I n this paper, we present a robot system for inpipe inspection of underground urban gas pipelines. The robot is configured as an articulated structure like a snake with a tether cable. Two active driving vehicles are located in front and rear of the system, and passive modules such as a control module are chained between the active vehicles. The proposed robot has outstanding mobility oflered ...

Although industrial robotic arms are equipped with external cables to supply electricity, gases or other materials, cable path design is a difficult and demanding task. Herein, an efficient optimization method proposed for automating under the assumption that robot motion known. The contribution of this study was reduce considerable computation time required optimization, which concern in our p...

The Robot Systems Division of the National Institute of Standards and Technology has been experimenting for several years with new concepts for robot cranes. These concepts utilize the basic idea of the Stewart Platform parallel link manipulator. The unique feature of the NIST approach is to use cables as the parallel links and to use winches as the actuators. So long as the cables are all in t...

In this study, a new cable-driven rehabilitation robot is designed, the overall design of given, and kinematic equation lower limbs in supine state human body addressed. Considering that cable winders move along rail brackets, closed vector method applied to establish model robot, relationship between joint angle length change was deduced. compliance, fifth-order polynomial trajectory planning ...

damping of a full-scale cable with a pair of passive–on magnetorheological (mr) dampers was tested. a cable of 215.58m long with the first mode frequency of 0.658hz was tensioned horizontally in cable prefabrication factory. two mr dampers were attached to the cable in an angle in the plane perpendicularly to the cable axis in 5m length from the cable anchorage. the applied voltage level was 0v...

In this article, new techniques and technologies have been tried and tested in the installation and commissioning of Roller Home industrial robots, in order to produce a Tiba car with a focus on cost reduction. Due to the fact that press equipment for automobile parts requires a lot of expenses, it was decided to use robots with the same function of roller to reduce costs and increase the q...

In this paper, we propose an inverse-kinematics controller for a class of multi-robot systems in the scenario sampled communication. The goal is to make group robots perform trajectory tracking coordinated way when sampling time communications much larger than low-level controllers, disrupting theoretical convergence guarantees standard control design continuous time. Given desired configuratio...

This paper addresses the direct geometrico-static analysis of under-constrained cable-driven parallel robots with 3 cables. The task consists in finding all equilibrium configurations of the end-effector when the cable lengths are assigned. An interval-analysis-based procedure is proposed to numerically find the real solutions of the problem for a robot of generic geometry. Three equation sets ...

Continuum manipulators offer many advantages compared to their rigid-linked counterparts, such as increased degrees of freedom and workspace volume. Inspired by biological systems, such as elephant trunks and octopus tentacles, many continuum manipulators are made of multiple segments that allow large-scale deformations to be distributed throughout the body. Most continuum manipulators currentl...

Robotic automation has been the major driving force in modern industrial developments. High speed pick-and-place operations ...nd their place in many manufacturing applications. The goal of this project is to develop a class of high speed robots that has a planar workspace. The presented robots are intended for pick-and-place applications that have a relatively large workspace. In order to achi...