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Article
Publication date: 19 June 2017

Zhao Tang, Peng Qi and Jian Dai

This paper aims to introduce a novel design of the biomimetic quadruped robot, including its body structure, three structural modes and respective workspace.

Abstract

Purpose

This paper aims to introduce a novel design of the biomimetic quadruped robot, including its body structure, three structural modes and respective workspace.

Design/methodology/approach

By taking a metamorphic 8-bar linkage as the body of a quadruped robot, the authors propose a reconfigurable walking robot that can imitate three kinds of animals: mammals (e.g. dog), arthropods (e.g. stick insect) and reptiles (e.g. lizard). Furthermore, to analyze the three structural modes of this quadruped robot, the workspace is calculated and studied.

Findings

Based on experimental data analyses, it is revealed that the metamorphic quadruped robot can walk in all its three structural modes and adapt to different terrains.

Research limitations/implications

Because the body of the quadruped robot is deformable and reconfigurable, the location of payload is not considered in the current stage.

Practical implications

The relative positions and postures of legs of the metamorphic robot can be rearranged during its body reconfiguration in such a way to combine all the features of locomotion of the three kinds of animals into one robot. So, the metamorphic quadruped robot is capable of maintaining wider stability margins than conventional rigid-body quadruped robots and conducting operations in different environments, particularly the extreme and restricted occasions due to the changeable and adaptable trunk.

Originality/value

The main contribution is the development of a reconfigurable biomimetic quadruped robot, which uses the metamorphic 8-bar linkage. This robot can easily reshape to three different structural modes and mimic the walking patterns of all mammals, arthropods and reptiles.

Details

Industrial Robot: An International Journal, vol. 44 no. 4
Type: Research Article
ISSN: 0143-991X

Keywords

Article
Publication date: 4 February 2022

Rui Bai, Rongjie Kang, Kun Shang, Chenghao Yang, Zhao Tang, Ruiqin Wang and Jian S. Dai

To identify the dexterity of spacesuit gloves, they need to undergo bending tests in the development process. The ideal way is to place a humanoid robotic hand into the…

Abstract

Purpose

To identify the dexterity of spacesuit gloves, they need to undergo bending tests in the development process. The ideal way is to place a humanoid robotic hand into the spacesuit glove, mimicking the motions of a human hand and measuring the bending angle/force of the spacesuit glove. However, traditional robotic hands are too large to enter the narrow inner space of the spacesuit glove and perform measurements. This paper aims to design a humanoid robot hand that can wear spacesuit gloves and perform measurements.

Design/methodology/approach

The proposed humanoid robotic hand is composed of five modular fingers and a parallel wrist driven by electrical linear motors. The fingers and wrist can be delivered into the spacesuit glove separately and then assembled inside. A mathematical model of the robotic hand is formulated by using the geometric constraints and principle of virtual work to analyze the kinematics and statics of the robotic hand. This model allows for estimating the bending angle and output force/torque of the robotic hand through the displacement and force of the linear motors.

Findings

A prototype of the robotic hand, as well as its testing benches, was constructed to validate the presented methods. The experimental results show that the whole robotic hand can be transported to and assembled in a spacesuit glove to measure the motion characteristics of the glove.

Originality/value

The proposed humanoid robotic hand provides a new method for wearing and measuring the spacesuit glove. It can also be used to other gloves for special protective suits that have highly restricted internal space.

Details

Industrial Robot: the international journal of robotics research and application, vol. 49 no. 4
Type: Research Article
ISSN: 0143-991X

Keywords

Article
Publication date: 1 December 2011

Jia Beisi and Jiang Yingying

Although an important facet of modernist architecture in which function plays a prominent role, building flexibility is not entirely a new concept. Its relevance…

Abstract

Although an important facet of modernist architecture in which function plays a prominent role, building flexibility is not entirely a new concept. Its relevance transcends generations, allowing space and structure to evolve through time. This paper investigates the relationship among main building structures, infill elements, and space by studying examples in ancient Chinese architecture. It reveals the role of building owners, users, and craftsmen from a survey of historical documentation. In studying these examples, it is concluded that craftsmen in ancient China were involved not only during the construction phase but throughout the period of use as well. Thus, in select cases, the relationship between craftsmen and owners or users had been preserved for generations. Finally, this paper suggests potential strategies for the building industry and technology in the move towards sustainable development.

Details

Open House International, vol. 36 no. 4
Type: Research Article
ISSN: 0168-2601

Keywords

Article
Publication date: 11 November 2013

Lu Weisheng, Anita M.M. Liu, Wang Hongdi and Wu Zhongbing

The purpose of this paper is to attempt to shed light on procurement innovation by examining two state-of-the-art procurement systems in China – an agent-construction…

4638

Abstract

Purpose

The purpose of this paper is to attempt to shed light on procurement innovation by examining two state-of-the-art procurement systems in China – an agent-construction system (ACS or in Chinese Dai Jian Zhi) and public-private partnership (PPP), with special consideration given to the systems’ particular political, economic, social, technological, environmental, and legal (PESTEL) background.

Design/methodology/approach

The paper does so by using content analyses, semi-structured interviews, and a “PESTEL-Procurement Innovation” framework.

Findings

It is found that PPP has not been as popular as expected, while the ACS, which is little known to the international construction management community, is widespread in China. The study of ACS and PPP further reveals that congruence between a procurement system and its external PESTEL conditions is essential for procurement innovation.

Research limitations/implications

The “PESTEL-Procurement Innovation” framework could be a useful tool for devising procurement innovation; although there are many questions yet to be answered by further research.

Practical implications

The paper provides useful insights into procurement innovation, particularly when governments worldwide are searching for innovative procurement systems to help deliver public projects and services.

Originality/value

The paper possesses originality in that it tackles procurement innovation, an area that is under researched in construction management. It exhorts the re-connection between a procurement system and its external PESTEL conditions for devising bona fide procurement innovations.

Details

Engineering, Construction and Architectural Management, vol. 20 no. 6
Type: Research Article
ISSN: 0969-9988

Keywords

Article
Publication date: 1 March 2006

Venketesh N. Dubey and Jian S. Dai

To demonstrate the feasibility of designing a versatile packaging machine for folding cartons of complex geometry and shapes.

1288

Abstract

Purpose

To demonstrate the feasibility of designing a versatile packaging machine for folding cartons of complex geometry and shapes.

Design/methodology/approach

The research conducts study of cartons of different geometry and shapes classifying them in suitable types and operations that a machine can understand, conceptualizing a machine that can handle such cartons, modeling and simulation of the machine, and finally design and development of the packaging machine.

Findings

It has been shown that such a versatile machine is a possibility; it just needs miniaturization and investment on its development when such machines could be a reality.

Research limitations/implications

This research was aimed at proving the principle, but for practical implementation considerations need to be given for a compact, portable system incorporating sensors.

Originality/value

The design is unique in existence and has been shown to fold cartons of different complexity.

Details

Industrial Robot: An International Journal, vol. 33 no. 2
Type: Research Article
ISSN: 0143-991X

Keywords

Article
Publication date: 19 October 2010

Wei Yao, Jian S. Dai, Tony Medland and Glen Mullineux

This paper aims to investigate reconfigurable technology using robotic technology for folding carton in confectionery industry.

Abstract

Purpose

This paper aims to investigate reconfigurable technology using robotic technology for folding carton in confectionery industry.

Design/methodology/approach

Based on the analysis of common motion and manipulation, modules such as robotic fingers and robotic folders are explored and designed. A robotic system is then constructed by arranging those modules for diverse cartons.

Findings

A prototyped test rig shows the adaptability of the robotic system. The reconfigurability of the robotic system is realized and verified by experiments and an industrial demonstrator.

Practical implications

This research leads to the development of a demonstrator, manufactured and controlled by industries, to further commercial exploitation of this robotic system. It has been applied in a strict industry environment for a chocolate manufacturer.

Originality/value

This robotic system applied successfully the theory of reconfigurability by using modularity in packaging systems into confectionery industry.

Details

Industrial Robot: An International Journal, vol. 37 no. 6
Type: Research Article
ISSN: 0143-991X

Keywords

Article
Publication date: 11 January 2008

Honghai Liu, Jian S. Dai and Lakmal D. Seneviratne

This paper aims to report a novel practical algorithm for manipulation planning of multiple articulated robots.

Abstract

Purpose

This paper aims to report a novel practical algorithm for manipulation planning of multiple articulated robots.

Design/methodology/approach

This paper proposes a model‐based approach to distributing trajectory segments to individual robots in a multirobot system, given a task in terms of trajectories. This approach consists of three modules: task trajectory generation, cooperative robots selection, and joint trajectory generation.

Findings

The proposed algorithm has been implemented into a simulation system with four‐planar robots and a multirobot‐packing system, which has shown the effectiveness of the presented method. It improves the flexibility of robot cooperation and handles dynamically cooperative trajectories by using a modularized mapping from Cartesian space to joint space of robots.

Research limitations/implications

The reported research has been developed for task‐oriented applications with prior knowledge. Future work will focus on acquiring prior knowledge using vision systems.

Practical implications

The key contribution of this paper is that it offers a practical real‐time solution to task‐oriented applications. For instance, the proposed method could close the gaps and significantly improve work efficiency in carton packing involved in industrial chains.

Originality/value

The reported work allows a multirobot system realtime, dynamically distributing trajectory segments to individual robots for task‐oriented applications. Industrial practitioners would benefit from employing it in their existing systems, e.g. the car assembly industry.

Details

Industrial Robot: An International Journal, vol. 35 no. 1
Type: Research Article
ISSN: 0143-991X

Keywords

Article
Publication date: 1 December 2004

George K. Stylios

Examines the tenth published year of the ITCRR. Runs the whole gamut of textile innovation, research and testing, some of which investigates hitherto untouched aspects…

3063

Abstract

Examines the tenth published year of the ITCRR. Runs the whole gamut of textile innovation, research and testing, some of which investigates hitherto untouched aspects. Subjects discussed include cotton fabric processing, asbestos substitutes, textile adjuncts to cardiovascular surgery, wet textile processes, hand evaluation, nanotechnology, thermoplastic composites, robotic ironing, protective clothing (agricultural and industrial), ecological aspects of fibre properties – to name but a few! There would appear to be no limit to the future potential for textile applications.

Details

International Journal of Clothing Science and Technology, vol. 16 no. 6
Type: Research Article
ISSN: 0955-6222

Keywords

Article
Publication date: 1 December 2003

George K. Stylios

Examines the ninth published year of the ITCRR. Runs the whole gamut of textile innovation, research and testing, some of which investigates hitherto untouched aspects…

1159

Abstract

Examines the ninth published year of the ITCRR. Runs the whole gamut of textile innovation, research and testing, some of which investigates hitherto untouched aspects. Subjects discussed include cotton fabric processing, asbestos substitutes, textile adjuncts to cardiovascular surgery, wet textile processes, hand evaluation, nanotechnology, thermoplastic composites, robotic ironing, protective clothing (agricultural and industrial), ecological aspects of fibre properties – to name but a few! There would appear to be no limit to the future potential for textile applications.

Details

International Journal of Clothing Science and Technology, vol. 15 no. 6
Type: Research Article
ISSN: 0955-6222

Keywords

Article
Publication date: 19 October 2010

Vahid Aminzadeh, Helge Wurdemann, Jian S. Dai, John Reed and Graham Purnell

This paper aims to represent a novel framework for optimization of robotic handling from disarray to structure where the products are randomly distributed on a surface…

Abstract

Purpose

This paper aims to represent a novel framework for optimization of robotic handling from disarray to structure where the products are randomly distributed on a surface, the initial location of the products are known (with the aid of image processing, laser position sensors, etc.) and there is a set of final positions for the products.

Design/methodology/approach

Pick‐and‐place is one of the main solutions especially for the food products where the products are prone to damage, have adhesive surfaces and the grippers can be complicated. The aim of this paper is to maximize the utilization of the pick‐and‐place robotic system. In order to do so the handling process is modelled mathematically and the pick‐and‐place problem is formulated based on assignment problem where Hungarian algorithm is utilized to minimize the total distance travelled by the robot. Furthermore, a simulation program is developed to demonstrate the possible improvements of the algorithm in comparison with the existing algorithms.

Findings

Utilizing the proposed algorithm can significantly increase the utilization of robots in the pick‐and‐place operation.

Originality/value

The new optimization algorithm can be applied to any industry with pick‐and‐place where time efficiency and maximum utilization matters.

Details

Industrial Robot: An International Journal, vol. 37 no. 6
Type: Research Article
ISSN: 0143-991X

Keywords

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