In this paper, a novel soft inflatable arm is proposed for telepresence robots. It is capable of imitating human arms to realize remote interaction. The new proposed arm using a very common and low cost inflatable mat...
详细信息
In this paper, a novel soft inflatable arm is proposed for telepresence robots. It is capable of imitating human arms to realize remote interaction. The new proposed arm using a very common and low cost inflatable material, and it is very light, which weight is only about 50 grams, but can well realize agile movement by driving three tiny cables installed in shoulder joint and elbow joint, respectively. Meanwhile, the proposed cable driven mechanism also allows connecting numbers of joints easily. The soft inflatable can work just by pumping air with very low pressure (7.32 ± 3.45 kPa), and allows human directly and safely contact without any external sensors. Moreover, to solve the challenge problems of soft joint deformation, the kinematic modeling of the joint with deformation compensation is also developed. Experimental results show that the soft inflatable arm can agilely move for remote interaction. The workspace and velocity are also close to an adult's arm movement space and normal motion speed.
In this paper, a novel precise pick and place device (PPD) is proposed for robotic manipulators. It is capable of accurately picking the work pieces and placing them when they are deviated from their initial taught pi...
详细信息
ISBN:
(纸本)9781479927456
In this paper, a novel precise pick and place device (PPD) is proposed for robotic manipulators. It is capable of accurately picking the work pieces and placing them when they are deviated from their initial taught picking positions. In addition, a new muti-line identification algorithm is also developed, which is very effective, especially when the obtained data is limited but needs precise identification. Moreover, the design and implementation of PPD are developed, including hardware design, control algorithm, muti-line fitting approach, offsets calculation and compensation of inverse kinematics, etc. The advantages of PPD are low cost, effective algorithm with high accuracy, when compare with vision or other traditional approaches. Numerous pick and place experiments have been conducted and the results are satisfied.
Improvement of microcantilever-based sensors and actuators chiefly depends on how comprehensively they are modeled and precisely formulated. Atomic Force Microscopy (AFM) is the most widespread application of microcan...
详细信息
暂无评论