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Control of a six-axis robotic arm Using the Touch Panel

JOURNAL OF INTERNET TECHNOLOGY 2020年第2期21卷 407-416页

作者： Perng, Shyh-Shing Tsai, Pu-Sheng Hu, Nien-Tsu Wu, Ter-Feng Chen, Jen-Yang Natl Ilan Univ Dept Elect Engn Yilan Taiwan China Univ Sci & Technol Dept Elect Engn Taipei Taiwan Natl Chung Shan Inst Sci & Technol Chem Syst Res Div Taoyuan Taiwan Ming Chuan Univ Dept Elect Engn Taipei Taiwan

The touch panel used for this experiment is the WEINTECH MT6071iE. The six-axis robotic arm was controlled by an AT90CAN128, manufactured by the ATMEL Company. A DGServo servomotor was used to drive the robots joints, which consisted of four servomotors with 12 kg torque, two 1.8 kg servomotors with reduction gear, and some precision aluminum alloy components. Driven by the servomotors, the robotic arm was able to perform motions like fetching, pinching, catching, and releasing. For example, the robotic arm was able to clamp table tennis balls and carry coke cans. In this paper, the D-H method is adopted to set the relative position coordinates of all the joints and connecting rods of the robot arm, and the terminal coordinates of the robotic arm were deduced by combining the degree of freedom with the mechanical limitation of existing arms in accordance with forward kinematics. The results of the D-H method derivation and the actual control results of the robotic arm were compared and the source of error was discussed.

关键词： Touch panel six-axis robotic arm Servo motor D-H method Forward kinematic

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Application of a Touch Panel for Control of a six-axis robotic arm

Application of a Touch Panel for Control of a Six-axis Robot...

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IEEE International Conference on Advanced Materials for Science and Engineering (IEEE-ICAMSE)

作者： Tsai, Pu-Sheng Wu, Ter-Feng Hu, Nien-Tsu Chen, Jen-Yang China Univ Sci & Technol Dept Elect Engn Taipei Taiwan Natl Ilan Univ Dept Elect Engn Yilan Taiwan Natl Chung Shan Inst Sci & Technol Chem Syst Res Div Taoyuan Taiwan Ming Chuan Univ Dept Elect Engn Taoyuan Taiwan

ISBN: (纸本)9781509038695

关键词： Touch Panel six-axis robotic arm Servo Motor D-H Method Forward kinematics

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Vibration Measurements on a six-axis Collaborative robotic arm-Part I

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SENSORS 2023年第3期23卷 1629-1629页

作者： Cernohlavek, Vit Klimenda, Frantisek Houska, Pavel Suszynski, Marcin Univ Jan Evangelista Purkyne Usti Labem Fac Mech Engn Pasteurova 1 Usti Nad Labem 40096 Czech Republic Poznan Univ Tech Inst Mech Technol Poznan Poland

This article deals with the design of a methodology for vibration and noise measurement on a six-axis collaborative robotic arm. A vibration and noise measurement methodology is proposed for six robot positions. In each position, measurements were performed under defined equal boundary conditions. The boundary conditions were related to the velocities of the joints and the load on the robotic arm. The second part of the article is an evaluation of the initial experimental results. So far, only the acceleration of the sixth joint of the robotic arm-Wrist 3-has been measured. The aim of the measurements was to verify if the methodology presented can be used for vibration measurements. From the evaluation of the experimental measurements, it was determined that the given methodology can be used for vibration measurements. It was also found that the acceleration is transmitted in the axes other than the axis of motion of the robotic arm. In future experiments, the vibration at the other joints of the robotic arm will be measured and the noise of the robotic arm will be measured to confirm whether the proposed methodology is indeed functional.

关键词： six-axis robotic arm vibration and noise dominant frequency

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A Goods Sorting Robot System for E-Commerce Logistics Warehouse Based on robotic arm Technology

A Goods Sorting Robot System for E-Commerce Logistics Wareho...

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IEEE International Conference on Real-time Computing and robotics (IEEE-RCAR)

作者： Wang, Yinghan Liang, Yi Chen, Diansheng Liu, Yongzhan Wang, Min Beihang Univ Sch Mech Engn & Automat Beijing Peoples R China

ISBN: (纸本)9781728172934

This paper proposed a goods sorting robot system, which is used in e-commerce logistics warehouse to lessen the workloads in logistics warehouses. The system comprises of three main modules, including a six-axis arm and its controller, motion planning software and the flexible end effector. This paper firstly introduced the whole structure of the sorting robot system, then introduced each function module in detail, and finally introduced the experiments to verify that the robot system meets its requirements.

关键词： six-axis robotic arm logistics warehouse sorting robot robot system integration

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VEX CTE: Design an Educational Industrial robotic arm

VEX CTE: Design an Educational Industrial Robotic Arm

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IEEE Symposium on Visual Languages and Human-Centric Computing (VL/HCC)

作者： Lin, Yuhan McKenna, Jason McKnight, Paul VEX Robot Greenville TX 75402 USA Vex Robot Warrington Cheshire England

ISBN: (纸本)9798350376920;9798350366136

This paper introduces VEX CTE, an educational industrial-like six-axis robotic arm that can be controlled and programmed through four distinct methods, catering to users of all programming abilities, from novice students who have never experienced an industrial robotic arm to advance programmers. VEX CTE can be programmed by: (1) Direct manipulation with a virtual teach pendant;(2) Direct connection programming using block-based programming, C++, or Python. (3) Programming as a system with the VEX EXP Brain using blockbased programming, C++, or Python. By offering a range of programming approaches, VEX CTE accommodates users at their current skill levels, while providing mechanisms to advance from basic to more sophisticated and powerful programming techniques, as well as from simple to more complex robotic arm setups. Supporting four distinct programming approaches, which span from single arm to multisystem configurations including conveyor belts, VEX CTE is a novel addition to the ecosystem of tools designed to introduce novices to career and technical education practices.

关键词： Educational robotics Design of Programming Environments Block-Based Programming six-axis robotic arm

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Research and Simulation of Intelligent Grasping of robotic arm Based on Machine Vision Recognition 4

Research and Simulation of Intelligent Grasping of Robotic A...

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4th IEEE International Conference on Power, Electronics and Computer Applications, ICPECA 2024

作者： Dong, Jinshun Deng, Lixia Wan, Dapeng Liu, Haiying Jinan China

ISBN: (纸本)9798350359589

With the economic and social development of human beings, people have higher and higher requirements for the intelligence of machinery and equipment. With the vigorous development of robot vision technology, robots are becoming more and more widely used in various industries, and they also gradually have 'eyes'. This not only broadens the scope of its use, but also improves its intelligence. In this paper, the PUMA-560 manipulator was simulated to realize its visual recognition and grasping functions. It has been applied to the original industrial robots. For example, the six-axis manipulator used this time is to obtain relevant information about the target and the surrounding environment through computer vision technology, so as to accurately identify the action to be carried out, and respond according to the action to guide the robot to grasp. © 2024 IEEE.

关键词： six-axis robotic arm Smart grabbing visual identity

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A fast task planning system for 6R articulated robots based on inverse kinematics

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INTERNATIONAL JOURNAL OF ADVANCED MANUFACTURING TECHNOLOGY 2023年第11-12期125卷 4989-5013页

作者： Lai, Yuan-Lung Natl Changhua Univ Educ Dept Ind Educ & Technol 2 Shida Rd Changhua 500 Taiwan

Robots bring eventful impacts to the workplace, benefiting from the advantages of implementing any technology should be based on the premise of safety. This work proposes a systematic method to establish a postprocessor module for any specified 6R articulated robot. Instead of obsessively emphasizing achieving the desired locations and orientations by hand guiding grab and dragging a robotic arm for operation in teaching mode, the significant end-effector poses are calculated to form a new path for the joints efficiently in this study. Since robotic motion control is usually a complex system whose users must be well trained and acquainted with using them. There is a need for a GUI solution that can provide intuitive robotic motion control on the current location by the user independently, easy setup, arrangement, adjustment, and monitoring robot motion tasks. The proposed system simplifies the interaction between the technician and the industrial robotic arm in the case of robotic motion control and tracking at a distant location. The presented method is fully adapted to alternate between joint angles and end-effector poses on a graphic user interface system. After developing the capabilities of the solver, a functional postprocessor is programmed inside the proposed GUI system. Examples with specified posture and predefined movements are demonstrated for corroborating the algorithm. The results show considerable efficiency and reliability in task planning and are fully supported for automatic path generation.

关键词： Inverse kinematics six-axis robotic arm Articulated Postprocessor D-H transformation

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3D printing birdhouses with ceramic clay using a six-axis palletizing robot

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DISCOVER APPLIED SCIENCES 2024年第9期6卷 467页

作者： Chaari, Mohamed Zied Pereira, Gilroy Philbert Daroge, Fawwad Al-Buainain, Shamma QSC Fabricat Lab Wholesale Market Doha 9769 Qatar

Over the past few decades, billions of adult breeding birds have been lost worldwide. The primary factors for this population loss are habitat loss and global warming. To aid the efforts for bird conservation, we have designed a simple birdhouse that can be 3D printed rapidly using a six-axis arm robot. We transformed a six-axis palletizing robotic arm into a ceramic 3D printer with the help of an extruder, stepper motor, and a custom Printed Circuit Board (PCB) consisting of an ESP32 and a motor driver. The ceramic clay is stored in a pneumatic pressure tank. An air compressor pump transports the clay from the tank to the extruder. We conducted various experiments at 8-10 bars of air pressure with different water-to-clay ratios. We found that the optimum air pressure, water-to-clay ratio, and nozzle sizes are 10 bars, 0.084, and 5 mm, respectively. After determining the appropriate printing parameters, we designed the birdhouse in the Mastercam software and generated the G-code. The G-code is loaded onto the robot controller, and the birdhouse is printed in parts. We dried the birdhouse for 24 h and then baked it in a kiln for 24 h at 1000 degrees Celsius. We then compared the ceramic birdhouse to a wooden birdhouse. The ceramic birdhouse maintains internal temperatures of 38 degrees Celsius or lower despite external temperatures reaching 43 degrees Celsius, which is on par if not better than the wooden birdhouse. This temperature will be beneficial for nesting, breeding, and egg development.

关键词： 3D Printing Birdhouse Ceramic Clay materials Dispensing system six-axis robotic arm

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Fabricating lightweight ceramics by spraying clay on knitted structures

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INTERNATIONAL JOURNAL OF ARCHITECTURAL COMPUTING 2022年第4期20卷 693-706页

作者： Gosch, Lukas Jauk, Julian Vasatko, Hana Samec, Elizabeta Raffaelli, Matteo Rutzinger, Stefan Stavric, Milena Graz Univ Technol Inst Architecture & Media Kronesgasse 5 A-8010 Graz Austria Univ Zagreb Dept Engn Mech Zagreb Croatia Vienna Univ Technol Inst Discrete Math & Geometry Vienna Austria Univ Innsbruck Inst Struct & Design Innsbruck Austria

This research was carried out to develop a novel composite material consisting of a thread reinforcement and a clay matrix, as well as to develop a method of shaping this material into hollow spatial structures. Ceramic elements in the building industry are currently created by applying extruding, pressing and casting methods. The approach of spraying clay onto predefined knitted meshes increases the usability of digitally fabricated lightweight ceramic elements, while eliminating the need for scaffolding. In this approach, multiple layers of a fluid clay mass are sprayed onto the tensioned mesh using an industrial, six-axis robotic arm. This allows the precise application of the material and results in varying material thicknesses. Due to the complementary qualities of clay which absorbs compressive forces and threads which absorb tensile forces, lightweight structures can be created. The research involved experimenting with clay mixtures, several thread types, knitting methods and spraying techniques, as well as fabricating a 1:1 lightweight module as an architectural prototype.

关键词： ceramics knitted threads digital fabrication mesh formwork six-axis robotic arm spraying

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Programming Matter

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ARCHITECTURAL DESIGN 2012年第2期82卷 88-95页

作者： Oxman, Neri MIT Media Lab Cambridge MA 02139 USA

A direct parallel can be made between the Modernist separation of form, structure and material and the more recent tripartite division in digital processes of modelling, analysis and fabrication, which has resulted in the predominance of geometric-driven form-generation. Today, though, design culture is experiencing a shift to a new level of material awareness. Inspired by nature's strategies where form-generation is driven by maximal performance with minimal resources through local material property variation, Neri Oxman investigates a novel design approach to digital fabrication that offers the potential to program physical matter. Copyright (C) 2012 John Wiley & Sons, Ltd.

关键词： Anthony DeVincenzi and Nicholas Wilkes Polansky Seed Morphologies Crafted by Nature MIT Media Lab Cambridge Massachusetts property pools digital fabrication processes Mathew Blackshaw Philip R Seaton and Yushiro Okamoto Feather Morphologies anisotropy sycamore seed (Plantanus hybridia) Sponges computer-aided design (CAD) MIT's Mediated Matter Research Lab palm tree stems six-axis robotic arm David Lakatos Cara Liberatore and Marshall Prado Sponge Morphologies Steven Keating and Timothy Cook Variable-Density Printing polymer layers Variable-Density Fabrication

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