Investigating the Potential of Flexible Links for Increased Payload to Mass Ratios for Collaborative Robotics

Perre, Greet Van de; Hubert, Thierry; Verstraten, Tom; Vanderborght, Bram

doi:10.1109/access.2023.3244402

Cited by 6 publications

(5 citation statements)

References 28 publications

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“…With the single-flexible link robot manipulator as a starting point, de Perre et al [91] proposed the use of flexible links to increase payload-to-mass ratios for collaborative robots. In addition to discussing the design, simulation, and experimental validation of a flexible-link robotic arm, the paper presented a full assessment of the possible advantages of adopting flexible links.…”

Section: A Single-linkmentioning

confidence: 99%

In-Depth Review of Advanced Control Strategies and Cutting-Edge Trends in Robot Manipulators: Analyzing the Latest Developments and Techniques

Abdelmaksoud,

Al-Mola,

Abro

et al. 2024

IEEE Access

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It is undeniable that the development of robot manipulators has gained significant attention due to its numerous applications in various sectors. In order to address and resolve several issues for robotic manipulators, this paper provides a review of recent control approaches that have been conducted. In the beginning, a succinct comprehensive introduction of the pertinent terminology, configurations, components, advantages/disadvantages, and applications is given. A state-of-the-art review of the various control strategies for robotic manipulator systems is then presented, along with potential solutions when the systems are faced with various obstacles and impediments. An analytical study is discussed showing percentages of the papers discussed in this study in terms of the different control strategies, link types, models, applications, and degrees of freedom of robotic manipulators. For academic, research, medical, and industrial uses, some off-the-shelf developments in robotic manipulators are also presented.

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Section: A Single-linkmentioning

confidence: 99%

In-Depth Review of Advanced Control Strategies and Cutting-Edge Trends in Robot Manipulators: Analyzing the Latest Developments and Techniques

Abdelmaksoud,

Al-Mola,

Abro

et al. 2024

IEEE Access

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“…where K e represents the back emf constant, ω m represents the angular velocity of the motor, J represents the rotor inertia, B represents the coefficient of friction, and T L represents the torque of the load. The friction is assumed to be small and neglected in order to arrive at Equation (9). The transfer function of the motor is represented in Equation (9), where the input is the voltage and output is the angular velocity of the motor.…”

Section: Torque Power and Error Modelingmentioning

confidence: 99%

“…The friction is assumed to be small and neglected in order to arrive at Equation (9). The transfer function of the motor is represented in Equation (9), where the input is the voltage and output is the angular velocity of the motor. The standard equation for the wave generator, flex spline, and circular spline used in the design of the harmonic drive is defined as follows:…”

Section: Torque Power and Error Modelingmentioning

confidence: 99%

“…The global market for collaborative robots is projected to undergo substantial growth, with anticipated revenues soaring from USD 981 million in 2020 to an estimated USD 7172 billion by 2026. This surge reflects a remarkable uptick, with the market steadily expanding at an average annual growth rate of approximately 41.2% [8,9]. Factors such as weight, operating power, response time, and accuracy play pivotal roles in designing robot systems intended for close human interaction.…”

Section: Introductionmentioning

confidence: 99%

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Reduced Kinematic Error for Position Accuracy in a High-Torque, Lightweight Actuator

Megalingam,

Vadivel,

Manoharan

et al. 2024

Actuators

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In this paper, we propose the design, development, and testing of high-torque and lightweight actuators suitable for lightweight robotic applications. The detailed design of the actuator module is described, and its performance evaluation is also presented. Further, the mathematical modelling of the actuator is discussed. Various performance analysis tests were carried out for the elucidation of the designed actuator, which included primarily position, velocity, and torque analyses. The position accuracy analysis included position repeatability at the maximum payload for calculating the acceptable tolerance. The velocity elucidation included a velocity test for the variable load. The torque analysis of the actuator was completed at different supply currents. These tests and the results indicate that the proposed actuator has high precision in reaching the desired position and provides a stabilized performance with variable loads up to the limit for which it was designed. Based on the torque output and the weight, the proposed actuator could be a good fit for lightweight robotic applications.

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“…It is conventionally measured in mm and indicates the distance from the center of the robot base to the center of the robot flange in the position of maximum extension. Depending on the type of model, this refers to the radius of circumference of the robot’s movement or the diameter (e.g., Delta robots) [ 29 ].…”

Section: Roboticsmentioning

confidence: 99%

Robotics and Aseptic Processing in View of Regulatory Requirements

Tanzini,

Ruggeri,

Bianchi

et al. 2023

Pharmaceutics

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Several nanomedicine based medicinal products recently reached the market thanks to the drive of the COVID-19 pandemic. These products are characterized by criticality in scalability and reproducibility of the batches, and the manufacturing processes are now being pushed towards continuous production to face these challenges. Although the pharmaceutical industry, because of its deep regulation, is characterized by slow adoption of new technologies, recently, the European Medicines Agency (EMA) took the lead in pushing for process improvements using technologies already established in other manufacturing sectors. Foremost among these technologies, robotics is a technological driver, and its implementation in the pharma field should cause a big change, probably within the next 5 years. This paper aims at describing the regulation changes mainly in aseptic manufacturing and the use of robotics in the pharmaceutical environment to fulfill GMP (good manufacturing practice). Special attention is therefore paid at first to the regulatory aspect, explaining the reasons behind the current changes, and then to the use of robotics that will characterize the future of manufacturing especially in aseptic environments, moving from a clear overview of robotics to the use of automated systems to design more efficient processes, with reduced risk of contamination. This review should clarify the regulation and technological scenario and provide pharmaceutical technologists with basic knowledge in robotics and automation, as well as engineers with regulatory knowledge to define a common background and language, and enable the cultural shift of the pharmaceutical industry.

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Investigating the Potential of Flexible Links for Increased Payload to Mass Ratios for Collaborative Robotics

Cited by 6 publications

References 28 publications

In-Depth Review of Advanced Control Strategies and Cutting-Edge Trends in Robot Manipulators: Analyzing the Latest Developments and Techniques

In-Depth Review of Advanced Control Strategies and Cutting-Edge Trends in Robot Manipulators: Analyzing the Latest Developments and Techniques

Reduced Kinematic Error for Position Accuracy in a High-Torque, Lightweight Actuator

Robotics and Aseptic Processing in View of Regulatory Requirements

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