Mechatronic Design and Control of a Light Weight Manipulator Arm for Mobile Platforms

Author(s):  
Eamon Barrett ◽  
Enrico Mingo Hoffman ◽  
Lorenzo Baccelliere ◽  
Nikos G. Tsagarakis
2001 ◽  
Author(s):  
Ralf Koeppe ◽  
Gerd Hirzinger

Abstract With the knowledge of the biological design of the human arm, we lay out the mechatronic design of a new generation of advanced light-weight robot manipulators with human-like dynamic characteristics. To achieve this property, the manipulator does not have to revert to a human-like, bionic design. A serial link manipulator, control technology, and sensorized joint actuators can generate a kinesthesis enabling high fidelity interaction of the robot with its environment. The design and control of the DLR light-weight robot is based on these principles. Based on generic properties governing the dynamic behavior of any arm, we discuss the difference between the human and the advanced robot arm. The mechatronic design of the advanced robot has to make use of these properties in a very different way than its biological counterpart to achieve a similar dynamic behavior.


Robotica ◽  
2016 ◽  
Vol 35 (8) ◽  
pp. 1732-1746 ◽  
Author(s):  
Loris Roveda ◽  
Nicola Pedrocchi ◽  
Federico Vicentini ◽  
Lorenzo Molinari Tosatti

SUMMARYLight-weight manipulators are used in industrial tasks mounted on mobile platforms to improve flexibility. However, such mountings introduce compliance affecting the tasks. This work deals with such scenarios by designing a controller that also takes into account compliant environments. The controller allows the tracking of a target force using the estimation of the environment stiffness (EKF) and the estimation of the base position (KF), compensating the robot base deformation. The closed-loop stability has been analyzed. Observers and the control law have been validated in experiments. An assembly task is considered with a standard industrial non-actuated mobile platform. Control laws with and without base compensation are compared.


Author(s):  
George Lim

Subsea hot tapping of pipelines is performed for a variety of reasons, including tie-ins, pipeline repair, insertion of instrumentation, facilitating chemical injection or providing access for temporary isolation tools. The full hot tap process — that is, installing the hot tap assembly, performing the tap and recovering the hot tap machine — is normally conducted with diver assistance. After bolting the assembly of the machine, isolation valve and fitting to the pipeline (or machine and isolation valve to a pre-installed flanged membrane on the pipeline), the divers then operate the machine to perform the tap, under instructions from — and supervision — by hot tap technicians located on deck of the diving support vessel (DSV). Subsequent unbolting and removal of the hot tap machine is also carried out by the divers. The demands of deep water have necessitated development of a totally diver-less, remote-controlled system. Diver operations are limited to a maximum of 300 meters of water depth, whereas a significant portion of existing subsea field infrastructure, as well as projected future developments, are in deeper waters in depths up to 3,000 meters. In addition, diver safety concerns in shallow water, as well as impaired diver efficiency in difficult environmental conditions such as wave breaking zones, prompts the call for a reduction of diver exposure or complete elimination of diver assistance. The recent completion of a remote-controlled hot tap machine (Subsea 1200RC) is an important step toward developing a totally diver-less system. The installation of the hot tap assembly and subsequent removal of the machine still require diver assistance, but the performance of the tap itself is remotely controlled by a hot tap technician from the deck of the DSV. The concept is a topside-driven hot tap machine with “passive Remotely Operated Vehicle (ROV) interface”, which means a stationary ROV with its hydraulics and control system is attached to the hot tap machine and operated from an onboard laptop. This results in a light weight hot tap frame and total direct control of the cutting process. The machine has been designed, built, tested and successfully deployed on a recent subsea tap for a pipeline operator in Asia. This technology promotes the “separation of man and machine” proposition. It reduces risk by reducing diver exposure, enhances safety, provides direct control and visibility from a laptop and facilitates fast and accurate execution. Ultimately, the concept may be extended toward onshore hot tap applications in risky environments calling for remotely operated systems. Diverless tapping is now also qualified and offered by others.


Author(s):  
Lingda Meng ◽  
Rongjie Kang ◽  
Dongming Gan ◽  
Guimin Chen ◽  
Jian S. Dai

Abstract Shape memory alloys (SMA) can generate displacement and force via phase change and have been widely used as actuators in robotics due to their light weight and ease of control. This paper proposes a SMA-driven crawling robot which activates antagonistic SMA springs alternately through a mechanical on-off logic switching system. By introducing a cam based bistable mechanism, elastic energy is stored and released to regulate the reciprocating motion of a slider in the robot. Meanwhile, the robot feet with anisotropic friction surface are employed to convert the reciprocating motion of the slider to unidirectional locomotion of the robot. The static model of the SMA and control logic of the robot are analyzed and validated through experiments.


Author(s):  
Ian Frazer ◽  
Lindsey Fyffe ◽  
Oliver J. Gibson ◽  
Bill Lucas

A study has demonstrated the automation of underwater thermal cutting processes for remote decommissioning operations. The first phase of cutting trials evaluated five cutting processes underwater (air plasma, oxy-hydrogen, flux-cored arc, oxy-petrol and Kerrie cable systems). In the second phase, three manual cutting systems (oxy-petrol, “Broco” type system and Kerrie cable) were adapted for operation by a manipulator arm of the type commonly used offshore on Remotely Operated Vehicles. This manipulator, which usually requires a human operator, was interfaced to computer simulation and control software. The results of underwater cuts on steel plate using these systems are discussed, with applicability to offshore decommissioning. Ongoing work using other novel thermal cutting processes is also described.


Author(s):  
Duncan Carter-Davies ◽  
Junshen Chen ◽  
Fei Chen ◽  
Miao Li ◽  
Chenguang Yang

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