Singularity Design for RRSS Mechanisms

Deemyad, Taher; Heidari, Omid; Pérez-Gracia, Alba

doi:10.1007/978-3-030-43929-3_25

Cited by 11 publications

(3 citation statements)

References 4 publications

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“…Lastly, there are 10° and 20° slices of the workspace due to the range of motion of Joint 1. In conclusion, by using this method we are able to control the workspace by adjusting the constant parameters or limiting the joints to achieve the desired workspace or avoid singular positions of the mechanism [36]. Moreover, the operator can use the workspace plots generated by forward kinematics study to get some insights into positioning the robot while reaching objects within an environment.…”

Section: Achievable Workpacementioning

confidence: 99%

Design and implementation of a maxi-sized mobile robot (Karo) for rescue missions

et al. 2021

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Rescue robots are expected to carry out reconnaissance and dexterity operations in unknown environments comprising unstructured obstacles. Although a wide variety of designs and implementations have been presented within the field of rescue robotics, embedding all mobility, dexterity, and reconnaissance capabilities in a single robot remains a challenging problem. This paper explains the design and implementation of Karo, a mobile robot that exhibits a high degree of mobility at the side of maintaining required dexterity and exploration capabilities for urban search and rescue (USAR) missions. We first elicit the system requirements of a standard rescue robot from the frameworks of Rescue Robot League (RRL) of RoboCup and then, propose the conceptual design of Karo by drafting a locomotion and manipulation system. Considering that, this work presents comprehensive design processes along with detail mechanical design of the robot’s platform and its 7-DOF manipulator. Further, we present the design and implementation of the command and control system by discussing the robot’s power system, sensors, and hardware systems. In conjunction with this, we elucidate the way that Karo’s software system and human–robot interface are implemented and employed. Furthermore, we undertake extensive evaluations of Karo’s field performance to investigate whether the principal objective of this work has been satisfied. We demonstrate that Karo has effectively accomplished assigned standardized rescue operations by evaluating all aspects of its capabilities in both RRL’s test suites and training suites of a fire department. Finally, the comprehensiveness of Karo’s capabilities has been verified by drawing quantitative comparisons between Karo’s performance and other leading robots participating in RRL.

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Section: Achievable Workpacementioning

confidence: 99%

Design and implementation of a maxi-sized mobile robot (Karo) for rescue missions

et al. 2021

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“…is case exemplifies problems where multirobot exploration and task allocation aspects need to be addressed simultaneously. Besides, a rescue robot needs to have a heavy-duty manipulator and dexterous gripper [33,34], high-power actuators, tracked locomotion mechanism, high-capacity batteries, and many sorts of sensors, cameras, and communication devices to accomplish those tasks which make the robot relatively heavy, ponderous, and incapable of agile search operations. Under this circumstance, the "hunterand-gatherer approach" is decidedly justifiable, where each task is comprised of two sequential subtasks: detection and completion.…”

Section: Introductionmentioning

confidence: 99%

Exploration and Coordination of Complementary Multirobot Teams in a Hunter-and-Gatherer Scenario

et al. 2021

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The hunter-and-gatherer approach copes with the problem of dynamic multirobot task allocation, where tasks are unknowingly distributed over an environment. This approach employs two complementary teams of agents: one agile in exploring (hunters) and another dexterous in completing (gatherers) the tasks. Although this approach has been studied from the task planning point of view in our previous works, the multirobot exploration and coordination aspects of the problem remain uninvestigated. This paper proposes a multirobot exploration algorithm for hunters based on innovative notions of “expected information gain” to minimize the collective cost of task accomplishments in a distributed manner. Besides, we present a coordination solution between hunters and gatherers by integrating the novel notion of profit margins into the concept of expected information gain. Statistical analysis of extensive simulation results confirms the efficacy of the proposed algorithms compared in different environments with varying levels of obstacle complexities. We also demonstrate that the lack of effective coordination between hunters and gatherers significantly distorts the total effectiveness of the planning, especially in environments containing dense obstacles and confined corridors. Finally, it is statistically proven that the overall workload is distributed equally for each type of agent which ensures that the proposed solution is not biased to a particular agent and all agents behave analogously under similar characteristics.

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“…These methods are very accurate and are used in various part of industry like heat transfer, industrial applications, robotic and design of chassis for vehicles. 7–10 In recent years also there are several literatures that concentrate on bubble rising and its dynamics in different liquids. Wang and Cai 11 performed an study on bubble rising in LBE by use of DIM model.…”

Section: Introductionmentioning

confidence: 99%

Magnetic bubbles dynamics and heat transfer characteristics under influence of non-uniform magnetic fields

Larimi

Ramiar

Ramyar

et al. 2021

Proceedings of the Institution of Mechanical Engineers, Part C:

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The computational study of transient immiscible and incompressible two-phase flows is one of the most common and desirable way for investigation of engineering phenomena and physics science. In the previous studies, generally bubbles current have been used as an active method for increasing heat transfer, however, due to existence of hydraulic boundary layers, the bubbles were not able to cross over this layer to thinning the thermal boundary layer and consequently the efficiency of this method was not very considerable. In this study, by considering potential of magnetic field, the effect of co-applying of external non uniform magnetic field and magnetic bubbles in enhancing the heat transfer efficiency in a 3-D tube has been investigated. The computational model consisted of the Navier–Stokes equation for liquid phase and VOF model for interface tracking are carried out by OpenFOAM. The external magnetic field has been considered non-uniform and time dependent. The results predicted that magnetic bubbles and external magnetic field due to their effect on thermal boundary layer increased significantly heat transfer and Nusselt number. Furthermore, results indicated magnetic bubbles can act as an active torbulators in the flow field and can be applied for increasing recirculation and secondary flow in the flow field. The average temperature and magnetic field over times for different cases have been discussed in the results.

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Singularity Design for RRSS Mechanisms

Cited by 11 publications

References 4 publications

Design and implementation of a maxi-sized mobile robot (Karo) for rescue missions

Design and implementation of a maxi-sized mobile robot (Karo) for rescue missions

Exploration and Coordination of Complementary Multirobot Teams in a Hunter-and-Gatherer Scenario

Magnetic bubbles dynamics and heat transfer characteristics under influence of non-uniform magnetic fields

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