Workspace and Singularity Zones Analysis of a Robotic System for Biosamples Aliquoting

Malyshev, Dmitry; Rybak, Larisa; Carbone, Giuseppe; Semenenko, Т. A.; Nozdracheva, Anna

doi:10.1007/978-3-030-75259-0_4

Cited by 3 publications

(4 citation statements)

References 7 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The field of agricultural robotics has witnessed remarkable advancements, paving the way for a multitude of innovative applications [6,7]. Further, autonomous robots have been successfully employed in a wide range of farming operations, such as harvesting [8][9][10][11][12][13][14][15][16][17][18]. The process of harvesting, once considered labor-intensive and time-consuming, has been transformed by the integration of robotics.…”

Section: Introductionmentioning

confidence: 99%

“…Robots excel in precision and speed, enabling them to increase yield size while minimizing crop waste left in the field. Multipurpose autonomous field navigation, harvesting, and picking robots [9,55,[58][59][60][61][62][63][64][65][66][67] are gaining popularity among farmers. However, there are numerous other innovative ways in which the agricultural industry is embracing robotic automation to enhance output yields.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Designing and Implementing a Versatile Agricultural Robot: A Vehicle Manipulator System for Efficient Multitasking in Farming Operations

2023

View full text Add to dashboard Cite

This paper presents a detailed design of a skid-steering mobile platform with four wheels, along with a Cartesian serial (PPP) manipulator. The aim of this design is to enable the platform to perform various tasks in the agricultural process. The parallel manipulator designed can handle heavy materials in the agricultural field. An experimental robotic harvesting scenario was conducted using parallel manipulator-based end-effectors to handle heavy fruits such as watermelon or muskmelon. The conceptual and component design of the different models was carried out using the Solidworks modeling package. Design specifications and parametric values were utilized during the manufacturing stage. The mobile manipulator was simulated on undulating terrain profiles using ADAMS software. The simulation was analyzed for a duration of 15 s, and graphs depicting the distance, velocity, and acceleration were evaluated over time. Proportional derivative control and proportional derivative-like conventional sliding surface control were applied to the model, and the results were analyzed to assess the error in relation to the input and desired variables. Additionally, a structural analysis was performed to ensure minimal deformation and the highest safety factor for the wheel shaft and L bracket thickness. Throughout the fabrication and prototype development, calibration tests were conducted at various X-, Y-, and Z-axis frame mounting stages. The objective was to minimize the lateral and longitudinal deviation between the parallel linear motion (LM) rails. Once the fabrication and prototype construction was completed, field testing was carried out. All mechanical movements in the lateral and longitudinal directions functioned according to the desired commands given by the Arduino Mega, controlled via a six-channel radio frequency (RF) controller. In the context of agriculture, the grippers utilizing parallel mechanisms were also subjected to testing, demonstrating their ability to handle sizable cylindrical and spherical fruits or vegetables, as well as other relevant objects.

show abstract

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Designing and Implementing a Versatile Agricultural Robot: A Vehicle Manipulator System for Efficient Multitasking in Farming Operations

2023

View full text Add to dashboard Cite

show abstract

“…One of the necessary conditions for high-quality biobanking of blood serum is its aliquoting, that is, its division into portions of small volume (200-800 µL), which are then sent to low-temperature long-term storage [4][5][6].…”

Section: Introductionmentioning

confidence: 99%

“…The replaceable tip (4) on the digging head is fixed with a rubber sealing ring. The UR3 manipulator ( 5) is mounted on a fixed base (6) and ensures the movement of the test tubes (8) within the working area (7) using a gripping device. The task of automating the aliquoting process depends on the need to determine the height of the fraction boundary in the test tube.…”

Section: Introductionmentioning

confidence: 99%

Convolutional Neural Network Application to Automate the Process of Aliquoting Biosamples

Khalapyan¹,

Rybak

Nozdracheva

et al. 2023

Intels’22

View full text Add to dashboard Cite

show abstract

An Algorithm for Determining the Coordinates of a Test Tube by a Robotic Aliquoting System Based on a Combination of the Hough Method and a Result Filtering Algorithm

Rybak,

Cherkasov,

Malyshev

et al. 2024

Mechanisms and Machine Science

View full text Add to dashboard Cite

Workspace and Singularity Zones Analysis of a Robotic System for Biosamples Aliquoting

Cited by 3 publications

References 7 publications

Designing and Implementing a Versatile Agricultural Robot: A Vehicle Manipulator System for Efficient Multitasking in Farming Operations

Designing and Implementing a Versatile Agricultural Robot: A Vehicle Manipulator System for Efficient Multitasking in Farming Operations

Convolutional Neural Network Application to Automate the Process of Aliquoting Biosamples

An Algorithm for Determining the Coordinates of a Test Tube by a Robotic Aliquoting System Based on a Combination of the Hough Method and a Result Filtering Algorithm

Contact Info

Product

Resources

About