feasibility of the proposed concepts and computations.

Modeling and Configuration Design of Electromagnetic Actuation Coil for a Magnetically Controlled Microrobot

Non-contact actuated microbeads have attracted a lot of attention in recent years because of its enormous potential in medical, biological, and industrial applications. Researchers have proposed a multitude of electromagnetic actuation(EMA) systems consisting of a variety of coil pairs. However, a unified method to design and optimize a coil pair according to technical specifications still does not exist. Initially, this paper presented the modeling of an untethered ferromagnetic particle actuated by externally applied magnetic field. Based on the models, a simple method of designing and optimizing the EMA coil pair according to technical specifications, was proposed. A loop-shaped coil pair generating uniform magnetic and gradient fields was chosen to demonstrate this method clearly and practically. The results of the optimization showed that the best distance to radius ratio of a loop-shaped coil pair is 1.02 for a uniform magnetic field and 1.75 for a uniform gradient field. The applicability of the method to other shapes of coil configuration was also illustrated. The best width to distance ratio for a square-shaped coil pair is 0.558 and 0.958 for uniform magnetic and gradient fields, respectively. The best height to width ratio and distance to width ratio for a rectangle-shaped coil pair is h/w =[0.9,1.1], d/w =[0.5,0.6] for uniform magnetic field and h/w =[1.0,1.2], d/w =[0.9,1.1] for uniform gradient field. Furthermore, simulations of a microparticle tracking the targeted trajectory were conducted to analyze the performance of the newly designed coils. The simulations suggested the ability of manipulating microparticles via the coils designed by our proposed method. The research mainly proposed a unified design and optimization method for a coil pair, which can support researchers while designing a specific coil pair according to the technical requirements. This study is aimed at researchers who are interested in EMA system and microrobots.

Design and Kinematics Study on Space Hyper-Redundant Robot

The design of space hyper-redundant robot with high dexterity is problem with great complexity. Taking the aim at robot product seriation and combination design, the combination design method of space hyper-redundant robot based on the omnidirectional unit arm of 3 degrees of freedom (d.o.f) is proposed in this paper. The kinematics model of this kind of robot is established through the equivalent mechanism model. On the basis of successful research on 3-d.o.f unit arm, the 7-d.o.f bionics arm redundant robot with double unit arm has been developed further.The content discussed in this paper is very important to the robot technology in future space station, nuclear industry andunderwater work on the sea floor.

Design and Development of a Competitive Low-Cost Robot Arm with Four Degrees of Freedom

The main focus of this work was to design, develop and implementation of competitively robot arm with en- hanced control and stumpy cost. The robot arm was designed with four degrees 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 workforce. The robot arm is equipped with several servo motors which do links between arms and perform arm movements. The servo motors include encoder so that no controller was implemented. To control the robot we used Labview, which performs inverse kinematic calculations and communicates the proper angles serially to a microcontroller that drives the servo motors with the capability of modifying position, speed and acceleration. Testing and validation of the robot arm was carried out and results shows that it work properly.

Geometric design of crab-like climbing and walking robots

This paper considers the geometric design of crab-like walkers and climbers, without decoupling leg design from overall machine design. Crab-like machines represent an important sub-class of multi-legged robots, being particularly well suited to crossing difficult terrains. Firstly, the kinematic configurations and constraints are described, which determine the machine’s kinematic characteristics. The influence of the design parameters on the kinematic workspace is discussed. Finally, a two stage design methodology is presented, comprising kinematic design and design optimisation, the latter being based on the use of design maps rather than numerical optimisation. The performance measures considered during design optimisation include kinematic, static and quasi-static measures.

Design of a Miniature Autonomous Surveillance Robot

The small size of miniature robots poses great challenges for the mechanical and electrical design and the implementation of autonomous capabilities. In this paper, the mechanical and electrical design for a twowheeled cylindrical miniature autonomous robot （＂BMS-1＂, BIT MicroScout-1） is presented and some autonomous capabilities are implemented by multiple sensors and some arithmetic models. Several experimental results show that BMS-1 is useful for surveillance in confined spaces and suitable for large-scale surveillance due to some autonomous capabilities.

Concept of Intelligent Mechanical Design for Autonomous Mobile Robots

The concept of Intelligent Mechanical Design （IMD） is presented to show how a mechanical structure can be designed to affect robot controllability, simplification and task performance. Exploring this concept produces landmarks in the territory of mechanical robot design in the form of seven design principles. The design principles, which we call the Mecha-Telligence Principles （MTP）, provide guidance on how to design mechanics for autonomous mobile robots. These principles guide us to ask the right questions when investigating issues concerning self-controllable, reliable, feasible, and compatible mechanics for autonomous mobile robots. To show how MTP can be applied in the design process we propose a novel methodology, named as Mecha-Telligence Methodology （MTM）. Mechanical design by the proposed methodology is based on preference classification of the robot specification described by interaction of the robot with its environment and the physical parameters of the robot mechatronics. After defining new terms, we investigate the feasibility of the proposed methodology to the mechanical design of an autonomous mobile sewer inspection robot. In this industrial project we show how a passive-active intelligent moving mechanism can be designed using the MTM and employed in the field.

The Research about Prescribed Workspace for Optimal Design of 6R Robot

Based on the D-H notation, kinematics model and inverse kinematics model of 6R industrial robots are established. Using graphical method, the boundary curve equations of the 6R industrial robot workspace are obtained. Based on the prescribed workspace, the D-H parameter optimization method of 6R industrial robots is proposed. Using the genetic algorithm to determine the structural dimensions of a 6R robot, we make sure that its workspace can exactly contain the prescribed workspace. This method can be used to reduce the overall size of the robot, save materials and reduce the power consumption of the robot during its work time.

The Structural Design, Simulation Analysis and Parameter Optimization of the Cheetah Robot's Lumbar Vertebrae

The quality of skeleton system for the cheetah robot goes hand in hand with its bionic result of its shape, structure and functions. In view of the skeleton system constitution and structural characteristic of the cheetah, the team applied structure design, stimulation analysis and parameter optimization to developing the cheetah robot. In addition, after the invention of cheetah robot＇s anterior lumbar vertebra based on its functional attribute and connectivity attribute, the Solidworks Simulation was utilized to analyze the design, according to which improvement on the lumbar vertebra was made. Plus, the advantages of the CAD and CAE made the high efficiency of design work and high quality of the cheetah robot possible.

气动肌肉驱动的上肢康复机器人动力学仿真

针对目前外骨骼机器人本体结构复杂,人机交互安全性不高的问题,结合驱动系统中气动人工肌肉的轻质、大驱动力、高柔顺性和接近人体肌肉的特性,提出一种基于气动肌肉的外骨骼上肢康复机器人。采用蒙特卡罗方法获得机器人的安全工作空间,并基于拉格朗日方程对外骨骼上肢康复机器人进行动力学建模,通过MATLAB软件对上肢康复机器人动力学特性仿真。

Robust Control Design of Wheeled Inverted Pendulum Assistant Robot

This paper examines the design concept and mobile control strategy of the human assistant robot I-PENTAR(inverted pendulum type assistant robot). The motion equation is derived considering the non-holonomic constraint of the twowheeled mobile robot. Different optimal control approaches are applied to a linearized model of I-PENTAR. These include linear quadratic regulator(LQR), linear quadratic Gaussian control(LQG), H_2 control and H_∞ control. Simulation is performed for all the approaches yielding good performance results.

对称悬架混联轮腿机器人结构设计与参数优化

为了实现机器人在地下空间低能耗的灵活运动,文中设计了一种对称悬架混联轮腿机器人,并针对其腿部参数优化问题,提出了一种基于沙猫群算法的性能均衡优化方法(简称均衡优化方法)。结合对称四边形机构与悬架系统,设计了一种对称悬架混联式轮腿结构,并建立其运动学和动力学模型,分析了腿部杆长对单轮腿运动空间和灵活性指标的影响,预优化确定了腿部初始杆长均为0.3 m。在满足轮腿越障规划空间及高灵活性的基础上,为了实现低能耗,建立了轮腿性能均衡优化评价指标,采用均衡优化方法对腿部杆长进行了优化研究。数值计算结果表明:大腿和小腿杆长最优值分别为0.23 m和0.3 m,该轮腿运动能耗为23.18 J,运动空间为0.1322 m2,灵活性指标变化范围为(0.2,1)。优化后灵活性保持不变,运动空间减小了24.54%,能耗降低了22.60%,验证了该方法合理有效,为轮腿机器人的设计与优化提供了一种新的思路。