Workspace Evaluation of Robotino-XT Under Reconfiguration
| Autor: | Rochdi Merzouki, Arun K. Samantharay, Belkacem Ould Bouamama, Vipin Pachouri, Pushparaj Mani Pathak, Mrunal Kanti Mishra |
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| Přispěvatelé: | Indian Institute of Technology Roorkee (IIT Roorkee), Indian Institute of Technology Kharagpur (IIT Kharagpur), Univ. Lille, CNRS, Centrale Lille, UMR 9189 CRIStAL, F-59000 Lille, France, Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189 (CRIStAL), Centrale Lille-Université de Lille-Centre National de la Recherche Scientifique (CNRS) |
| Jazyk: | angličtina |
| Rok vydání: | 2022 |
| Předmět: |
0209 industrial biotechnology
Bending (metalworking) business.industry Computer science Control reconfiguration Robotics 02 engineering and technology Workspace 03 medical and health sciences Bellows [SPI]Engineering Sciences [physics] 020901 industrial engineering & automation 0302 clinical medicine 030220 oncology & carcinogenesis Robotino Artificial intelligence Manipulator Actuator business Simulation ComputingMilieux_MISCELLANEOUS |
| Zdroj: | Machines, Mechanism and Robotics Machines, Mechanism and Robotics, Springer Singapore, pp.281-288, 2022, Lecture Notes in Mechanical Engineering, ⟨10.1007/978-981-16-0550-5_25⟩ Lecture Notes in Mechanical Engineering ISBN: 9789811605499 |
| DOI: | 10.1007/978-981-16-0550-5_25⟩ |
| Popis: | The major part of ongoing research in the field of robotics is to mimic the behaviour of species present in nature. This paper presents the workspace of the multi-section bionic manipulator Robotino-XT under the failure of one of its bellow. These types of failure may be due to repeated use, pressure leakage, hysteresis or improper design. The CBHA part of Robotino-XT has two bending sections, where each section has three bellows (actuator). Various strategies are proposed to compensate for the loss in workspace due to failure of one bellow. Also, the workspace obtained after the failure of the bellow is compared with the full-fledged workspace. |
| Databáze: | OpenAIRE |
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