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Register a new userA new design for the robot arm using pneumatic technologies
تصميم جديد لذراع روبوت باستخدام تقانات الهواء المضغوط
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تعتمد معظم صناعات الروبوت في نقل الحركة فيها على استخدام محركات السيرفو و المحركات الخطية أو محركات التيار المستمر بالإضافة إلى دارات القيادة الخاصة بها مما يزيد الكلفة و يعقد عملية التحكم بالروبوت, تبحث المقالة في استخدام تقانات الهواء المضغوط في بناء و تصميم جديد لذراع روبوت يستطيع القيام بتنفيذ العديد من المهام باستطاعة أكبر و بتكلفة أقل بكثير من استخدام المؤازرات السابقة و ذلك لاستخدامه للقيام بمهام تحتاج إلى سرعة و استطاعة عالية, و لا تحتاج إلى دقة كبيرة في العمل.
Most robotic industries depend on using (servo motors) and (stepper motors) orcontinuous current motors (DC motors) for movement transition, which increases the cost and complicates the robot’s controlling process, as well as its driving circuits. This essay deals with using pneumatic in the new design and building of a robot’s arm, that can manage to do many tasks with a much lower budget than the one needed for any of the above mentioned methods, that’s because it can be used for tasks that need high speed and capacity, but don’t need precision.
References used
HAGRAS.T, Oct 2013-A type-2 fuzzy cascade control architecture for mobile robots
Evolution Robotics Company,2003-Introduction to Evolution Robotics Technologies,Evolution Robotics, ERSP
IQBAL.F,2008-Real-Time Human Arm Motion Translation for the Work Partner Robot. Helsinki University
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Industrialists interested automates their factories to increase production, reduce costs
and improve quality by using robots in leadership and finishing most of the production
processes, where robots characterized as mechanical structures programma
ble to perform
tasks accurate, speed and reliability.
Research depend in concluding the optimal path on generating virtual paths
(triangular, curved, square) reflects the robotic arm movement to reach the target point,
where as it has been known moving time and angles of rotation and torque in the joints
under the influence of gravity through the study of horizontal and vertical movement of the
robotic arm.
A study of suggested trajectories for the robotic arm shows that the best paths on the
safety of robotic arm motors is semi-circular path as limiting the occurrence of mechanical
shocks or the appearance of high values of the joints torques. while showing that the path
that achieves less time to reach the target point and less amount of energy is the triangular
path in the case of horizontal motion of the robotic arm despite the emergence of sharp
deviations in the torque and power schemas as a result of the sudden change in the
direction of movement.
The negative impact of gravity is especially apparent when the second joint up or
down movement, causing the appearance of peaks in energy curve reflects the high values
of determination in this joint.
This muscle has
been used to design a robot arm similar to that of the humerus and
forearm, which can attract large objects with a weight of up to 500
N, which is equivalent to a professional bodybuilder raising his
weight.
A new system was designed in portable plants-eater to improve the performance and
productivity and for using it in the harsh environment containing like-cane dense brushes
with high efficiency, quality and lowest power requirement and to harvest so
me crops are
grown in small areas. The new system includes three types: link chain, straight blades
chain and oblique blades chain, each chain is fixed on central aluminum disk. the three
chains were tested on tensile, the results were satisfactory. The cutters was tested in the
field on four types of stalk Wheat, Yellow Maize, Sorghum Helpenese and imperata
cylindrical. Cutting force, productivity, fuel consumption, power requirement was
calculated with deferent rotation speeds. The straight blades chain has the best cutting
quality and lowest energy requirement on maize and sorghum halepense, the oblique
blades chain was better on wheat and imperata cylindrical. The greatest values of energy
requirement and cutting forces appeared with link chain cutter-head. In general, these
cutter-heads are useable in weed-eater with higher efficiency than the old designs.
Motion Planning is an important and potential issue in Robotics, because it gives the
robot the ability to reach its target automatically with collision free, which increase the
robot performance and reduce its operational cost. The robot motion pl
anning is commonly
divide into two approaches: finding the appropriate path and making the robot tracking this
path until it reaches its goal.
This research depends on one of the most common obstacles avoidance path
planningtechniques (Bug algorithms) to find global path of robot. And make the Boe-Bot
robot (differential drive robot) tracking the paths generated by these algorithms in a certain
environment.
Robot navigation is challenging for building intelligence mobile robots. To find
Proper possible path from starting point to target point, that reduces time and distance,
avoiding collision with obstacles is a current potential research area. Rapid
ly exploring
random trees (RRTs)is considered as one of the fastest methods to find solutions.
Moreover, this algorithm is computationally efficient; therefore, it can be used in
multidimensional environments.
This paper reviews the RRT algorithm, and provides application of path planning to
differential robot in two different workspaces using Virtual Robot Experimentation
Platform) V-REP(simulator. This research clarifies the algorithm’s ability to find suitable
path in relatively short time, and demonstrated the ability of V-rep to model and 3D
simulate of mobile robot’s movement efficiently and smoothly.
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