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Offline motion planning and simulation of two-robot welding coordination

Tie ZHANG, Fan OUYANG

Frontiers of Mechanical Engineering 2012, Volume 7, Issue 1,   Pages 81-92 doi: 10.1007/s11465-012-0309-4

Abstract:

This paper focuses on the two-robot welding coordination of complex curve seam which means one robotgrasp the workpiece, the other hold the torch, the two robots work on the same workpiece simultaneouslypaper builds the dual-robot coordinate system at the beginning, and three point calibration method of tworobots’ relative base coordinate system is presented.slave scheme sets the poses versus time function of the point u on the workpiece, and calculates the two

Keywords： complex curve seam     two robots     coordinated welding     motion planning    

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Comparison of internal force antagonism between redundant cable-driven parallel robots and redundantrigid parallel robots

Frontiers of Mechanical Engineering 2023, Volume 18, Issue 4, doi: 10.1007/s11465-023-0767-x

Abstract: one of the most important issues limiting the applications and popularization of redundant parallel robotsRedundant cable-driven parallel robots (RCDPRs) and redundant rigid parallel robots (RRPRs) behave very

Keywords： cable-driven parallel robots     parallel robots     redundant robots     evaluation index     force solution space    

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Comprehensive kinetostatic modeling and morphology characterization of cable-driven continuum robots

Frontiers of Mechanical Engineering 2023, Volume 18, Issue 3, doi: 10.1007/s11465-023-0756-0

Abstract: In-situ maintenance is of great significance for improving the efficiency and ensuring the safety of aero-engines. The cable-driven continuum robot (CDCR) with twin-pivot compliant mechanisms, which is enabled with flexible deformation capability and confined space accessibility, has emerged as a novel tool that aims to promote the development of intelligence and efficiency for in-situ aero-engine maintenance. The high-fidelity model that describes the kinematic and morphology of CDCR lays the foundation for the accurate operation and control for in-situ maintenance. However, this model was not well addressed in previous literature. In this study, a general kinetostatic modeling and morphology characterization methodology that comprehensively contains the effects of cable-hole friction, gravity, and payloads is proposed for the CDCR with twin-pivot compliant mechanisms. First, a novel cable-hole friction model with the variable friction coefficient and adaptive friction direction criterion is proposed through structure optimization and kinematic parameter analysis. Second, the cable-hole friction, all-component gravities, deflection-induced center-of-gravity shift of compliant joints, and payloads are all considered to deduce a comprehensive kinetostatic model enabled with the capacity of accurate morphology characterization for CDCR. Finally, a compact continuum robot system is integrated to experimentally validate the proposed kinetostatic model and the concept of in-situ aero-engine maintenance. Results indicate that the proposed model precisely predicts the morphology of CDCR and outperforms conventional models. The compact continuum robot system could be considered a novel solution to perform in-situ maintenance tasks of aero-engines in an invasive manner.

Keywords： kinetostatic modeling     morphology characterization     variable friction     continuum robots     in-situ   

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Footholds optimization for legged robots walking on complex terrain

Frontiers of Mechanical Engineering 2023, Volume 18, Issue 2, doi: 10.1007/s11465-022-0742-y

Abstract: This paper proposes a novel continuous footholds optimization method for legged robots to expand their

Keywords： footholds optimization     legged robot     complex terrain adapting     hexapod robot     locomotion control    

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Dynamic motion of quadrupedal robots on challenging terrain: a kinodynamic optimization approach

Frontiers of Mechanical Engineering 2024, Volume 19, Issue 3, doi: 10.1007/s11465-024-0791-5

Abstract: The dynamic motion of quadrupedal robots on challenging terrain generally requires elaborate spatial–temporalHowever, conventional quadrupedal robots usually generate relatively coarse planning and employ motion

Keywords： quadrupedal robot     kinodynamic planning     nonlinear optimization     challenging terrain     whole-body control    

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Dynamic compliance of energy-saving legged elastic parallel joints for quadruped robots: design and realization

Frontiers of Mechanical Engineering 2024, Volume 19, Issue 2, doi: 10.1007/s11465-024-0784-4

Abstract: Achieving dynamic compliance for energy-efficient legged robot motion is a longstanding challenge. Although recent predictive control methods based on single-rigid-body models can generate dynamic motion, they all assume infinite energy, making them unsuitable for prolonged robot operation. Addressing this issue necessitates a mechanical structure with energy storage and a dynamic control strategy that incorporates feedback to ensure stability. This work draws inspiration from the efficiency of bio-inspired muscle–tendon networks and proposes a controllable torsion spring leg structure. The design integrates a spring-loaded inverted pendulum model and adopts feedback delays and yield springs to enhance the delay effects. A leg control model that incorporates motor loads is developed to validate the response and dynamic performance of a leg with elastic joints. This model provides torque to the knee joint, effectively reducing the robot’s energy consumption through active or passive control strategies. The benefits of the proposed approach in agile maneuvering of quadruped robot legs in a realistic scenario are demonstrated to validate the dynamic motion performance of the leg with elastic joints with the advantage of energy-efficient legs.

Keywords： dynamic responsiveness     energy dissipation     legged locomotion     parallel joints     quadruped robot    

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Vibration suppression of speed-controlled robots with nonlinear control

Paolo BOSCARIOL,Alessandro GASPARETTO

Frontiers of Mechanical Engineering 2016, Volume 11, Issue 2,   Pages 204-212 doi: 10.1007/s11465-016-0380-3

Abstract: a simple nonlinear control strategy for the simultaneous position tracking and vibration damping of robots

Keywords： industrial robot     nonlinear control     vibration damping     model-free control     motion control    

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A systematic graph-based method for the kinematic synthesis of non-anthropomorphic wearable robots for

Fabrizio SERGI, Dino ACCOTO, Nevio L. TAGLIAMONTE, Giorgio CARPINO, Eugenio GUGLIELMELLI

Frontiers of Mechanical Engineering 2011, Volume 6, Issue 1,   Pages 61-70 doi: 10.1007/s11465-011-0206-2

Abstract:

The choice of non-anthropomorphic kinematic solutions for wearable robots is motivated both by theHowever, the process of kinematic synthesis of non-anthropomorphic wearable robots can be too complexThe methodology also includes two novel tests, specifically devised to solve the problem of enumerationof kinematic structures of wearable robots: the HR-isomorphism and the HR-degeneracy tests.

Keywords： assistive robotics     non-anthropomorphic wearable robots     topology     kinematic synthesis     HR-isomorphism test    

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Modular crawling robots using soft pneumatic actuators

Nianfeng WANG, Bicheng CHEN, Xiandong GE, Xianmin ZHANG, Wenbin WANG

Frontiers of Mechanical Engineering 2021, Volume 16, Issue 1,   Pages 163-175 doi: 10.1007/s11465-020-0605-3

Abstract: Crawling robots have elicited much attention in recent years due to their stable and efficient locomotionIn this work, several crawling robots are developed using two types of soft pneumatic actuators (SPAsThe SPAs are fabricated by casting and developed into crawling robots with 3D-printing connectors.

Keywords： soft robot     soft pneumatic actuator     kinematic model     crawling robot     modular design    

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High-efficiency inspecting method for mobile robots based on task planning for heat transfer tubes in

Frontiers of Mechanical Engineering 2023, Volume 18, Issue 2, doi: 10.1007/s11465-022-0741-z

Abstract: tubes are distributed on the tube plates of a steam generator that requires periodic inspection by robotsExisting inspection robots are usually involved in issues: Robots with manipulators need complicatedinstallation due to their fixed base; tube mobile robots suffer from low running efficiency because ofMost in-service robots check the task tubes using row-by-row and column-by-column planning.

Keywords： steam generator transfer tubes     mobile robot     dexterous structure     task planning     efficient inspection    

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Robots Tackle DARPA Underground Challenge

Mitch Leslie

Engineering 2022, Volume 13, Issue 6,   Pages 2-4 doi: 10.1016/j.eng.2022.04.003

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Trajectory planning of mobile robots using indirect solution of optimal control method in generalized

M. NAZEMIZADEH, H. N. RAHIMI, K. AMINI KHOIY

Frontiers of Mechanical Engineering 2012, Volume 7, Issue 1,   Pages 23-28 doi: 10.1007/s11465-012-0304-9

Abstract:

This paper presents an optimal control strategy for optimal trajectory planning of mobile robots by

Keywords： mobile robot     trajectory planning     nonlinear dynamic     optimal control    

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Review of key technologies of climbing robots

Frontiers of Mechanical Engineering 2023, Volume 18, Issue 4, doi: 10.1007/s11465-023-0764-0

Abstract: People are barely familiar with climbing robots, a kind of special robot.This paper analyzes and summarizes the key technologies of climbing robots, introduces various kindsof climbing robots, and examines their advantages and disadvantages to provide a reference for futureMany countries have studied climbing robots and made some achievements.This paper analyzes climbing robots such as mechanical arms, magnetic attraction, and claws.

Keywords： climbing robot     mechanical structure design     control system     kinematics planning     path planning    

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Towards a next-generation production system for industrial robots: A CPS-based hybrid architecture for

Qingmeng TAN, Yifei TONG, Shaofeng WU, Dongbo LI

Frontiers of Mechanical Engineering 2020, Volume 15, Issue 1,   Pages 1-11 doi: 10.1007/s11465-019-0563-9

Abstract: Given the multiple varieties and small batches, the production of industrial robots faces the ongoingToward the next generation production system for industrial robots, this study proposed a hybrid architecture

Keywords： cyber physical system     robot assembly     multiagent system     architecture    

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An improved immunity path planning algorithm for mobile robots based on the guidance weight of artificial

Wang Sunan,Wu Canyang

Strategic Study of CAE 2013, Volume 15, Issue 1,   Pages 73-78

Abstract:

To solve the path planning problem of mobile robots in complicated environments, combining the

Keywords： immune network     artificial potential field     mobile robots     path planning    

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Title Author Date Type Operation

Offline motion planning and simulation of two-robot welding coordination

Tie ZHANG, Fan OUYANG

Journal Article

Comparison of internal force antagonism between redundant cable-driven parallel robots and redundantrigid parallel robots

Journal Article

Comprehensive kinetostatic modeling and morphology characterization of cable-driven continuum robots

Journal Article

Footholds optimization for legged robots walking on complex terrain

Journal Article

Dynamic motion of quadrupedal robots on challenging terrain: a kinodynamic optimization approach

Journal Article

Dynamic compliance of energy-saving legged elastic parallel joints for quadruped robots: design and realization

Journal Article

Vibration suppression of speed-controlled robots with nonlinear control

Paolo BOSCARIOL,Alessandro GASPARETTO

Journal Article

A systematic graph-based method for the kinematic synthesis of non-anthropomorphic wearable robots for

Fabrizio SERGI, Dino ACCOTO, Nevio L. TAGLIAMONTE, Giorgio CARPINO, Eugenio GUGLIELMELLI

Journal Article

Modular crawling robots using soft pneumatic actuators

Nianfeng WANG, Bicheng CHEN, Xiandong GE, Xianmin ZHANG, Wenbin WANG

Journal Article

High-efficiency inspecting method for mobile robots based on task planning for heat transfer tubes in

Journal Article

Robots Tackle DARPA Underground Challenge

Mitch Leslie

Journal Article

Trajectory planning of mobile robots using indirect solution of optimal control method in generalized

M. NAZEMIZADEH, H. N. RAHIMI, K. AMINI KHOIY

Journal Article

Review of key technologies of climbing robots

Journal Article

Towards a next-generation production system for industrial robots: A CPS-based hybrid architecture for

Qingmeng TAN, Yifei TONG, Shaofeng WU, Dongbo LI

Journal Article

An improved immunity path planning algorithm for mobile robots based on the guidance weight of artificial

Wang Sunan,Wu Canyang

Journal Article