3D Printed Biped Walking Robot
|
|
- Gervais McKinney
- 7 years ago
- Views:
Transcription
1 3D Printed Biped Walking Robot Tadeusz Mikolajczyk 1,a *, Alberto Borboni 2,b, Xianwen Kong 3,c, Tomasz Malinowski 1,d and Adrian Olaru 4,e 1 UTP University of Technology and Life Sciences, Bydgoszcz, Poland 2 University of Brescia - Mechanical and Industrial Department, Brescia, Italy 3 Heriot-Watt University, Edinburgh, United Kingdom 4 University Politechnica of Bucharest, Romania a tami@utp.edu.pl, b alberto.borboni@unibs.it, c x.kong@hw.ac.uk, d techniczny.tomasz@gmail.com, e aolaru_51@ymail.com Keywords: mobile robot, walking robot, center of gravity, kinematical analysis Abstract. The purpose of this paper is not to elaborate the bionic pattern of walking robot, but to elaborate our own simple idea of a 4 degree of freedom (DOF) walking robot with the ability to walk on flat surfaces, rotate and climbing upstairs, which is composed of vertical moved legs with a rotary foot and a controlled mass for stabilizing. In this paper, based on the former idea, a prototype model of a 3-DOF walking robot is presented for walking only on flat surfaces. This walking robot is actuated by servo motors. The paper covers the kinematics, centre of gravity analysis, description of the robot and its control system made using Pololu controller. Experiments confirmed the feasibility of the proposed design. Introduction Existing models of bionic-inspired walking robots [1] are complex and difficult to control [1,2], while mobile robots equipped with wheel are uncomplicated [3,4]. One of the most important tasks of a walking robot is to climb up the stairs. Researchers have come up with many solutions of bionic-inspired robots. Some of them are equipped with legs [1], even a special wheel [7,8] or another constructions [7]. One of the most effective walking robots, the well-known Asimo robot [1], might resemble a human body. The load carrying capability of a biped robot is quite limited since the two feet of a walking robot supports the robot alternatively during walking. Novel biped walking robot [7] based on a 2-UPU+2-UU parallel mechanism. Experiments with a physical prototype show that the novel biped walking robot can walk stably on smooth terrain. Recently, the authors of this paper presented a simple 4-DOF two-legged robot in [8]. Both legs of the robot are each connected to the body by a prismatic joint and are moved simultaneously by a single motor, which is responsible for lifting the legs. Two more motors are then responsible for the rotation of the two legs respectively. Each leg can also rotate about its vertical axis both clockwise and counter clockwise. Moreover, this robot is equipped with a stabilizing mass to ensure stability during leg movement. The mass is controlled using yet another motor. In total, the robot has four DOF. The rotation of the robot body allows it to execute a first step. Then the robot leaves the first leg and is ready for the next step using the second leg. At the same time, a coordinated movement of the mass balances the robot. It is apparent that this mechanism is much simpler and easier to control than the other existing walking robots [1]. A simplified prototype model of this kind of walking robot with 3-DOF was presented by the authors in [8]. In this design the stabilizing mass moves at the same time as the legs and this robot is only suitable for walking tasks. In this paper, was present the 3DOF solution of walking robot made using 3D printing technology.
2 Balancing of the walking robot with rotary feet For the purposes of research, a simplified model of the robot (walking only over the flat area) was developed (Fig. 1). The robot is equipped with two legs connected to the body with a prismatic joint. These legs are driven by one motor so that they move in the opposite directions. The foot of each leg can turn independently under the actuation of a servo motor. The angles of rotation of the right and left legs are defined as 1 and 2 respectively (Fig.2). In order to stabilize the robot, a stabilizing mass was applied in order to keep the center of gravity of the robot including the stabilizing mass falls on the foot on the ground. The stabilizing mass was fastened on the arm, connected to the axis of the servo motors that control the legs. It is noted that an appropriate velocity ratio must be used in order to stabilize the robot. The stabilizing mass usually moves much faster than the leg. Fig. 1. An idea of 3-DOF walking robot [9] Striding of the robot consists in the sequence of movements: the left leg moves down with the right leg moving up, and the stability mass moves to the left foot, the left foot turns about its vertical axis by 2, the left leg moves up with the right leg moving down, and the stability mass moved to the right foot, the right foot turns about its vertical axis by angle 1. When stopped, the feet of robot stand at an equal level, and stabilizing mass is at the neutral location (the center). The proposed concept enables one to control not only the length of the step by changing the angle of rotation of the foot, but also the speed of movement by changing the angular velocity of foot rotation. Therefore, this robot has excellent maneuverability [9]: ability to change the movement direction, turn back possibility. Due to the applied simplification (lack of independent control of the stability mass), the walking robot is unable to climb up the stairs.. The vertical movement of parts of the robot, and the displacement of the center of gravity was analyzed in a non-inertial reference frame (Fig. 3) [9]. The movement of all parts in this plane depends on the position of the central gear, which is described by the t angle (Fig. 1). The x coordinate of stabilizing mass is equal to [9]: r r sin (1) x' m Fig. 2. Example of robot move in y axis direction If the robot is correctly balanced, its center of gravity at the initial moment is located in the plane of symmetry (see Fig. 3a). During the movement, x coordinate of the center of gravity changes (Fig. 3b) and can be found using the following equation [9]:
3 C x ' mr 4 m sin (2) mass of the robot Fig. 3. Move robots center of gravity [9]: a) the center of gravity in between feet axes (Cx=0), b) displacement of the center of gravity to left The progressive movement of the robot will be analyzed based on an xy inertial reference frame (see Fig. 1). For linear motion, the sum of angles of rotation of both feet, 1 and 2 should be equal to zero. Otherwise the robot will turn for an angle of 1 2. The complex motion sequence makes it difficult to determining the momentary velocity. However the average speed can be easily calculated: 1 3L sin 2 vy (3) time of the entire cycle Virtual model of the robot and its control system Based on the presented concept (Fig. 1) and conclusions drawn from the analysis, a detailed design of the walking robot was created (Fig. 4,5). The construction of the robot was developed taking into account the possibility of 3D printing technology. Robotic legs are identical and connected with a rack and pinion drive. Robot legs have sliding bearing in the robot body. Combined with the body, the robot servo gear drives leg movement through racks. The axis of this servo arm was fixed to the combined balancing weight, which was made as a head containing a battery-powered robot control system. Fig. 4. 2D CAD model of robot Fig. 5. Virtual model of walking robot The legs of the robot are each equipped with a servo connected to the disc-shaped element forming the foot. The fabricated system consists of a small number of items, includes all the technological holes for mounting the robot screw elements. The solution enables the robot to act in
4 accordance with the proposed rule action. With the rising of the legs, the stabilizing mass moves rapidly to ensure the center of gravity of the entire system is over the foot of the opposite leg which supports the robot. The servo control system by the company Pololu (Fig. 6) was used to control the walking robot. A small (22x11,5x27 mm) servo mechanism SG90 was also used. Its weight is 9g, the torque is equal to 18 Ncm, and velocity is equal to 60 o /0.1s (4,8V). This controller is embedded within the body of the robot. A CAD model of the robot has been saved as a stl file for the implementation of 3D print technology. To fabricate the model, a 3D printer robot system Delta (Fig. 7) kind of Rostock [11] was used with properties: minimum value thickness of layer 0.1 mm, workspace: cylinder d=195mm, z=200mm, filament 1.7 mm. Fig. 6. Micro Maestro 6-channel USB servo controller bottom view [10] Fig. 7. Used Delta type 3D printer Testing After all the parts of the robots had been made using PLA material, the prototype was assembled (Fig. 8). Using the Pololu inner script control program, a series of tests was conducted and confirmed the ability to control the speed of the robot, as well as presented its good maneuverability such as turning. The developed system had good stability due to that the rapid movement of the stabilizing mass that helped to stabilize the robot on one foot while raising the other leg (Fig. 8). Fig. 8. Phases of move of 3D printed walking robot balancing on: a) right leg, b) left leg
5 Conclusions The 3-DOF walking robot presented in this paper has a simple structure. It has the ability to move on flat surfaces, change direction, and to rotate in any direction by any angle. The design is characterized by the use of a stabilizing mass, vertical motion of leg and rotation of feet. The prototype made using 3D printing technology is very small but the walking robot idea can be executed in different scales. The preliminary analysis indicates a great functional potential of a kinematic robot with a simple structure. This study provides a basis for further work on the robot and its control systems. More research on the launch control system including distance sensors is highly recommended. This work is the first stage to build the walking robot with rotating feet for climbing up stairs. The feasibility of moving this model on flat surfaces and ability to control direction of its movement in a simple manner has been demonstrated. Application of the machine of this type can be very broad. Due to the simple structure, its cost will be low. The cost of the robots control system will depend on how the robot is supposed to interact with the environment, which might require a computer for the control system. It has been demonstrated that it is possible to control this robot using Pololu microprocessor, which can resolve task to control of move and read of sensor inputs. It is possible to use more advanced microprocessor of the ATMEGA type [12]. The project requires further work in order to depict the practical implementation of the robot model in large scale and to build the ultimate robot model with heavy traffic jump linear foot for the verification of stair climbing. References [1] (Rabbit, QRIO, Asimo, P3, Aibo, City Climber) [2] M. Vagaš, M. Hajduk, J. Semjon, L. Koukolová and R. Jánoš, View to the Current State of Robotics, Advanced Materials Research, (2012) [3] T. Mikolajczyk, J. Musial, L. Romanowski, A. Domagalski, L. Kamieniecki and M. Murawski, Multipurpose Mobile Robot, Applied Mechanics and Materials, 282 (2013) [4] R. Jánoš, M. Hajduk, J. Semjon and L. Šidlovská, Design of Hybrid Mobile Service Robot, Applied Mechanics and Materials, 245 (2012) [5] M. Eich, F. Grimminger and F. Kirchner, A Versatile Stair-Climbing Robot for Search and Rescue Applications, Proceedings of the 2008 IEEE International Workshop on Safety, Security and Rescue Robotics Sendai, Japan, (2008) [6] A. S. Boxerbaum, M. A. Klein, R. Bachmann, R. D. Quinn, R. Harkins and R. Vaidyanathan, Design of a Semi-Autonomous Hybrid Mobility Surf-Zone Robot, 2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Singapore, (2009) [7] Z. Miao, Y. Yao and X. Kong, Biped Walking Robot Based on a 2-UPU+2-UU Parallel Mechanism. Chinese Journal of Mechanical Engineering, 27 (2014) [8] T. Mikolajczyk, T. Malinowski, T. Fas and L. Romanowski, New Solution for Walking Robot. Applied Mechanics and Materials, 555 (2014) [9] T. Mikolajczyk, T. Malinowski, T. Fas and L. Romanowski, Prototype Model of Walking Robot. Applied Mechanics and Materials, 613 (2014) [10] [11] [12] T. Malinowski, T. Mikolajczyk and A. Olaru, Control of Articulated Manipulator Model using ATMEGA16, Applied Mechanics and Materials, 555 (2014)
Figure 3.1.2 Cartesian coordinate robot
Introduction to Robotics, H. Harry Asada Chapter Robot Mechanisms A robot is a machine capable of physical motion for interacting with the environment. Physical interactions include manipulation, locomotion,
More informationStirling Paatz of robot integrators Barr & Paatz describes the anatomy of an industrial robot.
Ref BP128 Anatomy Of A Robot Stirling Paatz of robot integrators Barr & Paatz describes the anatomy of an industrial robot. The term robot stems from the Czech word robota, which translates roughly as
More informationIntroduction to Robotics Analysis, systems, Applications Saeed B. Niku
Saeed B. Niku 1. Introduction Fig. 1.1 (a) A Kuhnezug truck-mounted crane Reprinted with permission from Kuhnezug Fordertechnik GmbH. Fig. 1.1 (b) Fanuc S-500 robots performing seam-sealing on a truck.
More informationForce/position control of a robotic system for transcranial magnetic stimulation
Force/position control of a robotic system for transcranial magnetic stimulation W.N. Wan Zakaria School of Mechanical and System Engineering Newcastle University Abstract To develop a force control scheme
More informationCE801: Intelligent Systems and Robotics Lecture 3: Actuators and Localisation. Prof. Dr. Hani Hagras
1 CE801: Intelligent Systems and Robotics Lecture 3: Actuators and Localisation Prof. Dr. Hani Hagras Robot Locomotion Robots might want to move in water, in the air, on land, in space.. 2 Most of the
More informationRules of Actuator and Guide Alignment in Linear Motion Systems
Rules of Actuator and Guide Alignment in Linear Motion Systems By Gary Rosengren, Director of Engineering Tolomatic, Inc. About the Author Gary Rosengren is Director of Engineering at Tolomatic and has
More informationUnit 4 Practice Test: Rotational Motion
Unit 4 Practice Test: Rotational Motion Multiple Guess Identify the letter of the choice that best completes the statement or answers the question. 1. How would an angle in radians be converted to an angle
More informationSlow Tree Climbing Robot Analysis of Performance
Slow Tree Climbing Robot Analysis of Performance Prakash Karamari 1, Prajwal Subbhapurmath 2 1Student, Department of Industrial and Production engineering, B.V.Bhoomaraddi college of engineering and technology,
More informationSimulation of Trajectories and Comparison of Joint Variables for Robotic Manipulator Using Multibody Dynamics (MBD)
Simulation of Trajectories and Comparison of Joint Variables for Robotic Manipulator Using Multibody Dynamics (MBD) Jatin Dave Assistant Professor Nirma University Mechanical Engineering Department, Institute
More informationINTRODUCTION TO SERIAL ARM
INTRODUCTION TO SERIAL ARM A robot manipulator consists of links connected by joints. The links of the manipulator can be considered to form a kinematic chain. The business end of the kinematic chain of
More informationAnimations in Creo 3.0
Animations in Creo 3.0 ME170 Part I. Introduction & Outline Animations provide useful demonstrations and analyses of a mechanism's motion. This document will present two ways to create a motion animation
More informationCONCEPTUAL DESIGN OF A HYBRID ROBOT
CONCEPTUAL DESIGN OF A HYBRID ROBOT Víctor Javier González-Villela 1, Patricio Martínez-Zamudio 2, Marcelo López-Parra 3, Juan de Dios Flores-Méndez 4, Ignacio Carlos Cruz-López 5 1, 2, 4, 5 Departamento
More informationThis week. CENG 732 Computer Animation. Challenges in Human Modeling. Basic Arm Model
CENG 732 Computer Animation Spring 2006-2007 Week 8 Modeling and Animating Articulated Figures: Modeling the Arm, Walking, Facial Animation This week Modeling the arm Different joint structures Walking
More informationLab 7: Rotational Motion
Lab 7: Rotational Motion Equipment: DataStudio, rotary motion sensor mounted on 80 cm rod and heavy duty bench clamp (PASCO ME-9472), string with loop at one end and small white bead at the other end (125
More informationHYDRAULIC ARM MODELING VIA MATLAB SIMHYDRAULICS
Engineering MECHANICS, Vol. 16, 2009, No. 4, p. 287 296 287 HYDRAULIC ARM MODELING VIA MATLAB SIMHYDRAULICS Stanislav Věchet, Jiří Krejsa* System modeling is a vital tool for cost reduction and design
More informationGAIT DEVELOPMENT FOR THE TYROL BIPED ROBOT
Proceedings of ECTC 2007 2007 ASME Early Career Technical Conference October 5-6, 2007, Miami, Florida USA GAIT DEVELOPMENT FOR THE TYROL BIPED ROBOT Vishnu Madadi, Mehmet Ismet Can Dede, and Sabri Tosunoglu
More informationSOLID MECHANICS TUTORIAL MECHANISMS KINEMATICS - VELOCITY AND ACCELERATION DIAGRAMS
SOLID MECHANICS TUTORIAL MECHANISMS KINEMATICS - VELOCITY AND ACCELERATION DIAGRAMS This work covers elements of the syllabus for the Engineering Council exams C105 Mechanical and Structural Engineering
More informationMODELLING A SATELLITE CONTROL SYSTEM SIMULATOR
National nstitute for Space Research NPE Space Mechanics and Control Division DMC São José dos Campos, SP, Brasil MODELLNG A SATELLTE CONTROL SYSTEM SMULATOR Luiz C Gadelha Souza gadelha@dem.inpe.br rd
More informationChapter 10 Rotational Motion. Copyright 2009 Pearson Education, Inc.
Chapter 10 Rotational Motion Angular Quantities Units of Chapter 10 Vector Nature of Angular Quantities Constant Angular Acceleration Torque Rotational Dynamics; Torque and Rotational Inertia Solving Problems
More informationDesign Aspects of Robot Manipulators
Design Aspects of Robot Manipulators Dr. Rohan Munasinghe Dept of Electronic and Telecommunication Engineering University of Moratuwa System elements Manipulator (+ proprioceptive sensors) End-effector
More informationMechanics lecture 7 Moment of a force, torque, equilibrium of a body
G.1 EE1.el3 (EEE1023): Electronics III Mechanics lecture 7 Moment of a force, torque, equilibrium of a body Dr Philip Jackson http://www.ee.surrey.ac.uk/teaching/courses/ee1.el3/ G.2 Moments, torque and
More informationUNIT II Robots Drive Systems and End Effectors Part-A Questions
UNIT II Robots Drive Systems and End Effectors Part-A Questions 1. Define End effector. End effector is a device that is attached to the end of the wrist arm to perform specific task. 2. Give some examples
More informationGear Trains. Introduction:
Gear Trains Introduction: Sometimes, two or more gears are made to mesh with each other to transmit power from one shaft to another. Such a combination is called gear train or train of toothed wheels.
More informationPhysics 1A Lecture 10C
Physics 1A Lecture 10C "If you neglect to recharge a battery, it dies. And if you run full speed ahead without stopping for water, you lose momentum to finish the race. --Oprah Winfrey Static Equilibrium
More informationVision-based Walking Parameter Estimation for Biped Locomotion Imitation
Vision-based Walking Parameter Estimation for Biped Locomotion Imitation Juan Pedro Bandera Rubio 1, Changjiu Zhou 2 and Francisco Sandoval Hernández 1 1 Dpto. Tecnología Electrónica, E.T.S.I. Telecomunicación
More informationDesign of a Universal Robot End-effector for Straight-line Pick-up Motion
Session Design of a Universal Robot End-effector for Straight-line Pick-up Motion Gene Y. Liao Gregory J. Koshurba Wayne State University Abstract This paper describes a capstone design project in developing
More informationLEGO NXT-based Robotic Arm
Óbuda University e Bulletin Vol. 2, No. 1, 2011 LEGO NXT-based Robotic Arm Ákos Hámori, János Lengyel, Barna Reskó Óbuda University barna.resko@arek.uni-obuda.hu, hamoriakos@gmail.com, polish1987@gmail.com
More informationPrecise Modelling of a Gantry Crane System Including Friction, 3D Angular Swing and Hoisting Cable Flexibility
Precise Modelling of a Gantry Crane System Including Friction, 3D Angular Swing and Hoisting Cable Flexibility Renuka V. S. & Abraham T Mathew Electrical Engineering Department, NIT Calicut E-mail : renuka_mee@nitc.ac.in,
More informationRotation: Moment of Inertia and Torque
Rotation: Moment of Inertia and Torque Every time we push a door open or tighten a bolt using a wrench, we apply a force that results in a rotational motion about a fixed axis. Through experience we learn
More informationDesign of a six Degree-of-Freedom Articulated Robotic Arm for Manufacturing Electrochromic Nanofilms
Abstract Design of a six Degree-of-Freedom Articulated Robotic Arm for Manufacturing Electrochromic Nanofilms by Maxine Emerich Advisor: Dr. Scott Pierce The subject of this report is the development of
More informationThermodynamic efficiency of an actuator that provides the mechanical movement for the driven equipments:
1. Introduction 1.1. Industry Automation Industry automation is the term that describes a vital development programme of a production community where the project engineers build up automated manufacturing
More informationGANTRY ROBOTIC CELL FOR AUTOMATIC STORAGE AND RETREIVAL SYSTEM
Advances in Production Engineering & Management 4 (2009) 4, 255-262 ISSN 1854-6250 Technical paper GANTRY ROBOTIC CELL FOR AUTOMATIC STORAGE AND RETREIVAL SYSTEM Ata, A., A.*; Elaryan, M.**; Gemaee, M.**;
More informationCIM Computer Integrated Manufacturing
INDEX CIM IN BASIC CONFIGURATION CIM IN ADVANCED CONFIGURATION CIM IN COMPLETE CONFIGURATION DL CIM A DL CIM B DL CIM C DL CIM C DL CIM B DL CIM A Computer Integrated Manufacturing (CIM) is a method of
More informationFrequently Asked Questions
Frequently Asked Questions Basic Facts What does the name ASIMO stand for? ASIMO stands for Advanced Step in Innovative Mobility. Who created ASIMO? ASIMO was developed by Honda Motor Co., Ltd., a world
More informationMechanical Principles
Unit 4: Mechanical Principles Unit code: F/601/1450 QCF level: 5 Credit value: 15 OUTCOME 4 POWER TRANSMISSION TUTORIAL 2 BALANCING 4. Dynamics of rotating systems Single and multi-link mechanisms: slider
More informationSOLID MECHANICS BALANCING TUTORIAL BALANCING OF ROTATING BODIES
SOLID MECHANICS BALANCING TUTORIAL BALANCING OF ROTATING BODIES This work covers elements of the syllabus for the Edexcel module 21722P HNC/D Mechanical Principles OUTCOME 4. On completion of this tutorial
More informationRobot coined by Karel Capek in a 1921 science-fiction Czech play
Robotics Robot coined by Karel Capek in a 1921 science-fiction Czech play Definition: A robot is a reprogrammable, multifunctional manipulator designed to move material, parts, tools, or specialized devices
More informationAutonomous Mobile Robot-I
Autonomous Mobile Robot-I Sabastian, S.E and Ang, M. H. Jr. Department of Mechanical Engineering National University of Singapore 21 Lower Kent Ridge Road, Singapore 119077 ABSTRACT This report illustrates
More informationUltiMate Torque Arms & UltiMate Torque Tubes
UltiMate Torque Arms & UltiMate Torque Tubes Maximize productivity and increase quality control by utilizing the complete line of UltiMate Torque Arms and UltiMate Torque Tubes. Smooth, effortless movement
More informationChapter. 4 Mechanism Design and Analysis
Chapter. 4 Mechanism Design and Analysis 1 All mechanical devices containing moving parts are composed of some type of mechanism. A mechanism is a group of links interacting with each other through joints
More informationCenter of Gravity. We touched on this briefly in chapter 7! x 2
Center of Gravity We touched on this briefly in chapter 7! x 1 x 2 cm m 1 m 2 This was for what is known as discrete objects. Discrete refers to the fact that the two objects separated and individual.
More informationDesign of a Robotic Arm with Gripper & End Effector for Spot Welding
Universal Journal of Mechanical Engineering 1(3): 92-97, 2013 DOI: 10.13189/ujme.2013.010303 http://www.hrpub.org Design of a Robotic Arm with Gripper & End Effector for Spot Welding Puran Singh *, Anil
More informationShear Force and Moment Diagrams
C h a p t e r 9 Shear Force and Moment Diagrams In this chapter, you will learn the following to World Class standards: Making a Shear Force Diagram Simple Shear Force Diagram Practice Problems More Complex
More informationPhysics 201 Homework 8
Physics 201 Homework 8 Feb 27, 2013 1. A ceiling fan is turned on and a net torque of 1.8 N-m is applied to the blades. 8.2 rad/s 2 The blades have a total moment of inertia of 0.22 kg-m 2. What is the
More informationThere are four types of friction, they are 1).Static friction 2) Dynamic friction 3) Sliding friction 4) Rolling friction
2.3 RICTION The property by virtue of which a resisting force is created between two rough bodies that resists the sliding of one body over the other is known as friction. The force that always opposes
More informationAdequate Theory of Oscillator: A Prelude to Verification of Classical Mechanics Part 2
International Letters of Chemistry, Physics and Astronomy Online: 213-9-19 ISSN: 2299-3843, Vol. 3, pp 1-1 doi:1.1852/www.scipress.com/ilcpa.3.1 212 SciPress Ltd., Switzerland Adequate Theory of Oscillator:
More informationCNC Machine Control Unit
NC Hardware a NC Hardware CNC Machine Control Unit Servo Drive Control Hydraulic Servo Drive Hydraulic power supply unit Servo valve Servo amplifiers Hydraulic motor Hydraulic Servo Valve Hydraulic Servo
More informationMidterm Solutions. mvr = ω f (I wheel + I bullet ) = ω f 2 MR2 + mr 2 ) ω f = v R. 1 + M 2m
Midterm Solutions I) A bullet of mass m moving at horizontal velocity v strikes and sticks to the rim of a wheel a solid disc) of mass M, radius R, anchored at its center but free to rotate i) Which of
More informationIndustrial Robotics. Training Objective
Training Objective After watching the program and reviewing this printed material, the viewer will learn the basics of industrial robot technology and how robots are used in a variety of manufacturing
More informationSelecting and Sizing Ball Screw Drives
Selecting and Sizing Ball Screw Drives Jeff G. Johnson, Product Engineer Thomson Industries, Inc. Wood Dale, IL 540-633-3549 www.thomsonlinear.com Thomson@thomsonlinear.com Fig 1: Ball screw drive is a
More informationACTUATOR DESIGN FOR ARC WELDING ROBOT
ACTUATOR DESIGN FOR ARC WELDING ROBOT 1 Anurag Verma, 2 M. M. Gor* 1 G.H Patel College of Engineering & Technology, V.V.Nagar-388120, Gujarat, India 2 Parul Institute of Engineering & Technology, Limda-391760,
More informationMechanism and Control of a Dynamic Lifting Robot
Mechanism and Control of a Dynamic Lifting Robot T. Uenoa, N. Sunagaa, K. Brownb and H. Asada' 'Institute of Technology, Shimizu Corporation, Etchujima 3-4-17, Koto-ku, Tokyo 135, Japan 'Department of
More informationElectric Motors and Drives
EML 2322L MAE Design and Manufacturing Laboratory Electric Motors and Drives To calculate the peak power and torque produced by an electric motor, you will need to know the following: Motor supply voltage,
More informationProblem 6.40 and 6.41 Kleppner and Kolenkow Notes by: Rishikesh Vaidya, Physics Group, BITS-Pilani
Problem 6.40 and 6.4 Kleppner and Kolenkow Notes by: Rishikesh Vaidya, Physics Group, BITS-Pilani 6.40 A wheel with fine teeth is attached to the end of a spring with constant k and unstretched length
More informationSimple Machines. Figure 2: Basic design for a mousetrap vehicle
Mousetrap Vehicles Figure 1: This sample mousetrap-powered vehicle has a large drive wheel and a small axle. The vehicle will move slowly and travel a long distance for each turn of the wheel. 1 People
More informationFrequently Asked Questions
Frequently Asked Questions Basic Facts What does the name ASIMO stand for? ASIMO stands for Advanced Step in Innovative Mobility. Who created ASIMO? ASIMO was developed by Honda Motor Co., Ltd., a world
More informationIntroduction to Accuracy and Repeatability in Linear Motion Systems
Introduction to accuracy and repeatability in linear motion systems By Gary Rosengren, Director of Engineering Tolomatic, Inc. About the Author Gary Rosengren is Director of Engineering at Tolomatic and
More informationEquivalent Spring Stiffness
Module 7 : Free Undamped Vibration of Single Degree of Freedom Systems; Determination of Natural Frequency ; Equivalent Inertia and Stiffness; Energy Method; Phase Plane Representation. Lecture 13 : Equivalent
More informationStructural Axial, Shear and Bending Moments
Structural Axial, Shear and Bending Moments Positive Internal Forces Acting Recall from mechanics of materials that the internal forces P (generic axial), V (shear) and M (moment) represent resultants
More informationIndustrial Walking Systems - A Review
Subjects for period of study at LARM in Cassino For stages and thesis developments CONTACT: prof Marco Ceccarelli at Ceccarelli@unicas.it LARM webpage: http://webuser.unicas.it/weblarm/larmindex.htm SUBJECT:
More informationKINEMATICS OF PARTICLES RELATIVE MOTION WITH RESPECT TO TRANSLATING AXES
KINEMTICS OF PRTICLES RELTIVE MOTION WITH RESPECT TO TRNSLTING XES In the previous articles, we have described particle motion using coordinates with respect to fixed reference axes. The displacements,
More informationCATIA V5 Tutorials. Mechanism Design & Animation. Release 18. Nader G. Zamani. University of Windsor. Jonathan M. Weaver. University of Detroit Mercy
CATIA V5 Tutorials Mechanism Design & Animation Release 18 Nader G. Zamani University of Windsor Jonathan M. Weaver University of Detroit Mercy SDC PUBLICATIONS Schroff Development Corporation www.schroff.com
More informationHow To Calculate Kinematics Of A Parallel Robot
AUTOMATYKA/ AUTOMATICS 03 Vol. 7 No. http://dx.doi.org/0.7494/automat.03.7..87 Grzegorz Karpiel*, Konrad Gac*, Maciej Petko* FPGA Based Hardware Accelerator for Parallel Robot Kinematic Calculations. Introduction
More informationMechanical Principles
Unit 4: Mechanical Principles Unit code: F/60/450 QCF level: 5 Credit value: 5 OUTCOME 3 POWER TRANSMISSION TUTORIAL BELT DRIVES 3 Power Transmission Belt drives: flat and v-section belts; limiting coefficient
More information11. Rotation Translational Motion: Rotational Motion:
11. Rotation Translational Motion: Motion of the center of mass of an object from one position to another. All the motion discussed so far belongs to this category, except uniform circular motion. Rotational
More informationMCE380: Measurements and Instrumentation Lab. Chapter 9: Force, Torque and Strain Measurements
MCE380: Measurements and Instrumentation Lab Chapter 9: Force, Torque and Strain Measurements Topics: Elastic Elements for Force Measurement Dynamometers and Brakes Resistance Strain Gages Holman, Ch.
More informationOverall Indicator: The student: recognizes the effects of forces acting on structures and mechanisms
Grade 5 Performance Task: Disaster Recovery Content Connections Assessment Criterion Understanding of basic concepts Overall Indicator: The student: recognizes the effects of forces acting on structures
More informationA Simulation Study on Joint Velocities and End Effector Deflection of a Flexible Two Degree Freedom Composite Robotic Arm
International Journal of Advanced Mechatronics and Robotics (IJAMR) Vol. 3, No. 1, January-June 011; pp. 9-0; International Science Press, ISSN: 0975-6108 A Simulation Study on Joint Velocities and End
More informationThe Bonelle Tool and Cutter Grinder
The Bonelle Tool and Cutter Grinder The grinder was constructed about 1987 and exhibited at the 89th Model Engineering exhibition where it was awarded a bronze medal (see ME Vol164 No 3868 page 273). Subsequently
More informationHand Gestures Remote Controlled Robotic Arm
Advance in Electronic and Electric Engineering. ISSN 2231-1297, Volume 3, Number 5 (2013), pp. 601-606 Research India Publications http://www.ripublication.com/aeee.htm Hand Gestures Remote Controlled
More informationCentripetal Force. This result is independent of the size of r. A full circle has 2π rad, and 360 deg = 2π rad.
Centripetal Force 1 Introduction In classical mechanics, the dynamics of a point particle are described by Newton s 2nd law, F = m a, where F is the net force, m is the mass, and a is the acceleration.
More informationChapter 11 Equilibrium
11.1 The First Condition of Equilibrium The first condition of equilibrium deals with the forces that cause possible translations of a body. The simplest way to define the translational equilibrium of
More informationFigure 1.1 Vector A and Vector F
CHAPTER I VECTOR QUANTITIES Quantities are anything which can be measured, and stated with number. Quantities in physics are divided into two types; scalar and vector quantities. Scalar quantities have
More informationSolution Derivations for Capa #11
Solution Derivations for Capa #11 1) A horizontal circular platform (M = 128.1 kg, r = 3.11 m) rotates about a frictionless vertical axle. A student (m = 68.3 kg) walks slowly from the rim of the platform
More informationChapter 8: Rotational Motion of Solid Objects
Chapter 8: Rotational Motion of Solid Objects 1. An isolated object is initially spinning at a constant speed. Then, although no external forces act upon it, its rotational speed increases. This must be
More informationThe connector we use most in joining beams is the Technic pin. The Technic pin comes in several variants, as shown in Figure 1 below.
In this chapter we consider various ways to build strong constructions. A strong construction is vital to a robot, particularly mobile robots that tend to run into solid objects like walls, chairs, table
More information4.2 Free Body Diagrams
CE297-FA09-Ch4 Page 1 Friday, September 18, 2009 12:11 AM Chapter 4: Equilibrium of Rigid Bodies A (rigid) body is said to in equilibrium if the vector sum of ALL forces and all their moments taken about
More informationPractice Exam Three Solutions
MASSACHUSETTS INSTITUTE OF TECHNOLOGY Department of Physics Physics 8.01T Fall Term 2004 Practice Exam Three Solutions Problem 1a) (5 points) Collisions and Center of Mass Reference Frame In the lab frame,
More informationOrbital Mechanics. Angular Momentum
Orbital Mechanics The objects that orbit earth have only a few forces acting on them, the largest being the gravitational pull from the earth. The trajectories that satellites or rockets follow are largely
More informationServo Info and Centering
Info and Centering A servo is a mechanical motorized device that can be instructed to move the output shaft attached to a servo wheel or arm to a specified position. Inside the servo box is a DC motor
More informationGEARS AND GEAR SYSTEMS
This file aims to introducing basic concepts of gears and pulleys. Areas covered include spur gears, compound gears, chain drive, rack/pinion systems and pulley systems. GEARS AND GEAR SYSTEMS Gears can
More informationSensor Based Control of Autonomous Wheeled Mobile Robots
Sensor Based Control of Autonomous Wheeled Mobile Robots Gyula Mester University of Szeged, Department of Informatics e-mail: gmester@inf.u-szeged.hu Abstract The paper deals with the wireless sensor-based
More informationDEVELOPMENT OF SMALL-SIZE WINDOW CLEANING ROBOT BY WALL CLIMBING MECHANISM
DEVELOPMENT OF SMALL-SIZE WINDOW CLEANING ROBOT BY WALL CLIMBING MECHANISM Tohru MIYAKE MIRAIKIKAI Inc. and Graduate school of Engineering, Kagwa Univ. 2217-2, Hayashi, Takamatsu, Kagawa 761-396 Japan
More informationMECHANICAL PRINCIPLES OUTCOME 4 MECHANICAL POWER TRANSMISSION TUTORIAL 1 SIMPLE MACHINES
MECHANICAL PRINCIPLES OUTCOME 4 MECHANICAL POWER TRANSMISSION TUTORIAL 1 SIMPLE MACHINES Simple machines: lifting devices e.g. lever systems, inclined plane, screw jack, pulley blocks, Weston differential
More informationBelt Drives and Chain Drives. Power Train. Power Train
Belt Drives and Chain Drives Material comes for Mott, 2002 and Kurtz, 1999 Power Train A power train transmits power from an engine or motor to the load. Some of the most common power trains include: Flexible
More informationVibrations can have an adverse effect on the accuracy of the end effector of a
EGR 315 Design Project - 1 - Executive Summary Vibrations can have an adverse effect on the accuracy of the end effector of a multiple-link robot. The ability of the machine to move to precise points scattered
More informationMotor Selection and Sizing
Motor Selection and Sizing Motor Selection With each application, the drive system requirements greatly vary. In order to accommodate this variety of needs, Aerotech offers five types of motors. Motors
More informationROBOT END EFFECTORS SCRIPT
Slide 1 Slide 2 Slide 3 Slide 4 An end effector is the business end of a robot or where the work occurs. It is the device that is designed to allow the robot to interact with its environment. Similar in
More informationTHEORETICAL MECHANICS
PROF. DR. ING. VASILE SZOLGA THEORETICAL MECHANICS LECTURE NOTES AND SAMPLE PROBLEMS PART ONE STATICS OF THE PARTICLE, OF THE RIGID BODY AND OF THE SYSTEMS OF BODIES KINEMATICS OF THE PARTICLE 2010 0 Contents
More informationSolar Tracking Application
Solar Tracking Application A Rockwell Automation White Paper Solar trackers are devices used to orient photovoltaic panels, reflectors, lenses or other optical devices toward the sun. Since the sun s position
More informationINDEX 1. Introduction..7 1.2 Objectives...7 2. Analytical part.......9 2.1 Stationary robots..... 9 2.2 Locomotion overview....12 2.3 Wheeled robots..15 2.4 Legged robots...17 2.5 Hexapod robots..20 3
More informationSetting up the DeskCNC controller.
1) Determine the steps to linear motion ratios for each axis. 2 2) Determine Maximum velocity (speed). 3 3) Setting up the software Machine Tab 4 4) Setting up the software DeskCNC Setup Tab 5 5) Setting
More informationLecture L22-2D Rigid Body Dynamics: Work and Energy
J. Peraire, S. Widnall 6.07 Dynamics Fall 008 Version.0 Lecture L - D Rigid Body Dynamics: Work and Energy In this lecture, we will revisit the principle of work and energy introduced in lecture L-3 for
More informationFric-3. force F k and the equation (4.2) may be used. The sense of F k is opposite
4. FRICTION 4.1 Laws of friction. We know from experience that when two bodies tend to slide on each other a resisting force appears at their surface of contact which opposes their relative motion. The
More informationROBOT SYSTEM FOR REMOVING ASBESTOS SPRAYED ON BEAMS
ROBOT SYSTEM FOR REMOVING ASBESTOS SPRAYED ON BEAMS Mitsunori Arai* and Haruo Hoshino Advanced Research Department R&D Institute, Takenaka Corp, Chiba, Japan * Corresponding author (arai.mitsunori@takenaka.co.jp)
More informationVector Algebra II: Scalar and Vector Products
Chapter 2 Vector Algebra II: Scalar and Vector Products We saw in the previous chapter how vector quantities may be added and subtracted. In this chapter we consider the products of vectors and define
More informationRobots. KUKA Roboter GmbH. KR AGILUS sixx. With W and C Variants Specification KR AGILUS. sixx. Issued: 26.03.2015. Version: Spez KR AGILUS sixx V12
Robots KUKA Roboter GmbH KR AGILUS sixx With W and C Variants Specification KR AGILUS sixx Issued: 26.03.2015 Version: Spez KR AGILUS sixx V12 Copyright 2015 KUKA Roboter GmbH Zugspitzstraße 140 D-86165
More informationProblem Set 1. Ans: a = 1.74 m/s 2, t = 4.80 s
Problem Set 1 1.1 A bicyclist starts from rest and after traveling along a straight path a distance of 20 m reaches a speed of 30 km/h. Determine her constant acceleration. How long does it take her to
More informationA Product Automatically Queuing and Positioning Technology Based on Conveyor Belt
Send Orders for Reprints to reprints@benthamscience.ae 624 The Open Mechanical Engineering Journal, 2015, 9, 624-629 Open Access A Product Automatically Queuing and Positioning Technology Based on Conveyor
More informationInteractive Computer Graphics
Interactive Computer Graphics Lecture 18 Kinematics and Animation Interactive Graphics Lecture 18: Slide 1 Animation of 3D models In the early days physical models were altered frame by frame to create
More information