Industrial Walking Systems - A Review

Transcription

1 Subjects for period of study at LARM in Cassino For stages and thesis developments CONTACT: prof Marco Ceccarelli at LARM webpage: SUBJECT: mechanism design for walking machines OUTLINE: The project concerns the design and construction of walking robots. The main objectives for the proposed walking system are low-cost and easy-operation in terms of modularity, compactness, light weight and reduced number of DOFs, to built light and simple architectures. Furthermore, basic considerations for a leg design can be outlined as follows: the leg should generate an approximately straight-line trajectory for the foot with respect to the body; the leg should have a simple mechanical design; the leg should be with the minimum number of DOFs to ensure the motion capability. A preliminary version of a low-cost biped machine, which is capable of a straight walking with only one actuator, is available at LARM. Numerical and experimental analyses can be also carried out by using available biped robots. LAST REFERENCE: Ottaviano E., Ceccarelli M., Tavolieri C., Kinematic and Dynamic Analyses of a Pantograph-Leg for a Biped Walking Machine 7 th Int. Conf. on Climbing and Walking Robots CLAWAR, Madrid, Paper A019, SUBJECT: mechanism design for anthropomorphic leg OUTLINE: The goal of this work is a low-cost easy-operation design of a multi-purpose leg that can be used in multi-legged mobile systems, like in hexapod robots. The proposed architecture for a leg can be modified in order to increase or decrease the number of degree of freedoms (dofs) by increasing or decreasing the number of link modules. Moreover, design constraints can be assumed in the form of a robust simple mechanical design, easy-operation with easy flexible programming, low-cost both in design and operation. Numerical and experimental tests should be carried out in order to improve the design of a built prototype that is already available at LARM: Laboratory of Robotics and Mechatronics in Cassino. LAST REFERENCE: Carbone G., Ceccarelli M., Legged Robotic Systems, Cutting Edge Robotics ARS Scientific Book, Wien, pp , SUBJECT: kinematic analysis and design of cable-driven parallel manipulators OUTLINE: The goal of this project is design and build a 7 cable-driven parallel manipulator. Cable driven parallel manipulators consist of a moving platform (end-effector) and a base, which are connected by multiple cables. Indeed, the end-effector is operated by motors that can extend or retract cables. Cable driven manipulators are structurally similar to parallel ones and they have good properties, such as large workspace, if compared to the workspace of classical parallel manipulators. Moreover, they have few moving parts, which gives good inertial properties, high payload-weight ratio, transportability and economical construction. A 4-cable driven parallel manipulator has been already designed and built at LARM to be used both for planar and spatial tasks. Numerical developments concern with the kinematics and dynamic analyses of a new prototype of 7 cabledriven manipulator. Experimental works is related to the operation of the prototype for pick and place and rescue operations.

2 LAST REFERENCE: Ottaviano E., Ceccarelli M., Paone A., Carbone G., A Low-Cost Operation 4-Cable Driven Parallel Manipulator, Proceedings of the IEEE International Conference on Robotics and Automation ICRA05, Barcelona, 2005., dr Giuseppe Carbone SUBJECT: kinematic design and experimental tests of cam transmissions OUTLINE: The goal of this project is to design and manufacture cam systems. A cam is a machine component, which is used to transmit the mechanical power from one part to another by means of a direct contact between conjugate surfaces and according to a suitable motion program. Cam mechanisms can be usually implemented in several modern applications such as automatic and textile machinery, cutting and forming presses, fast manufacturing equipments, instruments, internal combustion engines and control systems. Kinematic performances and transmission quality (in terms of pressure angle) be analyzed to design a suitable cam profile for specific applications. An experimental test bed is available at LARM and can be used to test kinematic and dynamic performances of cam systems. LAST REFERENCE: Ottaviano E., Ceccarelli M., Danieli G., Mundo D., Analysis of Non- Circular Gears and Cam-Follower Systems as Function Generators, Proceedings of MUSME 2005, the International Symposium on Multibody Systems and Mechatronics, Uberlandia, Paper n. 29- MUSME05, SUBJECT: dynamics simulation and experimental test of cam transmissions OUTLINE: The goal of this work is to define proper lumped-parameter models for the dynamic behaviour of a cam system that can be used as suitable tool for design purposes. Numerical simulations of a real cam system should be carried out by using the proposed models. Experimental tests should be carried out by using a test-bed that has been designed and built at LARM: Laboratory of Robotics and Mechatronics in Cassino. The experimental results should be used for validating the proposed models. Moreover, the experimental results should be compared with the numerical results for parameter identification purposes. LAST REFERENCE: Carbone G., Lanni C., López-Cajún C.S., Ceccarelli M., Numerical and Experimental Simulation of Dynamic Operations of Cams, ECCOMAS Thematic Conference Multibody Dynamics 2005, Madrid, paper MB023, SUBJECT: workspace analysis and design of manipulators OUTLINE: The goal of this project is workspace analysis and design of serial manipulators, which have been the focus of intense research in past decades. The computation of the workspace and its boundary is of significant interest because of their impact on manipulator design, placement in a working environment, and trajectory planning. An analytical description of the boundary allows to apply the vast geometric literature on algebraic curves to workspace analysis. Geometric singularities of the cross-section boundary curve can be identified as double points, cusps and acnodes, and classified as delimiting ring void and 4-solution regions. A classification of the workspace topologies is of great and practical interest both for analysis and optimal design of manipulators. The goal of this project is also to deduce an evaluation of the workspace volume by integrating the boundary curve.

3 TYPE OF ACTVITY: theoretical-numerical developments LAST REFERENCE: Ceccarelli M., Ottaviano E., Numerical and Experimental Analysis of Manipulator Workspace, Key Note Lecture, 1 st International Congress Design and Modelling of Mechanical Systems, CMSM 2005, Hammamet, pp , SUBJECT: Stiffness evaluation and experimental test of multi-body systems OUTLINE: This work is an attempt to propose a unifying procedure for numerical and experimental determination of stiffness matrix of parallel manipulators as a result of previous experiences at LARM in Cassino. Numerical simulations of the stiffness performance for a parallel manipulator should be carried out. Moreover, the Milli-CaTraSys (Milli Cassino Tracking System) should be used for carrying out experimental tests. The experimental results should be compared with the numerical results for calibration purposes and operation characterizations by identifying the entries of the stiffness matrix. LAST REFERENCE: Ceccarelli M., Carbone G, Numerical and experimental analysis of the stiffness performance of parallel manipulators, 2nd International Colloquium Collaborative Research Centre 562, Braunschweig, pp.21-35, SUBJECT: Design of a Low-Cost Easy-Operation Humanoid Robot OUTLINE: This work is an attempt to define a design for a low-cost humanoid robot by using mainly some robotic units that have been developed at LARM: Laboratory of Robotics and Mechatronics in Cassino with the low-cost design and easy operation approach. Numerical and experimental tests should be carried out in order to chose the proper robotic units and improve the overall design. LAST REFERENCE: Carbone G., Ceccarelli M., Takanishi A, Lim H.O., A Study of Feasibility for a Low-Cost Humanoid Robot, IEEE-RAS International Conference on Humanoid Robots HUMANOIDS 2001, Tokyo, pp , Nava Rodriguez N.E., Ceccarelli M., Carbone G., Proyecto y Animación de un Nuevo Robot Humanoide de Bajo Costo, 7 Congreso Iberoamericano de Ingeniería Mecánica CIBIM7, Mexico City, (submitted) SUBJECT: Optimal design of a Low-Cost Easy-Operation Robotic Hand OUTLINE: The goal of this work is to optimise the design of a robotic hand by using fundamental characteristics regarding with the human-like behavior, grasp efficiency and force transmission. Numerical simulations and experimental tests should be carried out in order to define and validate the proposed design procedure. LAST REFERENCE: Ceccarelli M., Nava Rodriguez N.E., Carbone G., Optimal Design of Driving Mechanism in a 1-d.o.f. Anthropomorphic Finger, International Workshop on Computational Kinematics, paper 03CK05, Cassino, 2005.

4 SUBJECT: A force controlled macro-milli robotic system for surgery tasks OUTLINE: The goal of this work is to define and implement a force control algorithm on macromilli robotic system that is composed of an industrial SCARA robot (Adept Cobra 600) and a parallel manipulator CaPaMan2bis (Cassino Parallel Manipulator version 2bis). Numerical simulations and experimental tests should be carried out in order to define and validate the force control algorithm. LAST REFERENCE: Carbone G., Ceccarelli M., Cimpoeru F.D., Experimental Tests with a Macro-Milli Robotic System, 14th International Workshop on Robotics in Alpe-Andria-Danube Region RAAD 2005, Bucharest, pp.64-69, SUBJECT: kinematic analysis and design of a wire parallel measuring system OUTLINE: The goal of this project is the kinematic analysis and design of wire parallel measuring systems, which appear to be interesting since they show a good compromise between accuracy, resolution, cost, measurement range, portability and calibration procedure. Wire based tracking systems consist of a fixed base and a moving platform connected by at least six wires whose tension is maintained by pulleys and spiral springs on the base. They can be modelled as 6-degrees of freedom parallel manipulators because wires can be considered as extensible legs connecting the platform and base by means of spherical and universal joints, respectively. A prototype of CaTraSys (Cassino Tracking System) is available at LARM and it has been used for the determination of the workspace and Kinematic parameters of complex mechanical systems. The goal of this project is to design and built a redundant measuring system with 7 or 8 wires, as a development of the existing prototype CaTraSys. LAST REFERENCE: Thomas F., Ottaviano E., Ros L., Ceccarelli M., "Performance Analysis of a Pose Estimation Device", IEEE Transactions on Robotics, 2005 SUBJECT: analysis and design of a discretely-actuated multi-module parallel manipulator OUTLINE: the goal of this project is the kinematic analysis and design of a discretely-actuated parallel manipulator with pneumatic actuation. Major benefits of discretely-actuated manipulators are high repeatability, relatively low cost, and no need for feedback control. In addition, hyperredundancy allows to run tasks even when some actuators fail. Binary actuators can have only two stable states, denoted by (0) and (1). In this project Kinematic and Static analyses can be carried out to obtain design constraints, which can be used to built a prototype. A first prototype has been built and is available at LARM for experimental tests. LAST REFERENCE: Ottaviano E., Di Giorgio J., Varone M., Ceccarelli M., Analysis, Design and Construction of a Discretely-Actuated Multi-Module Parallel Manipulator, International Workshop on Computational Kinematics, Cassino, CD Proceedings, Paper 12-CK2005, SUBJECT: An application of a 3-DOF parallel manipulator as earthquake motion simulator OUTLINE: The goal of this project is the use of a spatial parallel manipulator as an earthquake motion simulator. Nowadays it is of great interest to be able to study earthquakes, since their effects may cause loss of life and high cost to replace and repair what has been destroyed. Therefore,

5 motions that are commonly associated with earthquakes cab be reproduced by earthquake simulators. CaPaMan (Cassino Parallel Manipulator) is a 3-DOF spatial parallel manipulator, which has been designed and built at LARM. It has been used for experimental tests to reproduce 3D earthquake motion. The goal of this project is to model and operate the parallel manipulator for the specific application and perform experimental test, even on scaled civil structures. LAST REFERENCE: Ottaviano E., Ceccarelli M., Castelli G., Experimental Results of a 3-DOF Parallel Manipulator a an Earthquake Motion Simulator, ASME Design Engineering Technical Conference and Computers in Engineering Conference, Salt Lake City, Paper DETC , SUBJECT: Design and optimization of industrial manipulation OUTLINE: The goal of this project is to design/optimize a workcell for an industrial manipulation/application. Industrial robots are widely used but they are in general considered the most complicate systems in the Automation. Indeed, their use is usually restricted to applications requiring users with high level education and continuous training. Thus, it is of remarkable interest to develop training strategies and design methodologies to make users capable of using robots in industrial frames in optimal way. In this project practical procedures and experiences are proposed for robot programming and training students at LARM and/or in industrial plants. LAST REFERENCE: Carbone G., Ceccarelli M., Cimpoeru F.D., Experimental Tests with a Macro-Milli Robotic System, 14th International Workshop on Robotics in Alpe-Andria-Danube Region RAAD 2005, Bucharest, pp.64-69, and Dr. Giuseppe Carbone