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Questions tagged [robotics]

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2answers
18 views

Calculating the torque required to move and hold an arm parallel to the floor

I'm a computer scientist doing a dissertation in robotics and I'm designing a mechanical arm that mirrors a humans, as such I am wanting to pivot the entire arm from a "shoulder" using a stepper motor ...
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3answers
32 views

what to learn to design mechatronics device that move [closed]

I want to design an artificial leg for disabled people. The idea is design of a Device for patients with problems on one side of the leg from the knee down. This device first detects intent to move ...
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0answers
36 views

Using gyroscope to calculate forward kinematics

I want to measure the end-effector position of the robot that I attached. I'm using both gy-25 and gy-521 for calculation of the angle. As shown in the picture, joint 1 has 2 DOF, one for spatial ...
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1answer
30 views

Kalman Filter for Sensor Fusion - What is the advantage?

Is there any meaning of using Kalman Filter for cases when you do not have good statistical model of the system? For example, if you have a drone and it has IMU sensor and GPS sensor. You do not have ...
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0answers
31 views

What are some mechanical devices that are similar to the iris in a camera?

The iris in a camera can rotate and close using a slider. I would like to know it there are some devices which work with the same principle. I'm looking for an electronically controlled iris like ...
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1answer
16 views

Purpose of normalization of Jacobian in a parallel manipulator

I am currently studying a robotics paper, where a normalized frobenius norm of a matrix is calculated as part of determining the condition number of the corresponding linear system of equation: $\...
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0answers
60 views

Delta Robot: Torque and Motor Sizing

Question: Is 56 Nm enough torque for a delta robot with the below dimensions and specs? If not, what would be the minimum torque needed? Thank you in advance for your help. I am working on a rotary ...
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1answer
27 views

How this agv rotates without rotating the payload?

How does the agv carrying payloads of huge heights as compared to it's size turn without turning the payload? Even if the body is attached to a center bearing, the bearing is very smooth then how come ...
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1answer
25 views

What is the difference between a bogie and a chassis

Both bogie and chassis seem to define the part of a wheeled vehicle that describes how the wheels are linked together. Are these ...
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0answers
37 views

Deciding between Electric or Hydraulic Actuators for a Dynamic Load of around 4 kN to 6 kN

This is a project regarding linear actuators for a 4 Wheeled Robot, with spider like hinged legs. The first question on my mind was to figure out is if a hydraulic system has any weight to Force(...
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2answers
68 views

How to find the center of mass of a robot?

I have been wondering about the different methods of finding the center of mass of a robot? Mine is a balancing robot, so it has two wheels and a chassis on top. I need to find the center of mass so ...
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2answers
50 views

Mechatronics Engineering is about Precision or intelligence?

i have Question that Mechatronics Engineering is all about Precision or intelligence , from precision i mean that to follow pattern precisely with precise time and from intelligence i mean making ...
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21 views

Measure distance between a circle and an ellipse center in autocad/inventor

I am working on a robotics project, I got a SolidWorks sldprt/step model of the robot(cca. 40 solids). However, I have only Autocad/and Inventor available. I need to measure a distance from n ellipse ...
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1answer
44 views

What is the practical use of Assur Groups and structural analysis?

In Mechanisms and Machines Theory we were introduced to Assur groups and structural analysis where a mechanism is subdivised into elementary Assur groups of different classes. But what is really the ...
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1answer
37 views

What lead screw to use for specific torque and speed requirements?

The setup: I'm trying to mount a leadscrew powered by this motor Tetrix Max Torquendado Motor on a 40ish pound robot, in order to lift it 4" off the ground. I already have the linear motion, latching ...
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1answer
277 views

Deriving the equations of motion for free-floating spacecraft with a single link robot arm

Note: I had previously posted this question on the Space and Robotics SE sites, but received little/no response. So I've deleted the previous posts and repasted my question here in the hope of ...
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0answers
29 views

What are the some of the best (dis)engagement mechanism for small gears?

I’m planing to build a robot out of gears. I was wondering what kind of (dis) engagement mechanism would be suitable for gears that are about 2.5cm (1 inch) in diameter. PS: preferably, (dis)...
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0answers
22 views

Intake Mechanism with Obstacle

I'm not exactly sure if this is where I'm supposed to ask, but engineering stack exchange is the closest because my question is about robotics. I'm sorry if this doesn't fit. Question: Are there ...
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0answers
26 views

How to determine data size created by sensor for calculation of signal processing and transmitting over wireless communication?

I want to build some sort of SAR sensor. Since radar works high speeds and creates loads of data this should be processed faster. I am trying to find algorithms to be used for this purpose. I am at ...
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1answer
57 views

shock-resistant electromechanical linear actuator?

I was wondering, if there is a shock load resistant electromechanical actuator that can withstand powerful impacts? Is there an electromechanical counterpart for pneumatic cylinders that is as ...
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1answer
56 views

Robot velocities based on IMU data

I'm currently stuck on obtaining a description of the robot base velocities (xdot, ydot, thetadot) based on data obtained from 4 IMU sensors located, with an offset, on 4 pivot points. See picture ...
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1answer
213 views

4 Gears in a Circular Pattern - Calculating the Proper Distances for Meshing

I have recently been working on a gearbox for a robot. I have this pattern of 4 gears with each gear connected to its 2 neighbors. It looks like this: You will probably notice something though. ...
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2answers
630 views

How much could this motor lift and how fast?

How much could this motor lift and how fast? If I connect a belt to its axis about 1cm away or even 10cm away from its tip. Torque: 1.5Nm Peak Torque: 10Nm Power: 9-30A, to 1000W. https://www....
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2answers
117 views

How do I 'fuse' together two different kinds of data to get a final result?

I am building a robot (2 powered wheels and one ball bearing). The problem is that I can't seem to make it drive straight. I literally find it impossible, I have been trying for weeks. Currently I am ...
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2answers
84 views

Where should I start to be a control system engineer? [closed]

I am a telecommunication and network engineer working as a programmer and data analyst. One of my dreams was and still to be a control system engineer and to design and program a smart robots and ...
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1answer
29 views

Robots Control Resolution

What I've known in my robotics course is that control resolution is given by this equation: $Control Resolution = Total Range/2^n$ I'm actually confused whether $2^n$ is the number of bits or $n$ is ...
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1answer
52 views

Can CO2 produce energy to drive a bot

I am planning to design an autonomous bot that takes power from a chemical reaction.i was thinking if CO2 produced via some chemical reaction can drive small wheels so as to generate electricity which ...
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2answers
47 views

Tires on ice underwater (AUV Design)

So I'm designing an AUV which will have wheels filled with air/helium(*) to ascent to the Antarctica ice shelves from underwater. My goal is retrieve data, images and information about the underwater ...
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2answers
130 views

Angles Measurement to control (move) a robotic arm

I am working on a robotic arm, I am going to use servo motors, those are going to be controlled from the PC with command (it is a chess-game arm) so the command will be some thing like move piece from ...
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1answer
208 views

Are 3d printed gears (ABS) suitable for long term use?

i want to print a worm gear for a robot. This robot will work every day for at least 10 hours. The gears size is about the half of a sheet paper. I searched the internet for example in industrial use....
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1answer
360 views

Cascaded PID loop and parallel PID loop

What are cascaded and parallel PID loop and what are the differences between them. I searched on google and came across few websites but still i don't understand the the two types of control loops ?
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3answers
125 views

I am looking for some basic mechanical parts to build structures(prototypes)?

I am looking for something like this to make my robot ideas as prototype. But I don't know it's name! Also if there are better options I will happy to know.
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1answer
424 views

Coconut Climbing Machine Ideas [closed]

I have been trying to create a machine to climb coconuts as the existing machines are very slow and strenuous to use and frankly, most climbers prefer to climb it manually than use the existing ...
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1answer
111 views

I Say To myself:“I Am An Engineer!”…How Do I Arrive At That Point? [closed]

"Ponder the path of your feet, and let all your ways be established." Proverbs 4:26 Over the last two years I have had a strong will to become an inventor within the field of computer-technology/...
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2answers
78 views

Which types of steel would be most appropriate for blunt cutting weaponry on a combat robot?

I'm getting more serious about a combat robot design I've been contemplating for several years now (BattleBots, Robot Wars, etc) and find myself overwhelmed by the sheer variegation of ASTM and AISI ...
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0answers
35 views

Holonomic constraint forces using Lagrange multipliers

Consider a multibody robotic system with Lagrangian $$ L =\frac{1}{2} \dot{q}^{T}M\dot{q} - V $$ and equations of motion of the form $$M(q)\ddot{q}+C(q,\dot{q})\dot{q}+A^{T}(q)\lambda+N(q)=0 $$ where ...
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1answer
66 views

Unachievable motions because of singular Jacobian

This is the Jacobian of a robot arm (IBB IRB 120) with already specified joint angles (0,0,0,0,0,0). This Jacobian is singular for this configuration. ...
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0answers
20 views

How is a shear pad of remote compliance device formed?

I am researching on mechanical design of remote compliance devices (RCC)†. In the RCC, manufactured by ATI, they use shear pads for lateral compliance. They mention that shear pads are elastomers ...
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1answer
133 views

How are gyroscopes used for motion control?

Is there a way to use gyroscopes to control the motion of a pen-like device? I am trying to build a device that will be able to take in a radius input and draw shapes without physically moving my hand ...
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3answers
822 views

Tug of war robot w/ max torque [closed]

Hey I was wondering what kind of chassis, wheels, gears are for a robot with a lot of torque. Please help. I have decided on a trapezoidal chassis, and I know that the servo connects to the small gear ...
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2answers
757 views

What is the difference between mechatronics and robotics, if any?

When explaining to someone what mechatronics is, I ususally end up stating that it is synonymous with robotics. While I think it is mostly true, are there any subtle differences between the two? The ...
3
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1answer
233 views

Units for rotational impedance

I'm trying to use the mechanical impedance analogy to describe a spring mass damper system as an electrical circuit. Mechanical Impedances for linear motion are $$ Z_{lin}(s) = \frac{F(s)}{\dot X(s)...
3
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1answer
1k views

Equation of motion for 2-link arm

I have the following robot arm: Now how do I obtain the equation of motion: $$ M \ddot\theta + \vec{b} + \vec{g} = \vec{\tau} $$ I am familiar with forces, torque, velocity and so on. I know that ...
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3answers
757 views

How to design a vacuum climbing robot

I'm trying to design a mobile robot which has to climb over flat 60° inclined wet glass surfaces. I was thinking to use a large vacuum system composed by a large fan connected to a brushless motor. ...
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0answers
210 views

Inverse kinematics solutions pros and cons

I know at least 3 different approaches to solve inverse kinematics problem. They are pseudo inverse jacobian, cyclic coordinate descent and ANFIS networks. I would like to know advantages and ...
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0answers
753 views

Forward and Inverse Kinematics of PUMA 560

I am currently coding a Forward and Inverse Kinematics solver for a PUMA 560 robot. For the Inverse Kinematics part I am using the closed for solution given in this paper. But my issue is, my solution ...
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0answers
2k views

Calculating Required Motor Power for Robot

I'm building a robot that will weigh less than 75kg, and be capable of carrying people, so I need to select motors that are powerful enough to move about 166kg at a speed of 12mph, with standard 18in ...
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1answer
291 views

Artificial Intelligence in manufacturing machines

I am a researcher on robotics and AI, and wonder if traditional manufacturing machines, such as lathe, CNC, or grind use any kind of machine learning technique or algorithm. This algos are widely used ...
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2answers
231 views

Strength of human hand compared to robot [closed]

I was working on designing some robotic grippers and I find I have to make a pretty large device to have anywhere near the same power as the human hand. Is this other engineer's experience? Is the ...
3
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2answers
150 views

How to calculate rotations from displacements?

I'm trying to develop a finite conical shell element with six dof at each node. I want to express the rotations $\phi$, $\theta$ and $\psi$ in terms of the displacements $u$, $v$ and $w$. The ...