Parallel manipulators have a rigid structure and can pick up the heavy objects. Therefore, a parallel manipulator has been developed based on the cooperative of three arms of a robotic system to make the whole system suitable for solving many problems such as materials handling and industrial automation. The three revolute joints are used to achieve the mechanism operation of the parallel planar robot. Those revolute joints are geometrically designed using an open-loop spatial robotic platform. In this paper, the geometric structure with three revolute joints is used to drive and analyze the inverse kinematic model for the 3RRR parallel planar robot. In the proposed design, three main variables are considered: the length of links of the 3RRR parallel planar robot, base positions of the platform, and joint angles’ geometry. Cayley-Menger determinants and bilateration are proposed to calculate these three variables to determine the final position of the platform and to move specific objects according to given desired trajectories. The proposed structure of the 3RRR parallel planar robot is simulated and different desired trajectories are tested to study the performance of the proposed stricter. Furthermore, the hardware implementation of the proposed structure is accomplished to validate the design in practical terms.
The Leader detecting and following are one of the main challenges in designing a leader-follower multi-robot system, in addition to the challenge of achieving the formation between the robots, while tracking the leader. The biological system is one of the main sources of inspiration for understanding and designing such multi-robot systems, especially, the aggregations that follow an external stimulus such as light. In this paper, a multi-robot system in which the robots are following a spotlight is designed based on the behavior of the Artemia aggregations. Three models are designed: kinematic and two dynamic models. The kinematic model reveals the light attraction behavior of the Artemia aggregations. The dynamic model will be derived based on the newton equation of forces and its parameters are evaluated by two methods: first, a direct method based on the physical structure of the robot and, second, the Least Square Parameter Estimation method. Several experiments are implemented in order to check the success of the three proposed systems and compare their performance. The experiments are divided into three scenarios of simulation according to three paths: the straight line, circle, zigzag path. The V-Rep software has been used for the simulation and the results appeared the success of the proposed system and the high performance of tracking the spotlight and achieving the flock formation, especially the dynamic models.
In this paper, the hybrid-climbing legged robot is designed, implemented, and practically tested. The robot has four legs arranged symmetrically around the body were designed for climbing wire mesh fence. Each leg in robot has 3DOF which makes the motion of the robot is flexible. The robot can climb the walls vertically by using a unique design of gripper device included metal hooks. The mechanism of the movement is a combination of two techniques, the first is the common way for the successive movement like gecko by using four limbs, and the second depending on the method that used by cats for climbing on the trees using claws, for this reason, the robot is named hybrid-climbing legged robot. The movement mechanism of the climbing robot is achieved by emulating the motion behavior of the gecko, which helped to derive the kinematic equations of the robot. The robot was practically implemented by using a microcontroller for the mainboard controller while the structure of the robot body is designed by AutoCAD software. Several experiments performed in order to test the success of climbing on the vertical wire mesh fence.