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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: 7 July 2020

Jiehao Li, Junzheng Wang, Shoukun Wang, Hui Peng, Bomeng Wang, Wen Qi, Longbin Zhang and Hang Su

This paper aims on the trajectory tracking of the developed six wheel-legged robot with heavy load conditions under uncertain physical interaction. The accuracy of…

Abstract

Purpose

This paper aims on the trajectory tracking of the developed six wheel-legged robot with heavy load conditions under uncertain physical interaction. The accuracy of trajectory tracking and stable operation with heavy load are the main challenges of parallel mechanism for wheel-legged robots, especially in complex road conditions. To guarantee the tracking performance in an uncertain environment, the disturbances, including the internal friction, external environment interaction, should be considered in the practical robot system.

Design/methodology/approach

In this paper, a fuzzy approximation-based model predictive tracking scheme (FMPC) for reliable tracking control is developed to the six wheel-legged robot, in which the fuzzy logic approximation is applied to estimate the uncertain physical interaction and external dynamics of the robot system. Meanwhile, the advanced parallel mechanism of the electric six wheel-legged robot (BIT-NAZA) is presented.

Findings

Co-simulation and comparative experimental results using the BIT-NAZA robot derived from the developed hybrid control scheme indicate that the methodology can achieve satisfactory tracking performance in terms of accuracy and stability.

Originality/value

This research can provide theoretical and engineering guidance for lateral stability of intelligent robots under unknown disturbances and uncertain nonlinearities and facilitate the control performance of the mobile robots in a practical system.

Details

Assembly Automation, vol. 40 no. 5
Type: Research Article
ISSN: 0144-5154

Keywords

Content available
Article
Publication date: 1 February 2005

Rezia Molfino

528

Abstract

Details

Industrial Robot: An International Journal, vol. 32 no. 1
Type: Research Article
ISSN: 0143-991X

Keywords

Article
Publication date: 1 February 2004

J.S. Dai, P.M. Taylor, H. Liu and H. Lin

Automating domestic ironing is a challenge to the robotic community, particularly in terms of modelling and advanced mechanism design. This paper investigates the ironing…

Abstract

Automating domestic ironing is a challenge to the robotic community, particularly in terms of modelling and advanced mechanism design. This paper investigates the ironing process, its relevant folding algorithms and analysis techniques, presents the advanced mechanism synthesis and introduces cross‐disciplinary research. It summarises the second part of the results of a technology study carried out under an EPSRC grant “A Feasibility Study into Robotic Ironing”, and proposes new techniques in developing a folding and unfolding algorithm and in developing a task‐oriented mechanism synthesis for robotic ironing.

Details

International Journal of Clothing Science and Technology, vol. 16 no. 1/2
Type: Research Article
ISSN: 0955-6222

Keywords

Article
Publication date: 25 October 2019

Xiangyu Liu, Chunyan Zhang, Cong Ni and Chenhui Lu

The purpose of this paper is to put forward a nvew reconfigurable multi-mode walking-rolling robot based on the single-loop closed-chain four-bar mechanism, and the robot…

Abstract

Purpose

The purpose of this paper is to put forward a nvew reconfigurable multi-mode walking-rolling robot based on the single-loop closed-chain four-bar mechanism, and the robot can be changed to different modes according to the terrain.

Design/methodology/approach

Based on the topological analysis, singularity analysis, feasibility analysis, gait analysis and the motion strategy based on motor time-sharing control, the paper theoretically verified that the robot can switch between the four motion modes.

Findings

The robot integrates four-bar walking, self-deforming and four-bar and six-bar rolling modes. A series of simulation and prototype experiment results are presented to verify the feasibility of multiple motion modes of the robot.

Originality/value

The work presented in this paper provides a good theoretical basis for further exploration of multiple mode mobile robots. It is an attempt to design the multi-mode mobile robot based on single loop kinematotropic mechanisms. It is also a kind of exploration of the new unknown movement law.

Details

Industrial Robot: the international journal of robotics research and application, vol. 47 no. 2
Type: Research Article
ISSN: 0143-991X

Keywords

Article
Publication date: 17 October 2018

Fei Hu, Yanping Song, Yundou Xu and Huaizhou Wen

This paper aims to synthesize a modular deployable truss antenna with the lower degree of freedom (DOF) and larger folding ratio. Because of the advantages of this kind of…

Abstract

Purpose

This paper aims to synthesize a modular deployable truss antenna with the lower degree of freedom (DOF) and larger folding ratio. Because of the advantages of this kind of new truss antenna, the modules that make up the antenna can be deployed together by the synchronous motor drivers instead of twist springs to realize the controllable deployment.

Design/methodology/approach

The closed-loop branch equivalence method is proposed to synthesize the single DOF module and the large deployable reflector. The complex mechanism can be equivalently replaced by a simpler mechanism based on screw theory. The motion pairs are synthesized and optimized to make the curved surface achieve to the maximum folding ratio when the modular parabolic truss antenna is folded.

Findings

The results show that the 3(3RR-3RRR)-3RRR-3RRR planar module is a single DOF mechanism. Additionally, the adjacent parts of every two modules are connected with universal joints to obtain the new truss antenna when the modules are networked.

Practical implications

The configuration of this new modular deployable truss antenna can be synthesized to design the structure, and the proposed method can be applied to other space multi-loop coupling mechanism and other spacecraft.

Originality/value

This paper presents an approach to synthesizing the motion pairs, as well as the DOF analysis. The results lay a foundation for the further analysis of the deployable control and dynamics of this kind of antenna. And the new modular truss antenna has a practical application in aerospace engineering.

Details

Aircraft Engineering and Aerospace Technology, vol. 90 no. 8
Type: Research Article
ISSN: 1748-8842

Keywords

Article
Publication date: 3 August 2010

Luca Bruzzone and Giorgio Bozzini

The purpose of this paper is to report research which led to the realization of a robot for miniaturized assembly endowed with high‐accuracy and high‐operative flexibility.

Abstract

Purpose

The purpose of this paper is to report research which led to the realization of a robot for miniaturized assembly endowed with high‐accuracy and high‐operative flexibility.

Design/methodology/approach

The proposed solution is a microassembly system composed of a Cartesian parallel robot with flexure revolute joints and a modular gripper with metamorphic fingertips, capable of adapting their shape to different micro‐objects. The fingertips are realized by electro‐discharge machining from a sheet of superelastic alloy. Thanks to its modularity, the gripper can be arranged with two opposite fingers or three fingers placed at 120°. The fingers are actuated by a piezoelectric linear motor with nanometric accuracy.

Findings

The experimental results on the prototype are very interesting. The measured positioning accuracy of the linear motors is 0.5 μm; the end‐effector positioning accuracy is lower, due to the non‐perfect kinematics and hysteresis of the flexure joints; however, these effects can be compensated by the direct measurement of the end effector position or by visual feedback. The metamorphic design of the fingertips remarkably increases the grasping force; moreover, the grasping is more stable and reliable.

Practical implications

The introduction of this microassembly system can fulfil the needs of a wide range of industrial applications, thanks to its accurate positioning in a relatively large workspace. The cost of the machine is relatively low, thanks to its modularity.

Originality/value

The combination of Cartesian parallel kinematics, cog‐free linear motors and superelastic flexure revolute joints allows one to obtain high‐positioning accuracy; the metamorphic fingertips enhance the grasping effectiveness and flexibility.

Details

Assembly Automation, vol. 30 no. 3
Type: Research Article
ISSN: 0144-5154

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

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

This paper aims to introduce and identify a new 3D handling operation (bin picking) for natural discrete food products using food categorisation.

Abstract

Purpose

This paper aims to introduce and identify a new 3D handling operation (bin picking) for natural discrete food products using food categorisation.

Design/methodology/approach

The research shows a new food categorisation and the relation between food ordering processes and food categories. Bin picking in the food industry needs more flexible vision software compared to the manufacturing industry in order to decrease the degree of disarray of food products and transfer them into structure.

Findings

It has been shown that there are still manual operated ordering processes in food industry such as bin picking; it just needs new ideas of image processing algorithms such as active shape models (ASMs) on its development in order to recognise the highly varying shapes of food products.

Research limitations/implications

This research was aimed at locating a new ordering process and proving a new principle, but for practical implementation this bin picking solution needs to be developed and tested further.

Originality/value

Identifying new ordering processes via food categorisation is unique and applying ASMs to bin picking opens a new industrial sector (food industry) for 3D handling.

Details

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

Keywords

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