Questions tagged [robotics]

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19 views

Optimizing error for PID based control of Line Following Robot

I am working to find the optimal PID gains of my line following robot. To do this, I need to optimize any performance index dependent on the error (a typical example is the integral absolute error). ...
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29 views

How to get the performance index ISE and IAE for a Matlab-Simulink designed Line Follower Robot with PID control?

I am researching a method to determine the optimal PID gains for a line follower robot. The problem is, I don't know how to setup the performance index IAE and ISE in the matlab. Any tips on how to do ...
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26 views

inverse kinematic of modified Rodriquez parameters

as you know, the attitude of a robot is represented using many ways, euler angles, quaternion, rodriquez parameters, and so on. I should use rodriquez representation in a problem formulated same as a ...
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28 views

Brainstorming ways to water seal a submarine with a protruding instrument?

I am currently working on a submarine that has a flat face at one end made of 1/2" acrylic. Currently, there is a 12mm glass sensor that protrudes through a hole in the acrylic face and I am ...
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47 views

What is a good approach on creating a custom robotics gearbox

I would like to put together a custom gearbox of the scale of around 50mmx30mmx30mm to fix a gadget that I am designing. My question is how should I approach producing this? Should I design components ...
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30 views

Trapezoidal screw usage on robot arm rods [closed]

I'd like to build toy on picture - uStepper/EEzy robot arm. I'm little bit afraid of plastic gears - backslash, weakness, noise... Do you think trapezoidal screw will perform better when I use them on ...
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1answer
28 views

What is the difference between the power lines, USB lines, Signal, and PWM lines in a slip ring?

I'm currently sourcing a slip ring for a robotics gimbal I'm working on, and I'm not too sure how to properly source one. Currently, I need a slip ring capable of transmitting USB 3.0 data alongside ...
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30 views

Jacobians and Manipulator Dynamics

This is a Stanford Manipulator I started off working on it by initially setting up the DH table Transformation Matrix and then Homogeneous Transformation Matrix I started finding the linear and ...
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0answers
58 views

Interpretation of Integral of Differential 3-Form over 3-Manifold in Engineering?

[This is a repost of https://math.stackexchange.com/questions/4164258/interpretation-of-integral-of-differential-3-form-over-3-manifold-in-engineering.] So, the standard interpretation of a ...
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1answer
85 views

Push-to-eject mechanism

I'm currently designing some small-scale robots capable of both melee and laser-tag combat. For the melee component, I'd like to create small, ejectable panels that hide the laser-tag receivers. When ...
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2answers
134 views

How can I calculate a robotic arm's maximum reach?

I have the Fanuc robotic M-2000iA/2300 data sheet in which it is being told that its maximum reach is 3734 mm and its payload capacity is 2300 kg, so how is its maximum reach being calculated and in ...
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2answers
37 views

Mechanically increase motor torque

An electrical engineer here. Using a stepper motor for a robotic arm. A stepper motor at the base of the arm has a max holding torque of 6kgcm. The arm is around 30cm in length from this base motor ...
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2answers
43 views

Gear configuration for a legged hexapod

I have an assignment for my Mobile Robotics course to design the drive mechanism for a legged hexapod and demonstrate its gait in motion. The idea is to design the hexapod as per the following ...
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1answer
43 views

Does any know what kind of pump “Colossus” used for saving the Notre Dame Cathedral?

Does any know what kind of water pump the French Firefighting Robot Colossus used to Help Save Burning Notre Dame Cathedral? What kind of water pumps do fire fighting vehicle use or fire fighting ...
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2answers
58 views

How to model robotic wires behavior in solidworks

I'm trying to create a block or anything else in soildworks that I can move and see the compression of the lower wire further from the arm Something like this The example show just one joint but I ...
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0answers
104 views

How does this SpaceX Starlink ground station antenna's gear mechanism move it in both altitude and azimuth?

Ars Technica's Teardown of “Dishy McFlatface,” the SpaceX Starlink user terminal links to the YouTube video Starlink Teardown: DISHY DESTROYED! and a screenshot from there is shown below. There are ...
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1answer
39 views

Why this torque is not considered into the virtual work principle equation?

In the picture above you can see a SCARA robot, with its end effector (the point x,y). The torques c_a and c_b are the ones of the motors in the joints, while f is an external force. My teacher has ...
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1answer
34 views

What should I learn/study to start building ROVs (remotely operated underwater vehicles)?

I'm a software developer with no experience in building physical devices/hardware. I did ~15-20 beginner-to-medium-level projects with Arduino (following some tutorials), but I wouldn't count this as ...
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2answers
60 views

High pass filter and differential equation relationship

Consider the problem stated as follows: A signal y passes through a high pass filter $\frac{s}{s + ω }$. A high pass filter with cutoff frequency ω isolates the variations of this optimized variable ...
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3answers
97 views

how can I control 2 stepper motors with RS-232?

Hello everyone this is my first post to the forum. I want to control 2 stepper motors using RS-232 as a way of directly communicating with step drivers from my desktop. I am new to communication ...
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1answer
57 views

PID Control: Is adding a delay before the next loop a good idea?

I am implementing PID control in C++ to make a differential drive robot turn an accurate number of degrees, but I am having many issues. Exiting control loop early due to fast loop runtime If the ...
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0answers
14 views

3DOF end effector control

I have created a simple serial robot with some servos and CAD. Each joint has 180 degrees of freedom, where they all have 180 degrees of freedom. I haven't specified where the 180 degrees of freedom ...
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9 views

Could you recommend books on deformable bodies and beams (soft robots fundamentals)?

I'm researching about soft robots but most of the papers I've found have a very complex theory, which is making my study quite complicated. I was wondering if any of you who have some background on ...
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2answers
58 views

Trouble with an actuator on a Robotics SolidWorks design. Any ideas why?

I am in the process of developing a robotics design on SolidWorks. The goal of this design is to tilt a platform using 2 actuators. My design utilizes 2 indirect actuators that are separately powered ...
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2answers
73 views

How is the YAW angle calculated by an IMU sensor?

Say a body rotates by 90 degrees, then the yaw angle will be 90 which can be calculated using the data provided by IMU. Now from that point, the body traverses some distance and is again rotated by 90 ...
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0answers
46 views

Building a custom indirect actuator, any thoughts?

I’m trying to create a custom indirect actuator, that is controlled by a microcontroller, for a custom robotics project. I have selected motor and gears (according to Fd = W = T2*pi) so that the ...
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26 views

Problem in the inverse kinematic model of a car like vehicle?

I'm a electrical engineering student and i am building a simulation of a car like vehicle . As I understand it: The input for the forward kinematic model are the control variables and the output is ...
3
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1answer
55 views

Power a microcontroler with a motorcontroller?

I have a motor controller that operates at 10-50V and draws 5A controlling a 3V motor that draws less than 1A. I had a an idea where I want to try to use a microcontroller to control this set up. The ...
2
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3answers
68 views

Small scale manufacturing [closed]

Some background: I am working for an ed-tech startup and we are hoping to release our first product soon but have been hitting a lot of hurdles with our current manufacturing strategy. We want to ...
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27 views

DC Motor stops working for a couple if time at cold start every time

We have a DC motor that is connected to the track with couplers. Every day at cold start (when it hasn't run for sometime), when we start the motor while moving up (Z-axis) the motor stops (brakes ...
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1answer
62 views

Tuning Feedforward + PID Controller just with Feedforward Data

Hello there, hope you are all doing well. Right now I am trying to design a Feedforward + PID Controller for KUKA youBot on simulation. Since I do not have the equation of the system, I am trying to ...
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23 views

Arduino Programming IR Sensors and Actuators

Create the circuit below (Arduino) You are supposed to use the following code (must download correct library if IDE is too old): ...
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1answer
21 views

Regressor-passivity robot control. Help with simulation (Simulink/Matlab)

I'm trying to simulate a 2DOF planar pendulum with a regresor-passivity control, the thing is I've been having some issues with my simulation, I'm using Simulink, but in theory I know my control law ...
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0answers
41 views

How much torque is needed to mix melted marshmallow with rice krispie?

I am designing a robot to make rice krispie treats! More specifically, I want to use a fork to mix the melted marshmallow with rice krispie. I am currently specing out the motor, and since marshmallow+...
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1answer
219 views

How can I implement S-curve motion profile on mobile robotic platform / wheeled robot?

I want to plan a robot's motion according to an S curve profile. I am following the article mention below, which contains basics related to S curve motion profiles in robotic platforms. https://www....
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1answer
44 views

Stress Analysis University Report Help

I'm working on a final report for the mechanics of material course, and the project was to choose a structure or mechanical element and carry out stress analysis using solidworks and then confirm ...
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66 views

Finding transformation of forces and moments

I have two sets of forces and moments, measured by two 6 DOF force/torque sensors at position A and B on a robot arm (B at end effector). My goal is to use this measurements to relate the forces/...
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1answer
25 views

Are Loop Closure Equations and Holonomic Constraints the same thing?

I'm reading a book on robotics, and it has a different section on each term. The way both concepts are worded and phrased mathematically make them seem like they both constrain the configuration space ...
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1answer
32 views

From advanced prototype to low-volume production

So to the point. In our project (Robotics project) we mostly use sheet metal and PLA printed parts to build. But we want to level up and be ready for an advanced run and even low-volume production of ...
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1answer
42 views

Tuning a cascaded attitude and attitude rate PID controller

Assume that I have an object in 3D, and I want to have a controller that stabilizes its orientation (also referred to as "attitude"). To be sure we are clear: attitude is measured in "degrees" or "...
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0answers
19 views

Clutch for high-speed operation (>40 000 rpm)

I'm currently working on a setup where at some operations my motor has to drive a shaft up to the motor's maximum operating speed (12,000rpm) and a torque of ~0.14Nm but at other conditions this shaft ...
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2answers
46 views

Would mechanical engineering work robotics and if not what field does? [closed]

I ask this because I want to get into robotics(mainly the building of it), so I wanted to go to college to learn mechanical engineering but now that I have found out so many different types of ...
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2answers
253 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
50 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 ...
2
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1answer
76 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 ...
2
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1answer
21 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
257 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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2answers
58 views

How does this AGV rotate 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
128 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
42 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(...