The Challenges: Advantages And Disadvantages Of Flexible Robots

In the past few years prototype has been going under many modifications. Last year it was completed but few flaws were there. Spring Mechanism was used by previous degree but it was not reliable as due to excess use spring lost its elasticity and could not be used for triggering. Spring mechanism was also not aesthetically good. A lot of aesthetics was to be done. To cater for this problem we used limit switch for efficient triggering and made compact circuitry using 8 pin controllers and added much to aesthetics of limb.

The three segments are assumed to be rigid bodies with their mass concentrated at their center of mass. The different segment lengths, masses, center of mass locations and moment of inertia are obtained from anthropometric data. The Joints possess rotational stiffness and frictional damping.

This type of control architecture is where there is no feedback signal from the process variable. Therefore, the controller output does not automatically

Our structure, consisting primarily of a paper tower, enabled a smooth functioning of our part in the Rube Goldberg project. Although it seems simple, the structure took several hours to create and properly organize. The stabilization of our structure depends on two crucial factors: the solid meter sticks within the edges and a heavy mass at its base. The solid meter sticks are supposed to ensure that the overall structure is stern and upright; the heavy mass at the base ensures that it does not move out of place and is stationary at any given spot that we desire it to be in. Newton’s first law of motion is depicted in almost every step of making our paper tower structure. One such example is that of the solid meter sticks within the edges of the tower. The sticks secured that the structure will not be acted upon by an unbalanced force at any particular edge and collapse to the table.

As NASA and its international partners were designing the ISS, it was only natural to include a similar system on the new space station. As it happens, they decided to put a newer version of the same system, called Canadarm 2, onto it with upgraded capabilities being bigger, more maneuverable, and able to traverse the station among other things23. Since the inclusion of the improved version, the system has again proven invaluable providing a method to capture docking spacecraft, move station components around during and after construction even meeting up with its predecessor during visits by the Space

This year, Trinity Dragons Robotics has reached for the stars. Our innovative designs have brought us to a competitive level on a world stage. As the Starstruck season was unveiled, we knew that to achieve a competitive skills score we would need high hanging capability. Understanding that the 12 points available would be crucial, we set to work designing our robot around this element. Consequently, two major aspects of our robot, T.R.A.S.H. and the Dragon Drive, were created specifically to assist our hang.

Through this the lab should be executed with a high degree of effectiveness due to the background knowledge obtained and various concepts learnt, the lab should contain relatively accurate information if performed right, along with following the background theory ideas presented so that our calculations can be accurately made.

The main drawback of sinusoidal commutation is that the motor currents are controlled which are time variant and thus PI controllers have to operate on limited bandwidth. Hence using field oriented control the currents in a, b, c reference frame are transformed to d-q reference frame. Thus controllers are not subjected from time variant currents and voltages and limitation of controller frequency response and phase shift on motor speed and torque is eliminated.

In this state, the result of the last state will be converted to functions. In addition, it is possible to indicate an overall function based on the flow of energy, material and signals. Using of a block diagram, they can be expressed the solution neutral relationship between inputs and outputs.

The feedback control law presented in (21), linearizes the system input-output map and tracks the desired reference signal yR(t). Moreover, by applying (21), the closed loop system converts into e ̇=(A-BK)e , in

For a multi-body system sliding on a rough surface, a range of uncertainty or non-uniqueness of solution could be found which is termed: Painlevé paradox. If occurs, it leads to undesired detachments between the end effector of a robotic manipulator and the sliding surface. In this research work, the condition leading to Painlevé paradox is specified. To examine the factors affecting the paradox, parametric studies are performed for two sliding manipulators; Prismatic-Revolute manipulator (P-R), and Revolute-Prismatic (R-P) manipulator. These parametric studies investigate the effect of the coefficient of friction and links' lengths and inertia. Recommendations to escape the paradox zone are proposed including a novel conjecture through rearranging the joints of the robot.

         Researchers from the National Air and Space Administration (NASA) Ames became interested in using the information that was present from the previous robots to develop a technology called  telepresence surgery. The technology of telepresence became the major driving force behind the development of surgical robotic robots as we know them today. Lippincott, W (2004)

To validate and compare the performance of the controller, the controllability and the time optimality histogram test has been used with these examples [9][10]. The controllability is the indicator of the percentage of cells that reaches the target versus the total number of cells defined by the state space. The histogram test evaluates the efficiency of each trajectory, comparing how fast is obtained the objective with each controller. The histogram quantifies the average time to transit from controllable cells to the objective cell. A better controller is considered when the histogram concentrates in the shorter interval the maximum number of trajectories, versus the dispersion obtained from a less efficient controller. Fig. 9 and Fig. 10 shows the histogram comparison in the motor example and the Fig. 15 and Fig. 16, with the histogram Car on the Hill case.

Conventional PID controller is one of the most widely used controllers in industry, it have remained, by far; the most commonly used in practically all industrial feedback control applications. The main reason is its relatively simple structure, which can be easily understood and implemented in practice.

The VERSATRAN robot was invented in 1958 as result of research and development project done by American Machine and Foundry(AMF) Thermatool Corporation (VERSATRAN industrial robot pdf, 2015) [4]. This project was done for a Versatile Transfer Machine and then that machine was called as VERSATRAN. This robot was designed by Harry Johnson and Veljko Milenkovic. This was a programmable cylindrical coordinate frame robotic arm.In 1962 AMF introduced Model 102 and Model 212. Model 102 is a continuous- path transfer device and Model 212 is a point to point transfer device (VERSATRAN industrial robot pdf, 2015) [4]. Point to point transfer device was used for relatively simple jobs and continuous path transfer device is used for more complex tasks. VERSATRAN robot was characterized by a study horizontal arm coupled to a six- foot vertical steel column which was mounted on a rectangular base. When comparing the VESTERN and UNIMATE, both robots can handle objects weighing over 150 pounds and both robots were sold in same price. (VERSATRAN industrial robot pdf, 2015)