Questions tagged [design]

Mechanical, electronic or programmatic design of a robot.

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1answer
38 views

Reducing stress on servo axle

I am designing an articulated robot arm that will not need to hold essentially any weight at its end, but that will need to perform thousands of repetitions (currently using MG 996R servos, but might ...
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1answer
29 views

How to perform decoupling between decision making and action execution in ROS2?

Hi I'm making a robot using: ros2 foxy OS Ubuntu Linux 20.04.2 LTS (Focal Fossa). Linux 5.8.0-59-generic I built an Action based on the tutorial Building an Action Server and Client. Then expanded ...
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1answer
28 views

How to calculate DH parameters for Higher Pair?

I am trying to build a robot which is having Bevel Gears connecting two links. I want to calculate DH parameters, but i am stuck with this bevel gear as when the joint rotates both angle and ...
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0answers
20 views

I would like to add a prismatic joint to the Z axis of the 6th joint of Urdf

I have a urdf file,urdf of UR5 robot and added a prismatic joint to the end of 6th joint of the robot with the "prismatic_joint" tag (By copying other joints and links) ...
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1answer
109 views

5 bar linkage hand exoskeleton

I have a project to design a hand exoskeleton for hand rehabilitation. The problem is that i'm thinked I only need the linkage mechanism with multiple 4 bar linkages. But because of human fingers ...
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0answers
18 views

Closed Kinematic Chain Forward Kinematics using DH method

I'm dealing with the direct kinematic of a robotic leg, composed by a four bar mechanism coupled with a slider-crank. I understood that I need to identify the closed loops of my leg and I did it: the ...
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1answer
49 views

Autonomous vessel general design

I have been asking a couple of questions here and around on autonomous boats and finally I decided to post the design and gather some feedback. The idea is to build a small vessel capable of advanced ...
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2answers
70 views

Robot - Wall Avoiding (Plinko Robot)

I am looking to build a robot that will travel and zig-zag down the hallway.It will be headed towards a wall at roughly 45 degrees and then use a IR LED to detect when a wall is nearby. From there, ...
2
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1answer
24 views

Significance of tf2_ros::TransformListener in constructors

Is there a reason that a lot of constructors in ROS based code take in tf2_ros::TransformListener as one of the input? I want to get an idea from the design ...
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2answers
1k views

Choosing the right dimensions for an underwater glider

I'm looking to potentially build an underwater glider, a type of submarine that's slow but can operate on extremely low power draw. However, in order for it to work effectively I've found several ...
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1answer
38 views

Attaching an optical rotary encoder to a bicycle wheel

I am currently working on a Sixth-Form experimental physics project, the end goal of which is to build a simplified Malkus Waterwheel, and to see whether chaotic synchronization can be achieved ...
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5answers
151 views

Recommended building materials for building a robot WITHOUT 3D printer?

I have a ton of ideas for building a robot using an arduino and raspberry pi. I have an assembled the wheels and chassis, and now I am left with an ugly raspberry pi and arduino + wires. It works, but ...
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39 views

Can the PCB Circuit Board be removed and replaced from inside the Create 2: Programmable Robot? [duplicate]

For a school project, the professor wanted to know if needed that the PCB Circuit Board could be removed.
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2answers
220 views

How do I select the best configuration for a known workspace, load and task?

Given workspace constraints, load and task to be done, how do I select the best configuration of my robot? How do I select between a cartesian or Scara robot for instance? How do I select a ...
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0answers
72 views

Deduce all possible configuration for a given CONF param FANUC

I am working on the "CONF" parameter of FANUC Robots. The "CONF" param determine the pose of the robot (maybe to have only one inverse kinematics solution). This configuration is ...
7
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2answers
309 views

Is there a tool for building and analysing robots (kinematics, control) visually?

I am reading research papers about robotics and many of them follow the same pattern: some construction is established kinematical formulas are read from the mechanical structure the state space is ...
81
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4answers
16k views

Why are Mars rovers so slow?

Mars rovers are typically very slow. Curiosity, for example, has average speed of about 30 meters per hour. Why is it designed so slow? Is it because of some specific power restrictions or for other ...
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1answer
116 views

Compensator design

I got a plant $G(s)=\left(0.13s+1\right)/s^2$ to design a compensator which provides below demands: Settling time : max 2s Overshoot : max %35 Gain margin : min 10 dB Phase margin : min 30 deg ...
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1answer
34 views

How to design a robot chassis so as to avoid bending issues?

I'm good on the programming, control systems and electronics aspect of robotics, but need help with a problem with mechanical design. How do I avoid bending of my chassis due to weight? It is a 2 ...
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1answer
50 views

What is the best to track an object and its relative position in field?

I understand this is very conceptual. I am working on a system when I am trying to track the path taken by an object as it moves across a field. Imagine a maze built on roughly the size of a football ...
4
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1answer
6k views

How to find a solution for quadcopter PID control

I've built a quadcopter and a rig to safely test it on. I'm working on the PID for controlling the roll pitch and yaw. I understand how a PID works on a more simple plant like say a robot with wheels ...
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2answers
377 views

How to convert 2D AutoCad drawing into CODE for CNC machine (laser cutter)?

I am a student of mechanical engineering, currently working on my 3rd-year project. I am designing a sheet-metal enclosure for a belt drive. We have a common laser cutter that could be used for my ...
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0answers
70 views

Natural frequency of robot arm

I want to design a 3 DOF pick and place robotic arm. I've accomplished stress analysis. now i'm going to do frequency analysis. software give me natural frequencies in different configurations. but i ...
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1answer
50 views

Differential Drive Tricycle WMR with active caster wheel

I'm doing some research for my university project and in particular it concerns a functional design project. I thought it would have been possible to design a 3-wheel mobile robot with an active ...
3
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1answer
97 views

Counterweight in arm designs

I wonder why most robotic arms use large J2 (shoulder) motors rather than counterweights. What sort of complexity do they add to the design beside increase in overall weight? In fact, rather than ...
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0answers
25 views

Proper robotic competitions for one university team (first step) [closed]

I am Bioengineering student at one Iranian middle-rank university and have a small business in building some easy medical devices (PCB and CAD designing with Programming and some market experiments). ...
2
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1answer
109 views

Path finding: A* vs Fast marching

Context: I am working on a 20 cm x 20 cm indoor robot on a 2D terrain and I need to decide on its path planning algorithm. Algorithms: A* and Fast marching are two popular (and fundamentally ...
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2answers
672 views

differences between SCARA arm design

I am currently interested in SCARA arm designs and I have few, beginner questions for which I didn't find answers yet. 1/ While comparing professional arms (made by epson, staubli...) I noticed that ...
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3answers
7k views

How do I motorize the elbow socket and other joints in a powered exo-skeleton?

How would you motorize the joints in an Iron Man suit? You need something fairly shallow, I would think, probably dual servos sitting on either side of an elbow or knee joint or either side of your ...
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2answers
102 views

What should be the ideal ratio for link lengths ( L1/ L2) of a 2 link manipuator robot with revolute joints?

I am working on making a CAD model of a two link robotic manipulator, with link lengths around 15-20 cm. I am unable to figure how to set their mutual ratio and I want to know whether there is some ...
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0answers
20 views

Increasing suction force

I'm trying to increase the suction force of the end effector in a pick and place system. Is it a good idea to add an extra vacuum pump and put it in parallel? AFAIK, having an extra pump in parallel ...
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1answer
116 views

How does this end effector work?

I've seen this linear actuator end effector on a few industrial SCARA 'bots but I am having trouble visualizing how it works internally: It looks like a type of lead screw, but the nut must spin ...
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0answers
31 views

What is the corrispettive motion convention for robotic systems with X,Y,Z axis?

We built several systems coupling multiple linear micrometric stages. I can't find a standard defining the axis convention of these kinds of systems, it there are any. Regarding the system on the ...
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2answers
70 views

Block algebra and normal algebra inconsistent

I've been playing around with some block maths, mostly trying to remember how it actually works, and I've come to a simple example that should be reduced, however when doing the normal maths, compared ...
2
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1answer
53 views

Artificial Intelligence and Open source pipeline for automated design, simulation and analysis of robotics systems

I have heard about open source 3D printed robotics projects (https://www.poppy-project.org/en/ is somehow obsolete example). My question is - are there open source holistic/integrated frameworks of ...
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1answer
35 views

Design a robot that can apply hot glue to paper

I need to automate a process that involves applying hot glue to paper. I own a standard handheld hot glue gun, like this one: Sticks of room-temperature glue are fed in the right side. Pulling the ...
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1answer
20 views

How should I create a Pangolin (Armadillo) structure?

I am new to this forum. I want to create a mechanical structure as depicted in the image A pangolin bag. And further wouls like to automate the closing and opening of the bag. But I am facing issues ...
2
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1answer
739 views

How can I attach an arm to a double-flat drive stepper motor?

This is my first robotics experience, outside of one class 10 years ago. I've been Googling this question for about an hour but I can't find an answer! I'm using a ROHS Step Motor 28BYJ-48 (with an ...
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0answers
24 views

Design of the baseplate of mobile robot

I need to construct a Mobile robots preferably circular type of diameter 30 cm, it will be carrying a payload of 5kg. What will be optimal thickness the baseplate considering the material as aluminium?...
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1answer
60 views

Why can't motors be as elegant as human muscles? Why do we have to use electromagnetism to create movement?

Pretty much as the title says. Why isn't it possible to build motors as microscopically and simply as they're built in humans? Why can't we recreate electronic nerves and muscles?
5
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2answers
550 views

If you can create pure yaw motion with a quadcoptor then why won't this work with a tricoptor?

An answer to the question Why are quadcopters more common in robotics than other configurations? said: You need 4 degrees of freedom to control yaw, pitch, roll and thrust. Four props is therefore ...
1
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1answer
51 views

Robotic Arm Senior Capstone. Electronics/Controls/Sensors Questions

I am a mechanical engineering student currently working on my senior capstone. My team of all MechEs has to build a robotic "arm" where the arm is really just a link/bar of aluminum. The thing we ...
2
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1answer
88 views

Challenges involved in designing an Industrial Robotic Arm [closed]

I was wondering if any robotics engineers around would kindly, provide suggestions on the following: I was recently hired by a company that wants to implement a robotic solution in manufacturing ...
14
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3answers
11k views

Calculating the efficiency of Mecanum wheels

I'm part of a FIRST Robotics team, and we're looking into using Mecanum wheels for our robot. What are the advantages and disadvantages of using Mecanum wheel versus regular ones? From looking ...
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1answer
381 views

Create 2 CAD files

I found CAD files for the Create on the ROS TurleBot download page (.zip), and shells on the gazebo sim page. Any ideas where the files for the Create 2 could be found?
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1answer
47 views

Ontology/marketplace of robotics components and integration environment (BPEL or CAD for robotics)?

It should be possible to take the formal description of robotics components (in form of ontology, formal API descriptions or other kind of formal specification of the capabilities and requirements of ...
0
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1answer
30 views

router tilting mechanism

I am trying to design a very rigid tilting mechanism for my router. For this purpose I had a look at table saws, which seem to be supported by 2 mechanisms, one in front, one at the back, called "...
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1answer
50 views

how do i select light-weight 6dof robot?

I plan to do some scientific research, after modeling and path planning for the robot, The algorithm outputs the Joint control torque(or Joint variable), and then i want to input this result to the ...
2
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3answers
7k views

How to decide about the length of a robotic arm, the base of it and the torque?

I am designing a remote controlled robot which will have a base with three wheels, two of them will be simple wheels at the back of the base and the third will be a ball wheel at the front. It will ...
10
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4answers
4k views

What are human-friendly terms for mobile-robot orientation and relative direction of non-robot objects?

Within robotics programming, orientation is primarily given in terms of x, y, & z coordinates, from some central location. However x, y, z coordinates aren't convenient for rapid human ...