Design and Control of SLPM-Based Extensible Continuum Arm

Zhuang, Zheming; Zhang, Ze; Guan, Yuntao; Wei, Wei; Li, Mi; Tang, Zhao; Kang, Rongjie; Song, Zhibin; Dai, Jian

doi:10.1115/1.4054996

Cited by 10 publications

(3 citation statements)

References 20 publications

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“…It has been proved that SLPM has three DoFs and the mathematical proof is as shown in Appendix A [39]. Once the amount of contraction for drive cable is determined, there will be only one section configuration, and thus, so the bending angle control of robot can be realized.…”

Section: Driving Strategymentioning

confidence: 99%

Design and development of a SLPM-based deployable robot

et al. 2023

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With the progress of industry, people are facing more and more complicated tasks, which cannot be completed by conventional rigid robot. For this, a deployable robot based on spherical linkage parallel mechanism was proposed to satisfy relevant requirements for the degrees of freedom in this study. Based on the design of robot model and its control box, a mathematical model for the robot was established, and the relationship between motion space and drive space was deduced accordingly. Subsequently, a control system consisting of the upper and lower computers was introduced. Two control modes, that is, Joystick control and remote control, were developed. The upper computer control interface for the robot was completed by MATLAB construction. At last, the two control modes as well as autonomous detection were demonstrated by motion test. This achievement will further advance the applications of deployable robot in job aid and intelligent exploration.

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Section: Driving Strategymentioning

confidence: 99%

Design and development of a SLPM-based deployable robot

et al. 2023

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“…Mobile Robot [29,30] Handling Robot [31] Palletizing Robot [32,33] Painting Robot [34,35] Welding Robot [36][37][38] Assembly robot [6,39] Inspection robot [40,41] Collaborative Robot [45][46][47][48] DH Robotics [26,56,57] "dynamic evolution", flexibly adapt to the changing working environment and functional requirement, and thus realize multiple functions by one machine [53][54][55].…”

Section: Typical Instancesmentioning

confidence: 99%

“…So far, there are sensing [19,23,55,[81][82][83], interactive [20][21][22]84,85], autonomous [25,83,86,87] and other types of reconfigurable automobiles and robots. However, there is still much room for improvement of intelligent reconfigurable factory to be capable of interacting with humans, "thinking" by themselves, and being completely unmanned.…”

Section: Intelligent Reconfigurable Factory For Automobilesmentioning

confidence: 99%

Reconfigurability in Automobiles—Structure, Manufacturing and Algorithm for Automobiles

Zhuang¹,

Guan²,

Xu³

et al. 2022

IJAMM

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Review Reconfigurability in Automobiles—Structure, Manufacturing and Algorithm for Automobiles Zheming Zhuang 1, Yuntao Guan 1, Shuangjia Xu 2,4, and Jian S. Dai 3,4, * 1 Key Laboratory of Mechanism Theory and Equipment Design of the Ministry of Education, Centre for Advanced Mechanisms and Robotics, Tianjin University, Tianjin, 300072, China zhuangzheming@tju.edu.cn (Z.Z.); guanyuntao_018@tju.edu.cn (Y.G.) 2 DH Robotics Ltd, Shenzhen, China; Shuangjia.xu@dh-robotics.com 3 Institute for Robotics, Southern University of Science and Technology, Shenzhen, China 4 Centre for Robotics Research, King’s College London, London, UK * Correspondence: jian.dai@kcl.ac.uk Received: 9 November 2022 Accepted: 10 November 2022 Published: 18 December 2022 Abstract: For the automobile design and manufacturing, as a typical representative of the industry, the development and upgrading represent the application of the state-of-the-art technology in the industry. With a period of development, the related technology of traditional manufacturing factories for automobiles are found with some common issues while improving. As such, the reconfigurable intelligent manufacturing factory of the automobiles is fast developed with focus on reconfigurability in structures, manufactures and algorithms, thus advancing the level of the reconfigurable intelligent manufacturing continuously. With a sufficient reconfigurable manufacturing technology as the basis, reconfigurability can be better introduced to the structure design and the driving algorithms of the automobiles. Reconfigurability provides a new bridge for transforming the traditional automobile to the reconfigurable automobile, and a new driving force for the upgrading of the reconfigurable driving algorithms.

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Soft crawling caterpillar driven by electrohydrodynamic pumps

Zhao,

Wang,

Luo

et al. 2024

Journal of Field Robotics

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Soft crawling robots are usually driven by bulky and complex external pneumatic or hydraulic actuators. In this work, we proposed a miniaturized soft crawling caterpillar based on electrohydrodynamic (EHD) pumps. The caterpillar was mainly composed of a flexible EHD pump for providing the driving force, an artificial muscle for performing the crawling, a fluid reservoir, and several stabilizers and auxiliary feet. To achieve better crawling performances for our caterpillar, the flow rate and pressure of the EHD pump were improved by using a curved electrode design. The electrode gap, electrode overlap length, channel height, electrode thickness, and electrode pair number of the EHD pump were further optimized for better performance. Compared with the EHD pumps with conventional straight electrodes, our EHD pump showed a 50% enhancement in driving pressure and a 60% increase in flow rate. The bending capability of the artificial muscles was also characterized, showing a maximum bending angle of over 50°. Then, the crawling ability of the soft crawling caterpillar is also tested. Finally, our caterpillar owns the advantages of simple fabrication, low‐cost, fast movement speed, and small footprint, which has robust and wide potential for practical use, especially over various terrains.

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Design and Control of SLPM-Based Extensible Continuum Arm

Cited by 10 publications

References 20 publications

Design and development of a SLPM-based deployable robot

Design and development of a SLPM-based deployable robot

Reconfigurability in Automobiles—Structure, Manufacturing and Algorithm for Automobiles

Soft crawling caterpillar driven by electrohydrodynamic pumps

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