ABSTRACT

 

 

 

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

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 
  1.  
  2. 1. Quaternion-based approach for solving the direct kinematics of a modular hyper redundant robot
  3. Autori: LĂPUŞAN Ciprian, HANCU Olimpiu, RAD Ciprian-Radu
  4. Jurnal: ACTA TECHNICA NAPOCENSIS SERIES-APPLIED MATHEMATICS MECHANICS AND ENGINEERING, Vol. 63, p.363-366, Issue IV, November, 2020
  5. ISSN: 1221-5872
  6. (https://atna-mam.utcluj.ro/index.php/Acta/article/view/1415)

 

  1. 2. Aspects regarding “soft” grasping in smart agricultural harvesting tasks
  2. Autori: RAD Ciprian-Radu, HANCU Olimpiu, LĂPUŞAN Ciprian
  3. Jurnal: ACTA TECHNICA NAPOCENSIS SERIES-APPLIED MATHEMATICS MECHANICS AND ENGINEERING, Vol. 63, 389-394,  Issue IV, November, 2020
  4. ISSN: 1221-5872
  5. (https://atna-mam.utcluj.ro/index.php/Acta/article/view/1420)

 

  1. 3. Kinematic analysis of a hyper-redundant robot with application in vertical farming
  2. Autori: Ciprian Lapusan, Ciprian Rad, Olimpiu Hancu
  3. Publicaţie: IOP Conference Series - Materials Science and Engineering (vol.1190, 2021)
  4. https://doi:10.1088/1757-899X/1190/1/012014 (https://iopscience.iop.org/article/10.1088/1757-899X/1190/1/012014)

 

  1. 4. Shape sensing of hyper-redundant robots using an AHRS IMU 2 sensor network
  2. Autori: Ciprian Lapusan, Olimpiu Hancu, Ciprian Rad
  3. Jurnal: Sensors 2022, 22(1), 373; https://doi.org/10.3390/s22010373
  4. (https://www.mdpi.com/1424-8220/22/1/373)

 

  1. 5. Data-driven kinematic model of PneuNets bending actuators for soft gripping tasks
  2. Autori: Ciprian Rad, Olimpiu Hancu, Ciprian Lapusan
  3. Jurnal: Actuators 2022, 11(2), 58; https://doi.org/10.3390/act11020058
  4. (https://www.mdpi.com/2076-0825/11/2/58)

 

  1. 6. Aspects Regarding the Modelling and Design of 3D-printed Bending Soft Pneumatic Actuators
  2. Autori: Ciprian Rad, Olimpiu Hancu, Ciprian Lapusan
  3. Publicaţie: IOP Conference Series - Materials Science and Engineering
  4. Stare: Trimis (în evaluare)

 

  1. 7. Numerical Shape Planning Algorithm for Hyper-Redundant Robots based on Discrete Bézier Curve Fitting
  2. Autori: Ciprian Lapusan, Olimpiu Hancu, Ciprian Rad
  3. Revista/Jurnal: Machines 2022, 10(10), 894; https://doi.org/10.3390/machines10100894
  4. (https://www.mdpi.com/2075-1702/10/10/894)

RESULTS

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

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

CONTACT

 

 

 

Conf.dr.ing. Olimpiu Hancu

Department of Mechatronics and Dynamic Machines

Technical University of Cluj-Napoca

e-mail: olimpiu.hancu@mdm.utcluj.ro