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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: In industrial manufacturing, the deployment of dual-arm robots in assembly tasks has become a trend.However, making the dual-arm robots more intelligent in such applications is still an open, challengingfacilitate robot deployment from perception to execution and finish assembly problems by using dual-armExperiments 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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A modular cable-driven humanoid arm with anti-parallelogram mechanisms and Bowden cables

Frontiers of Mechanical Engineering 2023, Volume 18, Issue 1, doi: 10.1007/s11465-022-0722-2

Abstract: This paper proposes a novel modular cable-driven humanoid arm with anti-parallelogram mechanisms (APMsThe lightweight arm realizes the advantage of joint independence and the rational layout of the drivingAfter that, both the forward and inverse kinematics of the entire arm are analyzed.stiffness, load carrying, typical humanoid arm movements, and repeatability were tested to verify thearm performance.

Keywords： modular robotic arm anti-parallelogram mechanism Bowden cable humanoid arm lightweight joint design

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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.Similar to the human arm, the arm consists of three sequentially connected modules, i.e., a 3-DOF shoulderarm joints with that of the human arm joints.A 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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A systematic review of current and emergent manipulator control approaches

Syed Ali AJWAD,Jamshed IQBAL,Muhammad Imran ULLAH,Adeel MEHMOOD

Frontiers of Mechanical Engineering 2015, Volume 10, Issue 2, Pages 198-210 doi: 10.1007/s11465-015-0335-0

Abstract:

Pressing demands of productivity and accuracy in today’s robotic applications have highlightedThis recent trend is further justified by the fact that the robotic manipulators have complex nonlinear

Keywords： robot control robust and nonlinear control adaptive control intelligent control industrial manipulators roboticarm

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Precise semi-analytical inverse kinematic solution for 7-DOF offset manipulator with arm angle optimization

Frontiers of Mechanical Engineering 2021, Volume 16, Issue 3, Pages 435-450 doi: 10.1007/s11465-021-0630-x

Abstract: However, finding the analytical solution of an EMM on the basis of arm angle parameterization is difficultsolution for a non-offset spherical–roll–spherical (SRS) redundant manipulator is derived based on armthe stride and termination condition, the precise inverse solution is computed for the EMM based on armLastly, case solutions confirm that this method has high precision, and the arm angle parameterization

Keywords： 7-DOF redundant manipulator inverse kinematics semi-analytical arm angle link offset

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The Design of a Valve Positioner System Based on ARM Microcontroller

Wu Aiguo,Wang Lishi

Strategic Study of CAE 2005, Volume 7, Issue 4, Pages 69-73

Abstract: paper introduces the hardware design and the position control method of a valve positioner based on ARMOn the one hand, the selection of ARM with CAN interface of Philips as the core controller can not only

Keywords： ARM controller CANbus intelligent integral self-learning fuzzy controller

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Different manipulation mode analysis of a radial symmetrical hexapod robot with leg–arm integration

Frontiers of Mechanical Engineering 2022, Volume 17, Issue 1, Pages 8-8 doi: 10.1007/s11465-021-0664-0

Abstract: Adding an extra arm is a useful but general method for a legged robot to obtain manipulation ability.Hence, this paper proposes a novel hexapod robot with two integrated leg–arm limbs that obtain dexterousmanipulation functions besides locomotion ability without adding an extra arm.Then, mobile manipulation with one integrated leg–arm limb while using pentapod gait is discussed as

Keywords： leg–arm integration hexapod robot fixed coordinated manipulation mobile manipulation

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Design and experiment of a novel pneumatic soft arm based on a deployable origami exoskeleton

Frontiers of Mechanical Engineering 2023, Volume 18, Issue 4, doi: 10.1007/s11465-023-0770-2

Abstract: In this research, a novel soft arm was developed by coupling a rigid origami exoskeleton with soft airbagsThe joint module of the soft arm was composed of a deployable origami exoskeleton and three soft airbagsThe motion and load performance of the soft arm of the eight-joint module was tested.The developed soft arm withstood at least 5 kg of load during extension, contraction, and bending motionsIn addition, the high extension, contraction, bending, and torsional stiffnesses of the soft arm were

Keywords： pneumatic soft arm soft airbag deployable origami exoskeleton bistable characteristics cargo-loading

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Compliance motion control of the hydraulic dual-arm manipulator with adaptive mass estimation of unknown

Frontiers of Mechanical Engineering 2024, Volume 19, Issue 1, doi: 10.1007/s11465-023-0773-z

Abstract: Given the limited operating ability of a single robotic arm, dual-arm collaborative operations have becomeCompared with the electrically driven dual-arm manipulator, due to the unknown heavy load, difficultyforces, and control complexity during the closed-chain object transportation task, the hydraulic dual-armFinally, comparative experiments are carried out on a hydraulic dual-arm test bench.

Keywords： hydraulic dual-arm manipulator compliance motion control unknown object adaptive mass estimation

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Bionic soft robotic gripper with feedback control for adaptive grasping and capturing applications

Frontiers of Mechanical Engineering 2024, Volume 19, Issue 1, doi: 10.1007/s11465-023-0779-6

Abstract: Robots are playing an increasingly important role in engineering applications. Soft robots have promising applications in several fields due to their inherent advantages of compliance, low density, and soft interactions. A soft gripper based on bio-inspiration is proposed in this study. We analyze the cushioning and energy absorption mechanism of human fingertips in detail and provide insights for designing a soft gripper with a variable stiffness structure. We investigate the grasping modes through a large deformation modeling approach, which is verified through experiments. The characteristics of the three grasping modes are quantified through testing and can provide guidance for robotics manipulation. First, the adaptability of the soft gripper is verified by grasping multi-scale and extremely soft objects. Second, a cushioning model of the soft gripper is proposed, and the effectiveness of cushioning is verified by grasping extremely sharp objects and living organisms. Notably, we validate the advantages of the variable stiffness of the soft gripper, and the results show that the soft robot can robustly complete assemblies with a gap of only 0.1 mm. Owing to the unstructured nature of the engineering environment, the soft gripper can be applied in complex environments based on the abovementioned experimental analysis. Finally, we design the soft robotics system with feedback capture based on the inspiration of human catching behavior. The feasibility of engineering applications is initially verified through fast capture experiments on moving objects. The design concept of this robot can provide new insights for bionic machinery.

Keywords： soft bionic gripper variable stiffness structure large deformation modeling feedback control soft robotic

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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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Trajectory planning and base attitude restoration of dual-arm free-floating space robot by enhanced bidirectional

Zongwu XIE1 , Xiaoyu ZHAO1 , Zainan JIANG1 , Haitao YANG2 , Chongyang LI1

Frontiers of Mechanical Engineering 2022, Volume 17, Issue 1, doi: 10.1007/s11465-021-0658-y

Abstract: In the method, the state equation is first proposed for dual-arm robots with and without end constraints

Keywords： free-floating space robot dual arm coordinated operation base attitude restoration bidirectional

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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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A virtual reality system for arm and hand rehabilitation

Zhiqiang LUO, Chee Kian LIM, I-Ming CHEN, Song Huat YEO

Frontiers of Mechanical Engineering 2011, Volume 6, Issue 1, Pages 23-32 doi: 10.1007/s11465-011-0202-6

Abstract: The system incorporates two motion track components, the Arm Suit and the Smart Glove which are composedThe experiment results show that, compared with the marker-based tracking system, the Arm Suit can accurately

Keywords： motion tracking rehabilitation optical linear encoder (OLE) virtual reality