In this article, we present design, fabrication, and characterization of a two- degree freedom humanoid neck based on serial chain four-bar mechanism. The nodding mechanism is designed in such a way that an eccentric center of gravity of the robotic head is counterbalanced by pre-tensioned springs which makes the modular neck prototype stati- cally in equilibrium. In addition, due to installation of drive motor away from the rotation axis of nodding system, the torque requirement is significantly reduced allowing the use of low-cost RC servo motor to drive the head assembly. We describe in detail modeling and characteri- zation of the neck rotational movement focusing on nodding mechanism. Extensive mathe- matical model for interaction of two dynamical systems, headneck and servomechanism, is developed. Humanoid neck design based on RC servo motor having potentiometer feedback experiences inherent overshooting. In order to overcome the overshoot associated with servo dynamics, an external PD controller is implemented and the motion similar to that of human neck is demonstrated by numerical simulation.

/pdf/realizing-a-humanoid-neck-with-serial-chain-four-bar-56cbyxonaz.pdf

Realizing a Humanoid Neck with Serial Chain Four-bar Mechanism:

This paper presents a special type of truss-shaped deployable grasping manipulator (DGM) that is suitable for grasping the large-scale objects, but its dynamic modeling is a challenging task because of its multiple closed-loop structures. To address this issue, an iterative dynamic modeling approach is proposed. First, the mechanism structure of the DGM is introduced. Second, the kinematics of the basic deployable parallel mechanism unit with scissor-shaped elements is established, and then, its deployment dynamics are modeled based on the Lagrange method. Third, an iterative dynamic modeling approach for the DGM is proposed to realize the real-time computation based on the recursive Newton-Euler method. Then, a controller with the desired feedforward dynamic compensation for the DGM is proposed to improve the control performance in comparison with the one without feedforward. Finally, experiments are completed to verify the proposed controller on a DGM, and experimental results show that the proposed controller is effective.

/pdf/dynamic-modeling-and-control-for-a-deployable-grasping-2iauqjaqfp.pdf

Dynamic Modeling and Control for a Deployable Grasping Manipulator

Dans un environnement international extremement concurrentiel, piloter avec efficience son Systeme de Production est un point fondamental pour une entreprise. Les methodes traditionnelles de gestion et de pilotage montrent toutes leurs limites respectives face a l'inflation des contraintes de production, et il devient incontournable d'explorer de nouvelles approches de pilotage, plutot en rupture avec les approches generalement utilisees a l'heure actuelle pour effectuer les prises de decision. Parmi ces champs exploratoires, le paradigme holonique offre un cadre conceptuel au sein duquel la communaute HMS (Holonic Manufacturing System) propose diverses solutions, selon des approches combinant a des degres divers hierarchisation et distribution de la prise de decision. Apres un panorama du travail de ces equipes, nous etudions une architecture pour le pilotage des systemes de production ne presentant plus aucune dimension hierarchique dans la prise de decision. Pour cela, nous proposons le concept d'isoarchie, resultant du parti pris de pousser le raisonnement de la distribution a ses limites. Au dela du travail de ces equipes, nous proposons une architecture pour le pilotage des systemes de production ne presentant plus aucune dimension hierarchique dans la prise de decision. Pour cela, nous definisons le concept d'isoarchie, resultant du parti pris de pousser a ses limites ce raisonnement. Nous presentons donc notre vision de la prise isoarchique de decision dans le contexte d'un ensemble d'entites holoniques en interaction. Differentes applications montrant differents aspects des performances obtenues et de la mise en oeuvre de tels systemes seront detaillees.

De l'Isoarchie pour le Pilotage des Systèmes de Production

In this paper, the design for variable geometry truss manipulators, with 3-DOF octahedron-shaped modules and hydraulic actuation is introduced. The main features of the concept are the optimized multiple collocated spherical joints and a structure-integrated supply of the drive fluid for the hydraulic actuators. Based upon the known Spherical Joint Mechanism, design rules are deduced and modified joint elements are presented to provide a larger workspace for a single module. The potential of the resulting module design is demonstrated by the calculation of the workspace, as well as the payload-to-mass ratio. Based upon the presented results, a family of highly maneuverable light-weight hyper-redundant manipulators can be derived.

/pdf/on-the-joint-design-and-hydraulic-actuation-of-octahedron-3g9qdt8uqm.pdf

On the joint design and hydraulic actuation of octahedron VGT robot manipulators

In order to implement the rapid reconfiguration of reconfigurable assembly system, after analyzing the traditional architectures of control systems, a hybrid architecture based on multi-agent systems is proposed, which combines the advantages of hierarchical and distributed architecture. The proposed architecture has many prominent characters such as lower complexity, robustness, maintainability, scalability, reusing ability and so on. Conforming to FIPA standards, all kinds of agents in the architecture are realized on the software development platform JADE.

Development of Agent for Reconfigurable Assembly System with JADE

A mobile humanoid robot named YIREN has been developed as a platform for the research on intelligent robotics. The robot consists of 23 degrees of freedom (DOF), including the mobile platform, waist, torso, arms, neck and head, and it has two peculiarities: a waist mechanism that could adjust the mechanical compliance suitably and a mobile platform which is an omni-directional mobile robot with orthogonal-wheel assemblies. The design was mainly focused on two essential requirements of safety and mobility. This study aimed at realizing passive compliance of the mobile humanoid robot by its waist, and developing its autonomous navigation ability by its mobile platform. This paper presented a waist mechanism that could vary the joint stiffness. The influence of this waist on the compliant characteristics and the stability of the whole body were studied. The mobile humanoid robot that employs this waist is appropriate for the human-robot cooperative tasks, because it can realize safety motion by performing the waist and varying the joint stiffness while is operating.

The development of a mobile humanoid robot with varying joint stiffness waist

In this paper, a ten degrees of freedom (DOF) redundant robot manipulator based on three DOF parallel platforms is introduced The main contents of the paper include configuration, kinematics, mechanical design and control system The new robot is a hybrid serial system which is composed of a slide pair and three sections of three DOF parallel platforms The system is driven by hydraulic cylinders and controlled by electric-hydraulic servo valves and STD Bus It can sweep large workspace and be used for the operations inside of a large container

Development of a redundant robot manipulator based on three DOF parallel platforms

Agent-based manufacturing and Holonic manufacturing system (HMS) are considered as manufacturing for next generation and are effective means to implement flexibility and reconfigurability of manufacturing system Translating these new theories into manufacturing industries and show their significance in practice are crucial to their vitality The methodologies of agent and holon in manufacturing and practice were deeply studied, theoretical research and typical system developed by other researchers were analyzed Assembly line environment are made as background and aiming at implementation of manufacturing flexibility and reconfigurability based on multi agent and holonic manufacturing methodologies, infrastructure and implementation methods of reconfigurable assembly line were studied

Theoretical analyze and implementation method of reconfigurable assembly line based on agent and holon

It is an important problem to determine the relative position and translation between two space objects in robotic research However, if traditional stereo vision method is used in model-based system without exploiting rigid constraints, the precision may be low especially in depth direction This paper solves this problem with an accurate and real-time strategy, which is based on real-time genetic algorithm (RGA) and perspective 3-point (P3P) algorithm Real image and simulation experiments show this method has dramatic performance and it can be applied in real-time situation

A high-precision binocular method for model-based pose estimation

Research on buffer capacity in assembly system

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