1-DoF robotic joint modules and their applications in new robotic systems

Guan, Yisheng; Jiang, Li; Zhang, Xianmin; Qiu, Jacky; Zhou, Xuefeng

doi:10.1109/robio.2009.4913292

Cited by 12 publications

(3 citation statements)

References 15 publications

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“…The various design of modules for reconfigurable manipulators proposed by different researchers can be seen in refs. [14][15][16][17][18][19][20][21][22][23][24][25]. These works are able to achieve the conventional configurations in serial manipulators as well as other robotic systems such as quadruped but further study on task-based approach highlights the need to assemble unconventional configurations of serial manipulators as well.…”

Section: Introductionmentioning

confidence: 99%

Optimal synthesis of reconfigurable manipulators for robotic assistance in vertical farming

2023

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Due to the ever-increasing demand for food commodities and issues arising in their transport from rural to urban areas, commercial agricultural practices with the help of vertical farming are being taken up near urban regions. For the realization of agricultural practices on high-rise vertical farms, where human intervention is quite laborious, robotic assistance would be an effective solution to perform agricultural processes like seeding, transplanting, harvesting, health monitoring, nutrient-water supply, etc. The requirements and complexities of these tasks to be performed are different such as end-effector requirement, payload capacity required, amount of clutter while performing the task, etc. In such cases, an individual robotic configuration would not serve all the purposes and each task may require a different configuration. Purchasing a large number of configurations, as per requirement, is not economical and will also increase the cost of maintenance. Thus, the design of a reconfigurable robot manipulator is proposed in this work which can cater to modular layouts. A thorough study of the processes involved in the farming of leafy vegetables is done and the tasks to be performed by the manipulator are identified. Constrained optimization is performed based on reachability, while minimizing DoF, for the tasks of transplanting, plant heath monitoring, and harvesting to find the optimal configurations which can perform the given tasks. The study resulted in 5-DoF, 4-DoF, and 6-DoF configurations for transplanting, plant heath monitoring, and harvesting, respectively, thus emphasizing the need of a reconfigurable solution. The configurations are realized using modular library and verified to satisfy reachability to provide a complete solution.

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Section: Introductionmentioning

confidence: 99%

Optimal synthesis of reconfigurable manipulators for robotic assistance in vertical farming

2023

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“…In summary, the majority of drive systems developed to date are based on commercial motors coupled to geared transmissions of some sort [22][23][24] and lack a system-level integration for the motor and transmission and joint structure.…”

Section: Introductionmentioning

confidence: 99%

Design and Development of a Compact High-Torque Robotic Actuator for Space Mechanisms

Brassitos

Jalili

2017

Journal of Mechanisms and Robotics

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Space robots require compact joint drive systems (JDSs), typically comprising of actuator, transmission, joint elements that can deliver high torques through stiff mechanical ports. Today's conventional space drive systems are made from off-the-shelf actuators and multistage transmissions that generally involve three to six stages. This current practice has certain benefits such as short development time due to the availability of mechanical components. However, it lacks a system-level integration that accounts for the actuator structure, size and output force, transmission structure, gear-ratio, and strength, and often leads to long and bulky assemblies with large number of parts. This paper presents a new robotic hardware that integrates the robot's JDS into one compact device that is optimized for its size and maximum torque density. This is done by designing the robotic joint using a special transmission which, when numerically optimized, can produce unlimited gear-ratios using only two stages. The design is computerized to obtain all the solutions that satisfy its kinematic relationships within a given actuator diameter. Compared to existing robotic actuators, the proposed design could lead to shorter assemblies with significantly lower number of parts for the same output torque. The theoretical results demonstrates the potential of an example device, for which a proof-of-concept plastic mockup was fabricated, that could deliver more than 200 N·m of torque in a package as small as a human elbow joint. The proposed technology could have strong technological implications in other industries such as powered prosthetics and rehabilitation equipment.

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“…In the last century, the designs of the large part of the machine such as column are based on the experience generally, and most of the designs remain in the static design phase. In recent years, people gradually realized the importance of CAE analysis, especially the effect of the dynamic characteristics on the machining accuracy, and introduced many dynamic design methods of machine tool [1,2,3]. However, most of optimization methods focused on how to improve the first several natural frequencies of the machine, and rarely considered the weight factor of each mode and the static and dynamic characteristics of the machine are never taken into account simultaneously.…”

mentioning

confidence: 99%

Structure Optimization Design for the Bed of Gear Hobbing Machine

Zhang

Liu

Wang

et al. 2013

AMR

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In the optimization design of the gear hobbing machine bed, the finite element model is build and the static analysis and vibration modal analysis are performed. Then sensitivity analysis is used to gain the main design parameters which influence the bed property most. Furthermore, the multi-objective optimization design of the bed is performed in ANSYS Workbench with these design parameters as the design variables. At last, after all optimum proposals are showed up, Analytic Hierarchy Process is used to determine the weighting coefficient, and the most optimal solution is found out. As a result, the dynamic and static performances of the machine bed are improved under control of the machine bed mass.

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1-DoF robotic joint modules and their applications in new robotic systems

Cited by 12 publications

References 15 publications

Optimal synthesis of reconfigurable manipulators for robotic assistance in vertical farming

Optimal synthesis of reconfigurable manipulators for robotic assistance in vertical farming

Design and Development of a Compact High-Torque Robotic Actuator for Space Mechanisms

Structure Optimization Design for the Bed of Gear Hobbing Machine

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