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Design and Analysis of a Novel Hybrid Grasping Mode Microgripper for High Precision Tasks 9

Design and Analysis of a Novel Hybrid Grasping Mode Microgri...

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9th IEEE International Women in Engineering (WIE) Conference on Electrical and Computer Engineering, WIECON-ECE 2023

作者： Das, Tilok Kumar Shahrear, Rifat Das, Arpita Shirinzadeh, Bijan Dept. of Mechanical Engineering Chattogram Bangladesh Temple University Dept. of Electrical and Computer Engineering PhiladelphiaPA United States Monash University Robotics and Mechatronics Research Laboratory Dept. of Mechanical and Aerospace Engineering MelbourneVIC Australia

ISBN: (纸本)9798350319651

This paper represents a novel piezoelectric actuated flexure-based compliant microgripper which can perform both parallel and angular grasping regardless of the geometric surface of the objects. Two compliant bridge-type mechanisms along with two symmetrical microgripper jaws at the end of the two side arms are accommodated to construct the microgripper. The two side arms of the microgripper act as lever-type amplification mechanisms. Simultaneous actuation of two bridge-type mechanisms is needed to perform linearized parallel grasping. The symmetric design is adopted to maintain better stability. The Finite Element Analysis (FEA) has been performed to evaluate the performance of the microgripper. FEA shows that each jaw of the microgripper can achieve a displacement of 141.72 μm resulting in a total displacement of 283.44 μm with an amplification ratio of 10.7 and 0.715% parasitic motion in y-direction of the X -axis displacement during parallel grasping. Also, each jaw can achieve a displacement of 283.88 μm which results in a total displacement of 567.76 μm with an amplification ratio of 21.5 and 5.17 mrad angular rotation about the Z-axis during angular grasping. The FEA suggests that the microgripper is capable of both parallel and angular grasping/releasing tasks. © 2023 IEEE.

关键词： Piezoelectric actuators

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High-Precision 3-DOF Compliant Positioning Stage for Large Range Micro-Manipulation Applications

High-Precision 3-DOF Compliant Positioning Stage for Large R...

引用

IEEE International Conference of Intelligent Robotic and Control Engineering (IRCE)

作者： Ashenafi Abrham Kassa Bijan Shirinzadeh Julian Smith Department of Mechanical and Aerospace Engineering Robotics and Mechatronics Research Laboratory (RMRL) Monash University Melbourne Australia Department of Surgery Monash University Melbourne Australia

ISBN: (数字)9798350352399

ISBN: (纸本)9798350352405

This paper introduces a novel high-precision compliant mechanism-based 3-degree-of-freedom (3-DOF) positioning stage with a large range and planar layout. The design incorporates a cartwheel revolute flexure and compound basic parallelogram (CBP) prismatic flexure modules arranged in series to establish a PPR-kinematic chain. Three such kinematic chains are symmetrically arranged at 120° to each other around the output platform. This design ensures large deformation and high dynamic performance while minimizing cross-coupling and parasitic motion. The compliance matrix method (CMM) is utilized to establish the stiffness model of the designed mechanism. Computational analysis is performed to validate the developed analytical model. Moreover, the reachable workspace, inverse kinematics, and dynamic performance of the proposed stage are investigated. A workspace of 4.6 mm × 5.1 mm × 83 mrad is achieved while maintaining a high natural frequency of 58 Hz. From the analysis, the proposed stage can be adopted in micro-manipulation applications that require high-precision motion over an extended range.

关键词： Transmission line matrix methods Symmetric matrices 3-DOF Dynamics Layout Kinematics Fasteners Manufacturing Motion control Robots

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Towards Validation of Autonomous Vehicles Across Scales using an Integrated Digital Twin Framework

Towards Validation of Autonomous Vehicles Across Scales usin...

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IEEE/ASME (AIM) International Conference on Advanced Intelligent mechatronics

作者： Tanmay Vilas Samak Chinmay Vilas Samak Venkat Narayan Krovi Department of Automotive Engineering Automation Robotics and Mechatronics Laboratory (ARMLab) Clemson University International Center for Automotive Research (CU-ICAR) Greenville SC USA

ISBN: (数字)9798350355369

ISBN: (纸本)9798350355376

Autonomous vehicle platforms of varying spatial scales are employed within the research and development spectrum based on space, safety and monetary constraints. However, deploying and validating autonomy algorithms across varying operational scales presents challenges due to scale-specific dynamics, sensor integration complexities, computational constraints, regulatory considerations, environmental variability, interaction with other traffic participants and scalability concerns. In such a milieu, this work focuses on developing a unified framework for modeling and simulating digital twins of autonomous vehicle platforms across different scales and operational design domains (ODDs) to help support the streamlined development and validation of autonomy software stacks. Particularly, this work discusses the development of digital twin representations of 4 autonomous ground vehicles, which span across 3 different scales and target 3 distinct ODDs. We study the adoption of these autonomy-oriented digital twins to deploy a common autonomy software stack with an aim of end-to-end map-based navigation to achieve the ODD-specific objective(s) for each vehicle. Finally, we also discuss the flexibility of the proposed framework to support virtual, hybrid as well as physical testing with seamless sim2real transfer.

关键词： Navigation Heuristic algorithms Ecosystems Full stack Aerodynamics Digital twins Vehicle dynamics

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The Role of Compaction Roller in Defining the Layup Quality and Laminate Porosity in Robotic Fiber Placement 24

The Role of Compaction Roller in Defining the Layup Quality ...

引用

24th International Conference on mechatronics Technology, ICMT 2021

作者： Ammar, Mohamed M.A. Shirinzadeh, Bijan Monash University Robotics and Mechatronics Research Laboratory Department of Mechanical and Aerospace Engineering ClaytonVIC3800 Australia

ISBN: (纸本)9781665424592

The automated fiber placement has been commonly used to fabricate composite structures with high performance. However, the automated manufacturing process is limited by the developed defects in the final composite components. The current study focuses on the effect of the compaction roller's configurations and stiffness on the manufactured thermoset com-posites. The robotic fiber placement process is applied to fabricate different composite specimens. Several unidirectional and multi-axes specimens have been manufactured using 4 different rollers. The attitude of the compaction roller is also adjusted to be normal and to ensure uniform distribution of the compaction pressure. The surface quality of the manufactured components has been evaluated through image processing and detecting the layup defects. The scanning electron microscopy is used to estimate the change in the material porosity. The samples manufactured using a compliant and perforated roller included defects such as blisters, wrinkles, overlaps, and distortions. Additionally, the material porosity has been significantly improved when using the solid steel roller. © 2021 IEEE.

关键词： Porosity

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Compliance Control and Simulation of a Next-Generation Chewing Robot 42

Compliance Control and Simulation of a Next-Generation Chewi...

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42nd Chinese Control Conference, CCC 2023

作者： Wang, Xudong Xu, Weiliang Dhupia, Jaspreet Bronlund, John Han, Jianda The University of Auckland Department of Mechanical & Mechatronics Engineering Auckland New Zealand School of Food and Advanced Technology Massey University Palmerston North New Zealand Reddit Institute Palmerston North New Zealand Institute of Robotics and Automatic Information System College of Artificial Intelligence Nankai University Tianjin China Nankai University Tianjin Key Laboratory of Intelligent Robotics Tianjin China

ISBN: (纸本)9789887581543

The aim of the development of the chewing robots is to study the biomechanics of chewing process or produce the bolus for further research by in vitro experiments. Some chewing robots are open loop controlled and couldn't behave like a human. However, to make the chewing robots more bin-mimic, force feedback based closed loop control is required. To improve the efficiency of the in-vitro chewing experiments, a next generation chewing robot with cam-follower based multi-chambers was developed previously, which can be used test the effect of different chewing parameters on the chewing performance and food texture changes simultanously. In this paper, modified admittance control based on the force feedback was applied to the chewing robot. At first, to improve food particle size reduction to a distribution which closely matches that produced by human and protect the components of the robot from breakage or impact damage, a spring mass based system, called remote center compliance (RCC), was developed and applied to the robot to control the chewing force. Then, based on the knowledge of human chewing process, power-based algorithm, and modified admittance control method were used as the feedback to adjust the angular velocity of the motor and corresponding chewing velocity of the teeth. The performance of the control model was also simulated, results showed that the model is reliable to control the robot and make it bio-mimic. © 2023 Technical Committee on Control Theory, Chinese Association of Automation.

关键词： Compliance control

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Reservoir computing allows recovering hidden network dynamics 7

Reservoir computing allows recovering hidden network dynamic...

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7th Scientific School: Dynamics of Complex Networks and their Applications, DCNA 2023

作者： Badarin, Artem Andreev, Andrey Innopolis University Neuroscience and Cognitive Technology Laboratory Center for Technologies in Robotics and Mechatronics Components Innopolis Russia Saint Petersburg State University St. Petersburg Russia Baltic Federal University Baltic Center for Neurotechnology and Artificial Intelligence Immanuel Kant Kaliningrad Russia

ISBN: (纸本)9798350305746

In this study, we examined reservoir computing (RC)as a tool for predicting the macroscopic dynamics of a subset of oscillators in a network based on the macroscopic dynamics of other parts of it. As a model network, we utilized a network of 300 Kuramoto oscillators with adaptation. Our results demonstrate that reservoir computing effectively addresses this task. Additionally, a similar reservoir computing model was applied to experimental neurovisualization data and exhibited high accuracy in reconstructing damaged EEG channels compared to classical methods like spatial interpolation. © 2023 IEEE.

关键词： Dynamics

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Semi-Closed-Loop Constant Force Control of a Multi-Modes Rigid-Flexible Underactuated Gripper 23rd

Semi-Closed-Loop Constant Force Control of a Multi-Modes Rig...

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23rd IFToMM China International Conference on Mechanism and Machine Science and Engineering, IFToMM CCMMS 2022

作者： Chen, Weilin Feng, Zihong Lu, Qinghua Wei, Huiling Qin, Xiaolu Mo, Jiacheng Tang, Yu Wei, Sheng School of Mechatronics Engineering and Automation Foshan University 33 Guangyun Road Guangdong Foshan528000 China Academy of Interdisciplinary Studies Guangdong Polytechnic Normal University Guangzhou510665 China Engineering Research Center for Intelligent Robotics Jihua Laboratory Foshan528200 China

ISBN: (纸本)9789811993978

Grasping force control is important to realize safe and reliable robotic manipulation. In this paper, a semi-closed-loop constant grasping force control strategy of the multi-modes rigid-flexible underactuated gripper is designed to eliminate the influence of full-closed-loop control system on the grasping dexterity. For the two-point grasping mode and enveloped grasping mode, the inverse static model of gripper were established based on the forward static models proposed in our previous research and the numerical fitting. A semi-closed-loop PID constant grasping force control strategy was designed using the established statics models. Matlab Simulink was utilized to verify the proposed control strategy. Further, the multi-modes grasping force control system was built, and the effect of deformation for the flexible linkages on the equivalent size of grasped object was considered to correct the proposed control strategy by the analysis of balance position and numerical fitting. Finally, the rapidity, accuracy and stability of corrected control strategy were verified by experiments. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Force control

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Virtual Reality Lab for Rover Navigation using Mars datasets

Virtual Reality Lab for Rover Navigation using Mars datasets

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Space robotics (iSpaRo), International Conference on

作者： Raúl Castilla-Arquillo Gonzalo J. Paz-Delgado Matteo Madi Carlos J. Pérez-Del-Pulgar Space Robotics Laboratory Mechatronics and Cyberphysical Systems Research Institute Universidad de Malaga Malaga Spain Sirin Orbital Systems AG Zürich Switzerland

ISBN: (数字)9798350367232

ISBN: (纸本)9798350367249

This paper introduces a Virtual Reality Lab, based on real information, designed to enhance the training and navigation capabilities of planetary rovers using Mars datasets. The exploration of Mars is gaining more and more interest during the last few years, thanks to the use rovers to investigate the planet surface. Efficient rover navigation is crucial for achieving successful mission objectives while ensuring the safety of the equipment. Our Virtual Reality Lab goes beyond the state of the art by including two main features that allow to recreate a real scenario from Mars. The first one is the use of AI-based super-resolution methods to increase the quality of orbital imagery from Mars; and the second one is related to the use of Generative Adversarial Network to reconstruct 3D terrain features from single images. The primary objectives of the virtual reality lab are twofold: first, to facilitate the training of rover operators in a realistic and immersive Martian environment, and second, to enable mission planning and real-time rover control through an intuitive and dynamic interface. To this end, a rover prototype was included into the virtual lab, using the software-in-the-loop concept to emulate its navigation capability.

关键词： Space vehicles Training Mars Three-dimensional displays Navigation Superresolution Virtual environments

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Distributed Data-Sensor Systems in Wall Climbing Robotic Complexes 2nd

Distributed Data-Sensor Systems in Wall Climbing Robotic Com...

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2nd International Conference on Modern Problems of robotics, MPoR 2020

作者： Valery, Gradetsky Maxim, Knyazkov Eugeny, Semenov Artem, Sukhanov Laboratory of Robotics and Mechatronics Ishlinsky Institute for Problems in Mechanics RAS Prospect Vernadskogo 101-1 Moscow119526 Russia

ISBN: (纸本)9783030884574

The strategy of rational use of distributed information-sensor systems in mobile technological robotic complexes, including complexes based on vertical movement robots designed for operations in extreme environments and situations, is considered. The analysis of the use of information-sensor systems in the following mobile robotic complexes of vertical movement, in which a robot and a technological machine are used: 1.A mobile complex, including a wheeled robot for movement on a horizontal surface and a robot for vertical movement mounted on it. The complex is designed to decontaminate vertically located surfaces.2.A complex for cutting and welding products, which includes two interacting mobile robots with on-board manipulators.3.A technological robot of vertical movement, which is part of an automat-ed complex for performing inspection and repair work on surfaces under water. The control systems of each of the complexes interact with distributed networks of information-sensor systems, which include sensors distributed over nodes and mechanisms, designed to control the movements of the robot and technological equipment. Each of the control networks for various movements includes sensors for position, vacuum, force, pressure, and corresponding drive mechanisms. The technological networks include process sensors. Structures, schemes, and cyclograms of the operation of information-sensor networks of the complexes under consideration are given. © 2021, Springer Nature Switzerland AG.

关键词： Surveys

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Macroscopic dynamics prediction by reservoir computing 6

Macroscopic dynamics prediction by reservoir computing

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6th Scientific School "Dynamics of Complex Networks and their Applications", DCNA 2022

作者： Andreev, Andrey Neuroscience and Cognitive Technology Laboratory Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia Baltic Center for Neurotechnology and Artificial Intelligence Immanuel Kant Baltic Federal University Kaliningrad Russia

ISBN: (数字)9781665461740

ISBN: (纸本)9781665461740

Nowadays, the problem of forecasting complex signals is significant and has many applications in real life. One of such applications is the prediction of neurophysiological signals, like EEG. Such signals are macroscopic signals of a group of neurons, and the connections between them adapt in time. Here, we investigate the possibility of forecasting the dynamics of the modulated adaptive network, which topology changes in time, using Reservoir Computing (RC). We show that the dynamics of the signal is chaotic, and RC cannot predict it, but reconstruction of the phase space by adding the delays improves the quality of the signal's prediction. © 2022 IEEE.

关键词： Complex networks

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