Design of Robotic Arm with Force Sensing Capability PDF Download
Are you looking for read ebook online? Search for your book and save it on your Kindle device, PC, phones or tablets. Download Design of Robotic Arm with Force Sensing Capability PDF full book. Access full book title Design of Robotic Arm with Force Sensing Capability by Dale Alan Neff. Download full books in PDF and EPUB format.
Author: Dale Alan Neff
Publisher:
ISBN:
Category : Robots
Languages : en
Pages : 230
Get Book Here
Book Description
Author: Dale Alan Neff
Publisher:
ISBN:
Category : Robots
Languages : en
Pages : 230
Get Book Here
Book Description
Author: Muhammad Yaqoob
Publisher: GRIN Verlag
ISBN: 365655062X
Category : Technology & Engineering
Languages : en
Pages : 57
Get Book Here
Book Description
Bachelor Thesis from the year 2012 in the subject Engineering - Robotics, grade: A, National University of Sciences & Technology (NUST School of Electrical Engineering and Computer Science), language: English, abstract: Haptic Feedback systems are used to sense the vibrations, touch and force in many real world problems for example gaming, virtual reality, mobiles, automotive industry and robotic surgery. Our work involves the design and development of a robotic arm at slave end which includes force and current sensors that allows the operator to get force feedback at the master end. Three methods of feedback are generally used i.e. Force Sensitive Resistors for object detection, Current Sensing for force feedback and Position estimation to replicate motion. The three mentioned methods are analyzed using graphs developed on the PC. Graphs are obtained by experiments on the gripper by using different objects. Master-Slave topology is used to attain some benefits over conventional control systems in term of ergonomics, accuracy and timing etc. There is an interactive GUI at master end to show us forces, size and motions at each joint of the slave unit. Along with the interactive GUI at master side, yaw and pitch motion of slave is also replicated at master end using master controller
Author: Michael Hucka
Publisher:
ISBN:
Category : Robots, Industrial
Languages : en
Pages : 52
Get Book Here
Book Description
Author: Satish Nuggehalli Ram
Publisher:
ISBN:
Category :
Languages : en
Pages : 130
Get Book Here
Book Description
Author: Arrin Katz
Publisher:
ISBN:
Category :
Languages : en
Pages : 81
Get Book Here
Book Description
Author: Mohammad Abedin-Nasab
Publisher: Elsevier
ISBN: 0128142464
Category : Science
Languages : en
Pages : 752
Get Book Here
Book Description
Handbook of Robotic and Image-Guided Surgery provides state-of-the-art systems and methods for robotic and computer-assisted surgeries. In this masterpiece, contributions of 169 researchers from 19 countries have been gathered to provide 38 chapters. This handbook is 744 pages, includes 659 figures and 61 videos. It also provides basic medical knowledge for engineers and basic engineering principles for surgeons. A key strength of this text is the fusion of engineering, radiology, and surgical principles into one book. A thorough and in-depth handbook on surgical robotics and image-guided surgery which includes both fundamentals and advances in the field A comprehensive reference on robot-assisted laparoscopic, orthopedic, and head-and-neck surgeries Chapters are contributed by worldwide experts from both engineering and surgical backgrounds
Author: Robert H. Cannon
Publisher:
ISBN:
Category : Manipulators (Mechanism)
Languages : en
Pages : 38
Get Book Here
Book Description
This documents reports on progress to significantly increase the speed and precision of performing slew and touch tasks for a flexible robot arm, and to develop a universal robot end effector, capable of performing generic manipulation functions. Our research concerns key technologies for new classes of robots capable of assembly with force control and great dexterity. End-point control is achieved for a very flexible arm, and have demonstrated fast-slew-and-touch motions and the ability to maintain controlled forces at the arm tip using tip-force sensing to control shoulder torques. Some of the improvements made to this technology will be necessary for transferring it to designers of operational robots. Next, this force-control and force-and-slew capability is extended to a very flexible arm with a quick-wrist link at its end. A three finger hand, has been built capable of great dexterity. Designed is a hierarchical force control system for the hand, with three levels, hand level coupling three fingers, finger level coupling four tendons, and tendon tension level. Finger level and tendon tension control were implemented and demonstrated. An analysis was made of rolling objects between fingers. A program was implemented and it was demonstrated rolling an egg between two fingers using a relatively general method for object reorienting. (JHD).
Author: Matteo Bianchi
Publisher: Springer
ISBN: 331926706X
Category : Computers
Languages : en
Pages : 284
Get Book Here
Book Description
This book looks at the common problems both human and robotic hands encounter when controlling the large number of joints, actuators and sensors required to efficiently perform motor tasks such as object exploration, manipulation and grasping. The authors adopt an integrated approach to explore the control of the hand based on sensorimotor synergies that can be applied in both neuroscience and robotics. Hand synergies are based on goal-directed, combined muscle and kinematic activation leading to a reduction of the dimensionality of the motor and sensory space, presenting a highly effective solution for the fast and simplified design of artificial systems. Presented in two parts, the first part, Neuroscience, provides the theoretical and experimental foundations to describe the synergistic organization of the human hand. The second part, Robotics, Models and Sensing Tools, exploits the framework of hand synergies to better control and design robotic hands and haptic/sensing systems/tools, using a reduced number of control inputs/sensors, with the goal of pushing their effectiveness close to the natural one. Human and Robot Hands provides a valuable reference for students, researchers and designers who are interested in the study and design of the artificial hand.
Author: Meng Yee Michael Chuah
Publisher:
ISBN:
Category :
Languages : en
Pages : 163
Get Book Here
Book Description
Our ability to purposefully move across varied terrain requires us to have knowledge of the interactions our feet have with the external environment. However, existing sensing methods are inadequate to address the many unique demands of legged locomotion (i.e. fragile structures, incapable of handling large impact forces and noise caused by inertial loads during stride). This research is a study of how best to replicate the role of skin mechanoreceptors that enable our biological counterparts to perform dynamic maneuvers, and to develop innovative sensors that would empower the next generation of agile robots and smart shoes. The thesis introduces new design principles and methodologies for developing multi-axis, large magnitude force sensors based on stress fields to achieve these goals. Fabrication methods are presented for a monolithic elastomeric footpad that is biologically inspired, allowing it to measure large magnitude forces in both normal and shear axes while being compact, lightweight, impact robust, dust tight, and waterproof. The key principle that enables this is termed Stress Field (SF) based force sensing. Instead of funneling the load path directly through a few sensors in traditional force sensing methods, SF based force sensing allows the sampling of the stress distribution over the entire footpad surface through an array of piezoresistive sensor elements. The force estimator is constructed in two steps. First, linear regression fits the sensor readings to normal and shear forces. Then, machine learning is used as a nonlinear function approximator on the residual to further refine the force estimator to achieve greater accuracy. To enable these SF force sensor to be reproduced or customized for different needs, guidelines are provided in the form of simple design principles based on biological receptive fields, as well as an analytical model for cylindrical sensor types. For more complex sensor geometries, a material model of the elastomer is experimentally characterized, and Finite Element Analysis (FEA) can be used to determine the optimal configurations of these sensor arrays for different sensing needs. To show the feasibility of these SF force sensors, they have been validated for both robotic and human locomotion. For robotic locomotion, a hemispherical design was developed and implemented on the MIT Cheetah, a quadrupedal running robot, as well as on Little HERMES, a bipedal robot. For human locomotion, two prototypes of force sensing shoes have been fabricated based on cylindrical SF force sensors as a proof of concept. In the future, these lightweight, low-cost, multi-axis force sensors can be customized for different applications and fully integrated into smart shoes, prosthetic devices, and robotic exoskeletons to provide the real-time ground reaction force data. This data would enable new capabilities in various fields such as healthcare, sports analytics, virtual reality, and robotics.
Author: James Clayton Knittel
Publisher:
ISBN:
Category :
Languages : en
Pages : 156
Get Book Here
Book Description
