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Nonlinear dynamic analysis for elastic robotic arms

M. H. KORAYEM, H. N. RAHIMI

Frontiers of Mechanical Engineering 2011, Volume 6, Issue 2,   Pages 219-228 doi: 10.1007/s11465-011-0218-y

Abstract:

The aim of the paper is to analyze the nonlinear dynamics of robotic arms with elastic links and jointsmodes and finite element methods as more convenient approaches for computing the nonlinear dynamic of robotic

Keywords： robotic arms     elastic link     elastic joint     nonlinear dynamics     optimal control    

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Kinematic design of an anthropomimetic 7-DOF cable-driven robotic arm

Guilin YANG, Shabbir Kurbanhusen MUSTAFA, Song Huat YEO, Wei LIN, Wen Bin LIM

Frontiers of Mechanical Engineering 2011, Volume 6, Issue 1,   Pages 45-60 doi: 10.1007/s11465-011-0205-3

Abstract:

In this paper, an anthropomimetic design of a 7-DOF dexterous robotic arm is proposed.the three joint modules, in which the design objective is to maximize the matched workspace of the roboticA research prototype of the 7-DOF cable-driven robotic arm has also been developed in order to demonstrateWith a lightweight structure of 1 kg, the cable-driven robotic arm can carry a payload of 5 kg and has

Keywords： anthropomimetic design     robotic arm     cable-driven mechanism     kinematic analysis     design optimization    

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Stiffness analysis and experimental validation of robotic systems

Giuseppe CARBONE

Frontiers of Mechanical Engineering 2011, Volume 6, Issue 2,   Pages 182-196 doi: 10.1007/s11465-011-0221-3

Abstract: p>Stiffness can be considered of primary importance in order to guarantee the successful use of any roboticfor carrying out both numerical and experimental estimations of stiffness performance for multibody robotic

Keywords： robotics     stiffness performance     numerical and experimental estimations    

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Lightning Flashover Characteristics of a Full-Scale AC 500 kV Transmission Tower with Composite Cross Arms Article

Qian Wang, Xidong Liang, Yufeng Shen, Shuming Liu, Zhou Zuo, Yanfeng Gao

Engineering 2023, Volume 23, Issue 4,   Pages 130-137 doi: 10.1016/j.eng.2021.09.021

Abstract: Towers with composite cross arms are a promising solution to this problem, considering the remarkablefull-scale alternating current (AC) 500 kV model of a transmission tower with composite cross armsBased on the results obtained from full-scale experiments, the feasibility of composite cross arms is

Keywords： Composite cross arms     Transmission tower     Lightning flashover     Streamer discharge     Lightning withstand    

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A novel task-oriented framework for dual-arm robotic assembly task

Frontiers of Mechanical Engineering 2021, Volume 16, Issue 3,   Pages 528-545 doi: 10.1007/s11465-021-0638-2

Abstract: Experiments are set up with a dual-arm robotic system (ABB YuMi and an RGB-D camera) to validate the

Keywords： dual-arm assembly     AI reasoning     intelligent system     task-oriented motion planning     visual perception    

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Review of surgical robotic systems for keyhole and endoscopic procedures: state of the art and perspectives

Yuyang Chen, Shu’an Zhang, Zhonghao Wu, Bo Yang, Qingquan Luo, Kai Xu

Frontiers of Medicine 2020, Volume 14, Issue 4,   Pages 382-403 doi: 10.1007/s11684-020-0781-x

Abstract: dexterity during the aforementioned procedures have inspired an enormous wave of developments on surgical roboticlandscape of the system configurations, actuation schemes, and control approaches of the existing surgical robotic

Keywords： surgical robots     keyhole surgery     endoscopic surgery    

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Gained switching-based fuzzy sliding mode control for a discrete-time underactuated robotic system with

Hui LI, Ruiqin LI, Jianwei ZHANG

Frontiers of Mechanical Engineering 2021, Volume 16, Issue 2,   Pages 353-362 doi: 10.1007/s11465-020-0620-4

Abstract: The performance of controlling underactuated robotic systems can be further improved by the adoptionIn addition, an underactuated robotic system with uncertainties is studied to validate the effectiveness

Keywords： sliding-mode control     robot control     discrete-time uncertain systems     fuzzy logic    

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New spinal robotic technologies

Bowen Jiang, Tej D. Azad, Ethan Cottrill, Corinna C. Zygourakis, Alex M. Zhu, Neil Crawford, Nicholas Theodore

Frontiers of Medicine 2019, Volume 13, Issue 6,   Pages 723-729 doi: 10.1007/s11684-019-0716-6

Abstract: Robotic systems in surgery have developed rapidly.surgical corridors and can require repetitive tasks over lengthy periods of time — issues for which roboticTo date, the United States Food and Drug Administration (FDA) has approved 7 robotic systems across 4surgery is the design and implementation of rigorous comparative studies to interrogate the utility of roboticHere we discuss current applications of robotics in spine surgery, review robotic systems FDA-approved

Keywords： robotics     spine surgery     Mazor     ExcelsiusGPS     ROSA     pedicle screw    

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Robotic distal pancreatectomy versus conventional laparoscopic distal pancreatectomy: a comparative study

Eric C. H. Lai,Chung Ngai Tang

Frontiers of Medicine 2015, Volume 9, Issue 3,   Pages 356-360 doi: 10.1007/s11684-015-0404-0

Abstract:

Robotic system has been increasingly used in pancreatectomy.Both robotic and conventional laparoscopic groups presented no significant difference in spleen-preservationSimilar outcomes were observed in robotic distal pancreatectomy and conventional laparoscopic approachHowever, robotic approach tended to have the advantages of less blood loss and shorter hospital stay.Further studies are necessary to determine the clinical position of robotic distal pancreatectomy.

Keywords： distal pancreatectomy     pancreatic neoplasm     robotic surgery    

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Human–Robot Collaboration Framework Based on Impedance Control in Robotic Assembly Article

Xingwei Zhao,Yiming Chen,Lu Qian,Bo Tao,Han Ding

Engineering 2023, Volume 30, Issue 11,   Pages 83-92 doi: 10.1016/j.eng.2022.08.022

Abstract: An HRC framework for robotic assembly based on impedance control is proposed in this paper.

Keywords： Human–robot collaboration     Impedance control     Robotic assembly    

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Fault-Tolerant Control of a CPG-Governed Robotic Fish Article

Yueqi Yang, Jian Wang, Zhengxing Wu, Junzhi Yu

Engineering 2018, Volume 4, Issue 6,   Pages 861-868 doi: 10.1016/j.eng.2018.09.011

Abstract:

Fault tolerance is essential for the maneuverability of self-propelled biomimetic robotic fish inThis paper explores the fault-tolerance control problem of a free-swimming robotic fish with multipleSimulations are performed for control system analysis and performance validation of the faulty roboticdemonstrate that the proposed fault-tolerant control method is able to effectively regulate the faulty roboticmotion in the presence of damage and thereby improving both the stability and the lifetime of the real robotic

Keywords： Fault-tolerant control     Robotic fish     Motion control     Feedback controller     Feedforward compensator    

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A Novel Tele-Operated Flexible Robot Targeted for Minimally Invasive Robotic Surgery Article

Zheng Li, Jan Feiling, Hongliang Ren, Haoyong Yu

Engineering 2015, Volume 1, Issue 1,   Pages 73-78 doi: 10.15302/J-ENG-2015011

Abstract:

In this paper, a novel flexible robot system with a constrained tendon-driven serpentine manipulator (CTSM) is presented. The CTSM gives the robot a larger workspace, more dexterous manipulation, and controllable stiffness compared with the da Vinci surgical robot and traditional flexible robots. The robot is tele-operated using the Novint Falcon haptic device. Two control modes are implemented, direct mapping and incremental mode. In each mode, the robot can be manipulated using either the highest stiffness scheme or the minimal movement scheme. The advantages of the CTSM are shown by simulation and experimental results.

Keywords： surgical robot     flexible manipulator     tendon-driven     minimally invasive robotic surgery    

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A novel robotic visual perception framework for underwater operation Research Article

Yue LU, Xingyu CHEN, Zhengxing WU, Junzhi YU, Li WEN

Frontiers of Information Technology & Electronic Engineering 2022, Volume 23, Issue 11,   Pages 1602-1619 doi: 10.1631/FITEE.2100366

Abstract:

Underwater robotic operation usually requires visual perception (e.g., object detection and trackingIn response to these two problems, we present a design for a novel robotic visual perception frameworkFinally, combined with , an accurate and stable underwater robotic visual perception framework is establishedExtensive experiments were conducted on the ImageNet VID dataset and real-world robotic tasks to verify

Keywords： Underwater operation     Robotic perception     Visual restoration     Video object detection    

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Editorial Overview: Advances in Robotic Technologies

Tianran Wang

Engineering 2018, Volume 4, Issue 4,   Pages 433-434 doi: 10.1016/j.eng.2018.07.016

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AI-Driven Robotic Laboratories Show Promise

Sean O´Neill

Engineering 2021, Volume 7, Issue 10,   Pages 1351-1353 doi: 10.1016/j.eng.2021.08.006

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Title Author Date Type Operation

Nonlinear dynamic analysis for elastic robotic arms

M. H. KORAYEM, H. N. RAHIMI

Journal Article

Kinematic design of an anthropomimetic 7-DOF cable-driven robotic arm

Guilin YANG, Shabbir Kurbanhusen MUSTAFA, Song Huat YEO, Wei LIN, Wen Bin LIM

Journal Article

Stiffness analysis and experimental validation of robotic systems

Giuseppe CARBONE

Journal Article

Lightning Flashover Characteristics of a Full-Scale AC 500 kV Transmission Tower with Composite Cross Arms

Qian Wang, Xidong Liang, Yufeng Shen, Shuming Liu, Zhou Zuo, Yanfeng Gao

Journal Article

A novel task-oriented framework for dual-arm robotic assembly task

Journal Article

Review of surgical robotic systems for keyhole and endoscopic procedures: state of the art and perspectives

Yuyang Chen, Shu’an Zhang, Zhonghao Wu, Bo Yang, Qingquan Luo, Kai Xu

Journal Article

Gained switching-based fuzzy sliding mode control for a discrete-time underactuated robotic system with

Hui LI, Ruiqin LI, Jianwei ZHANG

Journal Article

New spinal robotic technologies

Bowen Jiang, Tej D. Azad, Ethan Cottrill, Corinna C. Zygourakis, Alex M. Zhu, Neil Crawford, Nicholas Theodore

Journal Article

Robotic distal pancreatectomy versus conventional laparoscopic distal pancreatectomy: a comparative study

Eric C. H. Lai,Chung Ngai Tang

Journal Article

Human–Robot Collaboration Framework Based on Impedance Control in Robotic Assembly

Xingwei Zhao,Yiming Chen,Lu Qian,Bo Tao,Han Ding

Journal Article

Fault-Tolerant Control of a CPG-Governed Robotic Fish

Yueqi Yang, Jian Wang, Zhengxing Wu, Junzhi Yu

Journal Article

A Novel Tele-Operated Flexible Robot Targeted for Minimally Invasive Robotic Surgery

Zheng Li, Jan Feiling, Hongliang Ren, Haoyong Yu

Journal Article

A novel robotic visual perception framework for underwater operation

Yue LU, Xingyu CHEN, Zhengxing WU, Junzhi YU, Li WEN

Journal Article

Editorial Overview: Advances in Robotic Technologies

Tianran Wang

Journal Article

AI-Driven Robotic Laboratories Show Promise

Sean O´Neill

Journal Article