Lion dance is a very popular and lively Chinese traditional art form.A robotic project in Singapore has been dedicated to the design and demonstration for similar traditional art forms using modern mechatronics techno...Lion dance is a very popular and lively Chinese traditional art form.A robotic project in Singapore has been dedicated to the design and demonstration for similar traditional art forms using modern mechatronics technology.This paper deals with a novel six-degree-of-freedom (6-DOF) hybrid manipulator with high stiffness,high loading capability and high dexterity,mimicking the lion dancer's upper body motions along with the lion head movements.The design of the hybrid manipulator consists of a 2-DOF torso structure in serial configuration and a 4-DOF dual arm structure in parallel configuration.The combined 6-DOF hybrid manipulator can support the weight and dynamics of the lion head during the lion dance performance.Forward kinematics of the manipulator has been formulated and visualized for design purposes.Inverse kinematics of the hybrid manipulator were analytically derived for real-time motion control.Based on the design and modeling,a complete hybrid manipulator has been fabricated,implemented into the robotic lion,and successfully demonstrated for real robotic lion dance performance.展开更多
Covering objects with masking tapes is a common process for surface protection in processes like spray painting, plasma spraying, shot peening, etc. Manual taping is tedious and takes a lot of effort of the workers. T...Covering objects with masking tapes is a common process for surface protection in processes like spray painting, plasma spraying, shot peening, etc. Manual taping is tedious and takes a lot of effort of the workers. The taping process is a special process which requires correct surface covering strategy and proper attachment of the masking tape for an efficient surface protection. We have introduced an automatic robot taping system consist- ing of a robot manipulator, a rotating platform, a 3D scanner and specially designed taping end-effectors. This paper mainly talks about the surface covering strategies for different classes of geometries. The methods and corre- sponding taping tools are introduced for taping of following classes of surfaces： Cylindrical/extended sur- faces, freeform surfaces with no grooves, surfaces with grooves, and rotational symmetrical surfaces. A collision avoidance algorithm is introduced for the robot taping manipulation. With further improvements on segmenting surfaces of taping parts and tape cutting mechanisms, such taping solution with the taping tool and the taping methodology can be combined as a very useful and practical taping package to assist humans in this tedious and time costly work.展开更多
The torso plays an important role in the human-like operation of humanoids. In this paper, a method is proposed to analyze the behavior of the human torso by using inertial and magnetic sensing tools. Experiments are ...The torso plays an important role in the human-like operation of humanoids. In this paper, a method is proposed to analyze the behavior of the human torso by using inertial and magnetic sensing tools. Experiments are conducted to characterize the motion performance of the human torso during daily routine operations. Furthermore, the forces acting on the human body during these operations are evaluated to design and validate the performance of a humanoid robot.展开更多
基金supported by the collaboration between Nanyang Technological University (NTU) and Singapore Institute of Manufacturing Technology (SIMTech) under Agency for Science,Technology and Research (ASTAR)
文摘Lion dance is a very popular and lively Chinese traditional art form.A robotic project in Singapore has been dedicated to the design and demonstration for similar traditional art forms using modern mechatronics technology.This paper deals with a novel six-degree-of-freedom (6-DOF) hybrid manipulator with high stiffness,high loading capability and high dexterity,mimicking the lion dancer's upper body motions along with the lion head movements.The design of the hybrid manipulator consists of a 2-DOF torso structure in serial configuration and a 4-DOF dual arm structure in parallel configuration.The combined 6-DOF hybrid manipulator can support the weight and dynamics of the lion head during the lion dance performance.Forward kinematics of the manipulator has been formulated and visualized for design purposes.Inverse kinematics of the hybrid manipulator were analytically derived for real-time motion control.Based on the design and modeling,a complete hybrid manipulator has been fabricated,implemented into the robotic lion,and successfully demonstrated for real robotic lion dance performance.
文摘Covering objects with masking tapes is a common process for surface protection in processes like spray painting, plasma spraying, shot peening, etc. Manual taping is tedious and takes a lot of effort of the workers. The taping process is a special process which requires correct surface covering strategy and proper attachment of the masking tape for an efficient surface protection. We have introduced an automatic robot taping system consist- ing of a robot manipulator, a rotating platform, a 3D scanner and specially designed taping end-effectors. This paper mainly talks about the surface covering strategies for different classes of geometries. The methods and corre- sponding taping tools are introduced for taping of following classes of surfaces： Cylindrical/extended sur- faces, freeform surfaces with no grooves, surfaces with grooves, and rotational symmetrical surfaces. A collision avoidance algorithm is introduced for the robot taping manipulation. With further improvements on segmenting surfaces of taping parts and tape cutting mechanisms, such taping solution with the taping tool and the taping methodology can be combined as a very useful and practical taping package to assist humans in this tedious and time costly work.
文摘The torso plays an important role in the human-like operation of humanoids. In this paper, a method is proposed to analyze the behavior of the human torso by using inertial and magnetic sensing tools. Experiments are conducted to characterize the motion performance of the human torso during daily routine operations. Furthermore, the forces acting on the human body during these operations are evaluated to design and validate the performance of a humanoid robot.
