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The purpose of this paper is to describe the design and development of a novel series-parallel robot, which aims to climb on the transmission tower.

This study introduces a hybrid robot, which consists of adsorption and two 3-degree of freedom (DOF) translation parallel legs connected by a body linkage. The DOF of the legs ensures that the robot can move on the climbing plane, also contribute to a compact design of the robot. An electromagnet is used to adsorb onto the transmission tower, simplifying the overall structure. Based on the robot design, this paper further defines its climbing gait and adopt the 6th B-spline curves for climbing trajectory planning under different working environments.

The developed prototype that implements the design of the robot, which was used in simulation and experiments, showing that the robot is capable of climbing in the test environments with the planned climbing gait.

The hybrid robot is able to climb under varying degrees of inclinations and cross the obstacles, and the magnetic attraction can ensure stable climbing.

In complex environments, a spherical robot has great application value. When the pendulum spherical robot is stopped or disturbed, there will be a periodic oscillation. This situation will seriously affect the stability of the spherical robot. Therefore, this paper aims to propose a control method based on backstepping and disturbance observers for oscillation suppression.

This paper analyzes the mechanism of oscillation. The oscillation model of the spherical robot is constructed and the relationship between the oscillation and the internal structure of the sphere is analyzed. Based on the oscillation model, the authors design the oscillation suppression control of the spherical robot using the backstepping method. At the same time, a disturbance observer is added to suppress the disturbance.

It is found that the control system based on backstepping and disturbance observer is simple and efficient for nonlinear models. Compared with the PID controller commonly used in engineering, this control method has a better control effect.

The proposed method can provide a reliable and effective stability scheme for spherical robots. The problem of instability in real motion is solved.

In this paper, the oscillation model of a spherical robot is innovatively constructed. Second, a new backstepping control method combined with a disturbance observer for the spherical robot is proposed to suppress the oscillation.

Supernumerary robotic limbs (SRLs) are a new type of wearable robot, which improve the user’s operating and perceive the user’s environment by extra robotic limbs. There are some literature reviews about the SRLs’ key technology and development trend, but the design of SRLs has not been fully discussed and summarized. This paper aims to focus on the design of SRLs and provides a comprehensive review of the ontological structure design of SRLs.

In this paper, the related literature of SRLs is summarized and analyzed by VOSviewer. The structural features of different types of SRLs are extracted, and then discuss the design approach and characteristics of SRLs which are different from typical wearable robots.

The design concept of SRLs is different from the conventional wearable robots. SRLs have various reconfiguration and installed positions, and it will influence the safety and cooperativeness performance of SRLs.

This paper focuses on discussing the structural design of SRLs by literature review, and this review will help researchers understand the structural features of SRLs and key points of the ontological design of SRLs, which can be used as a reference for designing SRLs.

This paper aims to conduct a comprehensive fault tree analysis (FTA) on the critical components of industrial robots. This analysis is integrated with the reliability block diagram (RBD) approach to investigate the robot system reliability.

For practical implementation, a particular autonomous guided vehicle (AGV) system was first modeled. Then, FTA was adopted to model the causes of failures, enabling the probability of success to be determined. In addition, RBD was used to simplify the complex system of the AGV for reliability evaluation purpose.

Hazard decision tree (HDT) was configured to compute the hazards of each component and the whole AGV robot system. Through this research, a promising technical approach was established, allowing decision-makers to identify the critical components of AGVs along with their crucial hazard phases at the design stage.

As complex systems have become global and essential in today’s society, their reliable design and determination of their availability have turned into very important tasks for managers and engineers. Industrial robots are examples of these complex systems that are being increasingly used for intelligent transportation, production and distribution of materials in warehouses and automated production lines.

The purpose of this paper is to evaluate various reliability parameters of a multi‐robot system, arranged in a complex configuration. The effects of failures and course of action on the system performance have also been investigated.

The present work is based on a multi‐robotic system, in which two robots are working independently with a conveyer unit. Petri net (PN) tool is applied to represent the asynchronous and concurrent processing of the system. To enhance the relevance of the reliability study, fuzzy numbers are developed from available data of the components, using fuzzy possibility theory to define membership functions. The use of fuzzy arithmetic in the PN model increases the flexibility for application to various systems and conditions. Various reliability parameters (such as mean time between failures, ENOF, reliability, availability, etc.) are computed using fuzzy lambda‐tau methodology. As the available data are imprecise, incomplete, vague and conflicting, the fuzzy methodology can deal easily with approximations.

The adopted methodology in the present work improves the shortcomings/drawbacks of the existing probabilistic approaches and gives a better understanding of the system behavior through its graphical representation.

In an earlier study failure behavior of a single robot was analyzed. This paper is an extension of the previous work, in which failure behavior of multi‐robotic system is analyzed. Also, the interactions among the working units of multi‐robotic system are deeply studied. The paper contains a new idea about the reliability analysis of robotic system. Fuzzy lambda‐tau methodology, a fuzzy PROBIST technique, is used for the proposed robotic system and the results obtained are compared with crisp results. Reliability analysis of a multi‐robotic system is presented in this paper, which may help the system analysts to analyze and predict the system behavior and to reallocate the required resources.

This paper aims to introduce a new design concept for robotic manipulator driven by the special two degrees of freedom (DOF) joints. Joint as a basic but essential component of the robotic manipulator is analysed emphatically.

The proposed robotic manipulator consists of several two-DOF joints and a rotary joint. Each of the two-DOF joints consists of a cylinder pairs driven by two DC motors and a universal joint (U-joint). Both kinematics of the robotic manipulator and the two-DOF joint are analysed. The influence to output ability of the joint in terms of the scale effect of the inclined plane is analysed in ADAMS simulation software. The contrast between the general and the proposed two-DOF joint is also studied. Finally, a physical prototype of the two-DOF joint is developed for experiments.

The kinematic analysis indicates that the joint can achieve omnidirectional deflection motion at a range of ±50° and the robotic manipulator can reach a similar workspace in comparison to the general robotic manipulator. Based on the kinematic analysis, two special motion modes are proposed to endow the two-DOF joint with better motion capabilities. The contrast simulation results between the general and the proposed two-DOF joints suggest that the proposed joint can perform better in the output ability. The experimental results verify the kinematic analysis and motion ability of the proposed two-DOF joint.

A new design concept of a robotic manipulator has been presented and verified. The complete kinematic analysis of a special two-DOF joint and a seven-DOF robotic manipulator have been resolved and verified. Compared with the general two-DOF joint, the proposed two-DOF joint can perform better in output ability.

To meet energy demand and tackle the challenges posed by global warming, Bagasse-based Cogeneration Power Generation (BCPG) plant in sugar mills have tremendous potential due to large-scale supply of renewable fuel called bagasse. To meet this goal, an integrated framework has been proposed for analyzing performance issues of BCPG.

Intuitionistic Fuzzy Lambda-Tau (IFLT) approach was implemented to compute various reliability parameters. Intuitionistic Fuzzy Failure Mode and Effect Analysis (IF-FMEA) approach has been implemented for studying risk issues results in decrease in plant's availability. Moreover, IF- Technique for Order Performance by Similarity to Ideal Solution (IF-TOPSIS) is implemented to verify accuracy of IF-FMEA approach.

For membership and non-membership functions, availability decreases to 0.0006% and 0.0020% respectively for spread ±15% to ±30%, and further decreases to 0.0127% and 0.0221% for spread ±30% to ±45%. Under risk assessment failure causes namely Storage tank (ST3), Valve (VL6), Transfer pump (TF8), Deaerator tank (DT11), High pressure heater and economiser (HP15), Boiler drum and super heater (BS22), Forced draft and Secondary air fan (FS25), Air preheater (AH29) and Furnace (FR31) with Intuitionistic Fuzzy Hybrid Weighted Euclidean Distance (IFHWED) based output scores – 0.8988, 0.9752, 0.9400, 0.8988, 0.9267, 1.1131, 1.0039, 0.8185, 1.0604 were identified as the most critical failure causes.

Reliability and risk analysis results derived from IFLT and IF-FMEA approaches respectively, to address the performance issues of BCPG is based on the quantitative and qualitative data collected from the industrial experts and maintenance log book. Moreover, to take care of hesitation in expert's knowledge, IF theory-based concept is incorporated so as to achieve more accuracy in analysis results. Reliability and risk analysis results together will be helpful in analyzing the performance characteristics and diagnosis of critical failure causes, which will minimize frequent failure in BCPG.

The framework will help plant managers to frame optimal maintenance policy in order to enhance the operational aspects of the considered unit. Moreover, the accurate and early detection of failure causes will also help managers to take prudent decision for smooth operation of plant.

The results obtained ensure continuous operation of plant by utilizing the bagasse as fuel in boiler and also mitigate the wastages of fuel. If this bagasse (green fuel) is not properly utilized, there remains a dependency on coal-based power plants to meet the power demand. The results obtained are useful for decreasing dependency on coal, and promoting bagasse as the green, and alternative fuel, the emission by burning of these fuels are not harmful for environment and thereby contribute in preventing the environment from harmful effect of GHGs gases.

IFLT approach has been implemented to develop reliability modeling equations of the BCPG unit, and furthermore to compute various reliability parameters for both membership and non-membership function. The ranking results of IF-FMEA are compared to IF-TOPSIS approach. Sensitivity analysis is done to check stability of proposed framework.

The purpose of this paper is to briefly summarize and review the theories and methods of complex structures’ dynamic reliability. Complex structures are usually assembled from multiple components and subjected to time-varying loads of aerodynamic, structural, thermal and other physical fields; its reliability analysis is of great significance to ensure the safe operation of large-scale equipment such as aviation and machinery.

In this paper for the single-objective dynamic reliability analysis of complex structures, the calculation can be categorized into Monte Carlo (MC), outcrossing rate, envelope functions and extreme value methods. The series-parallel and expansion methods, multi-extremum surrogate models and decomposed-coordinated surrogate models are summarized for the multiobjective dynamic reliability analysis of complex structures.

The numerical complex compound function and turbine blisk are used as examples to illustrate the performance of single-objective and multiobjective dynamic reliability analysis methods. Then the future development direction of dynamic reliability analysis of complex structures is prospected.

The paper provides a useful reference for further theoretical research and engineering application.

This paper aims to present a new trajectory optimization approach targeting spray painting applications that satisfies the paint thickness requirements of complex-free surfaces.

In this paper, a new trajectory generation approach is developed to optimize the transitional segments at the junction of adjacent patches for straight line, convex arc and concave arc combinations based on different angles between normal vectors of patches. In addition, the paint parameters including the paint gun velocity, spray height and the distance between adjacent trajectories have been determined in the generation approach. Then a thickness distribution model is established to simulate the effectiveness of trajectory planning.

The developed approach was applied to a complex-free surface of various curvatures, and the analysis results of the trajectory optimization show that adopting different transitional segment according to the angle between normal vectors can obtain the optimal trajectory. Based on the simulation and experimental validation results, the proposed approach is effective at improving paint thickness uniformity, and the obtained results are consistent with the simulation results, meaning that the simulation model can be used to predict the actual paint performance.

This paper discusses a new trajectory generation approach to decrease the thickness error values to satisfy spray paint requirements. According to the successfully performed simulation and experimental results, the approach is useful and practical in overcoming the challenge of improving the paint thickness quality on complex-free surface.