Hostname: page-component-78c5997874-m6dg7 Total loading time: 0 Render date: 2024-11-10T14:56:10.056Z Has data issue: false hasContentIssue false
  • English
  • Français

Virtual Simulation and Experimental Verification for 3D-printed Robot Manipulators

Published online by Cambridge University Press:  18 June 2020

Jonqlan Lin Open the ORCID record for Jonqlan Lin [Opens in a new window]  and
Kuan-Chung Lai
Jonqlan Lin*
Affiliation:
Department of Mechanical Engineering, Chien Hsin University of Science and Technology, Taoyuan City, Taiwan320, Republic of China. E-mail: laign65492@gmail.com
Kuan-Chung Lai
Affiliation:
Department of Mechanical Engineering, Chien Hsin University of Science and Technology, Taoyuan City, Taiwan320, Republic of China. E-mail: laign65492@gmail.com
*
*Corresponding author. E-mail: jlin@uch.edu.tw
Get access Rights & Permissions [Opens in a new window]

Summary

The objective of this work is to construct a robot that is based on 3D printing to meet the low-cost and light structures. The Computer-aided-design model is used with LabVIEW to simulate the given trajectory. Users of the simulation of such methodology can preview the simulated motion and perceive and resolve discrepancies between the planned and simulated paths prior to execution of a task. The advantages of this study are the lack of need to mount extra sensors on realistic robot to measure joint space coordinates, simplifying the hardware. These outcomes can also be used in an undergraduate robotics course.

Keywords

Robot manipulatorsKinematicsEnd-effector3D printingPath planning
Type
Articles
Information
Robotica , Volume 39 , Issue 3 , March 2021 , pp. 367 - 377
Copyright
Copyright © The Author(s), 2020. Published by Cambridge University Press

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

Ma, R. R., Odhner, L. U. and Dollar, A. M., “A Modular, Open-Source 3D Printed Underactuated Hand,” Proceedings of the 2013 IEEE International Conference on Robotics and Automation (ICRA), Karlsruhe, Germany (2013) pp. 2737–2743.Google Scholar
Kappassov, Z., Khassanov, Y., Saudabayev, A., Shintemirov, A. and Varol, H., “Semi-Anthropomorphic 3D Printed Multigrasp Hand for Industrial and Service Robots,” Proceedings of the 2013 IEEE International Conference on Mechatronics and Automation, Takamatsu, Japan (2013) pp. 1697–1702.Google Scholar
Chen, C.-H., “Mechatronics Design of Multi-Finger Robot Hand,” Proceedings of the 12th International Conference on Control, Automation and Systems, Jeju Island, South Korea (2012) pp. 1491–1496.Google Scholar
Carbone, G., Grasping in Robotics (Springer, Dordrecht, Holland, 2013).CrossRefGoogle Scholar
Cafolla, D., Ceccarelli, M., Wang, M. F. and Carbone, G., “3D printing for feasibility check of mechanism design,” Int. J. Mech. Cont. 17(1), 3–12 (2016).Google Scholar
Liu, T., Guo, F. and Yu, Y., “Design of Low-Cost Desktop Robot Based on 3D Printing Technology and Open-Source Control System,” 2019 IEEE 3rd Information Technology, Networking, Electronic and Automation Control Conference, Chengdu, China (2019) pp. 739–742.Google Scholar
Pollák, M., Zajac, J., Török, J. and Koèiško, M., “The Structural Design of 3D Print Head and Execution of Printing via the Robotic Arm ABB IRB 140,” 2018 5th International Conference on Industrial Engineering and Applications, Singapore (2018) pp. 194–198.Google Scholar
Desai, J. P., Sheng, J., Cheng, S. S., Wang, X., Deaton, N. J. and Rahman, N., “Towards patient-specific 3D-printed robotic systems for surgical interventions,” IEEE Trans. Med. Robot. Bionics. 1(2), 77–87 (2019).CrossRefGoogle ScholarPubMed
Urhal, P., Weightman, A., Diver, C. and Bartolo, P., “Robot assisted additive manufacturing: A review,” Robot. Comput. Integr. Manuf. 59, 335–345 (2019).CrossRefGoogle Scholar
Khetan, K., Dhaka, M. and Sharma, V., “Control of mechanisms and robots using labview and solidworks and arduino,” Int. J. Eng. Res. Tech. (IJERT). 5(2), 286–289 (2016).Google Scholar
Rathy, G. A. and Balaji, A., “Arduino based 6dof robot using labview,” Int. J. Adv. Res. Ideas Innov. Tech. 4(1), 354–358 (2018).Google Scholar
Patwardhan, A., Prakash, A. and Chittawadigi, R. G., “Kinematic analysis and development of simulation software for nex dexter robotic manipulator,” Procedia Comput. Sci. 133, 660–667 (2018).CrossRefGoogle Scholar
Rückert, P., Wohlfromm, L. and Tracht, K., “Implementation of virtual reality systems for simulation of human-robot collaboration,” Procedia Manuf. 19, 164–170 (2018).CrossRefGoogle Scholar
Lin, J., Li, Z. M. and Chang, J., “Gait motion stabilization tuning approach of biped robot based on augmented reality,” Robotica 32(3), 325–339 (2014).CrossRefGoogle Scholar
Lewis, F. L., Dawson, D. M. and Abdallah, C. T., Robot Manipulator Control-Theory and Practice (Marcel Dekker Inc., New York, USA, 2004).Google Scholar