Challenges and Conceptual Framework to Develop Heavy-Load Manipulators for Smart Factories

doi:10.17683/ijomam/issue8.58

Cited by 2 publications

(1 citation statement)

References 9 publications

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“…With the technological and scientific trends of moving towards Smart Manufacturing and Industry 4.0, there has been an emerging need of developing multifunctional robotic systems and smart solutions for a wide range of industrial applications [1,2,[10][11][12][13][14]. For applications related to aerial manipulations, there have been lots of efforts and studies to develop flying robots or aerial robots.…”

Section: Introductionmentioning

confidence: 99%

Innovative Development of a Flying robot with a Flexible Manipulator for Aerial Manipulations

Yotov¹,

Zlatov²,

Hristov³

et al. 2022

Proceedings of the Seventh International Conference on Research in Intelligent and Computing in Engineering

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4This paper presents an innovative development of a flying robot or an aerial robot, with a flexible manipulator, called the Dexterous Aerial Robotic System (DFTS), for aerial manipulations, especially for inspections and reparations of various structures such as wind turbines, power lines and open gas pipelines, decorations and painting of high industrial chimneys and walls of high buildings, as well as transport and delivery of courier shipments, relocation and manipulation of assemblies and units in inaccessible or dangerous environments. The proposed DFTS consists of two independent but interconnected systems or functional units, which have two main separate functions respectively, including a basic carrying function, and a precise positioning and stabilization function. The system with a basic carrying function is actually the main flying system, the unmanned aerial vehicle (UAV); it is remotely controlled and piloted. Meanwhile, the aerial manipulation platform, called the vertical take-off and landing platform VTOL, which is an active flying platform with 6 degrees of freedom (DOF) is used for positioning and stabilization; and it is attached to the UAV via the soft link. With the use of a long soft link, the problems which are caused by the air turbulent flows generated by the UAV are minimized, and the aerial manipulations of objects are safely controlled and operated. The VTOL which is equipped with a grasping mechanism was successfully developed, prototyped and tested. The experimental results showed that, the developed VTOL can self-stabilize with the inclination angle of being up to 8 degrees.

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Section: Introductionmentioning

confidence: 99%

Innovative Development of a Flying robot with a Flexible Manipulator for Aerial Manipulations

Yotov¹,

Zlatov²,

Hristov³

et al. 2022

Proceedings of the Seventh International Conference on Research in Intelligent and Computing in Engineering

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Innovative development of a soft robotic gripper: mathematical modeling and grasping capability analysis

Xuan Hiep,

My,

Van Binh

et al. 2023

Mechanics Based Design of Structures and Machines

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Grasping or gripping is essential for both humans and robots. Soft and flexible grippers have been the focus of recent research due to their safe interaction with objects. However, most soft grippers rely on complex mechanisms or complicated structures, leading to challenging fabrication and modeling. Furthermore, there is a lack of mathematical models to estimate curvature shape, analyze gripping capacity, and stability under dynamic motion. To address these challenges, this study presents an innovative soft-fingered gripper design with an asymmetric tube that has a variable cross-section, providing a simple yet effective solution for gripping tasks. The proposed mathematical modeling and solutions were successfully developed and experimentally validated to analyze the effects of the robot arm's motion on the gripping capability of the gripper. Specifically, the mathematical modelling considers the effect of forces/moments imposing on the gripping mechanism of soft fingers, including the contact forces between the soft fingers and gripping objects. The proposed mathematical modeling and simulations can be used to analyze the deformation, gripping manipulations, and grasping capability of the soft-fingered grippers. This innovation represents an improvement over existing designs and has the potential to enhance the design and efficient performance of soft robotic grippers.

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Challenges and Conceptual Framework to Develop Heavy-Load Manipulators for Smart Factories

Cited by 2 publications

References 9 publications

Innovative Development of a Flying robot with a Flexible Manipulator for Aerial Manipulations

Innovative Development of a Flying robot with a Flexible Manipulator for Aerial Manipulations

Innovative development of a soft robotic gripper: mathematical modeling and grasping capability analysis

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