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ABSTRACT
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The "Python" project proposes the development of a continuous robotic arm, based on an innovative and eco-friendly fluidic architecture, intended for automatic harvesting and spectral inspection, useful in vertical farming. The novelty of the project is related to the proposed technology that allows the development of a continuous manipulator arm characterized by suppleness, strong handling force (due to fluid power actuating system), hyper dexterity and large workspace. The proposed technology, implemented in a more supple architecture, can also be extended to industrial tasks (handling, inspection, maintenance, repair operations). |
ARTICLES
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RESULTS
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The "Python" project proposes a technology for the realization of a continuous robotic arm, based on fluidic actuation, ecological, intended for automatic harvesting operations and specific works in vertical agriculture (the factories of the new smart cities). The novelty of the approach is related to the proposed technology that allows the execution of a manipulator arm characterized by suppleness, strong manipulation force, hyper-dexterity and large working space. The proposed technology can also be extended to industrial tasks (handling operations, maintenance, repairs) or, if is realized in a more flexible architecture, to inspection tasks.
The proposed technology provides gripping solutions with controllable soft tightening for juicy/soft or fragile objects, respectively solutions regarding shape management in the process of tracking a trajectory, for this class of robots characterized by hyper-redundancy. Based on this technology, the shape of the robot is associated with a parameterized curve that can be guided by means of two control points, respectively the control algorithms provide the signals that ensure the folding of the robot on the guidance curve. In this way, the control of the shape of the robot is achieved by means of a guidance curve.
1. Python model
2. Gripper opening control technology based on the DAK model
3. Python control system
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CONTACT
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Conf.dr.ing. Olimpiu Hancu Department of Mechatronics and Dynamic Machines Technical University of Cluj-Napoca e-mail: olimpiu.hancu@mdm.utcluj.ro |