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Robotics
Special Issues
Recent Trends and Advances in Mechanism Design and Robotics
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Recent Trends and Advances in Mechanism Design and Robotics

A special issue of Robotics (ISSN 2218-6581). This special issue belongs to the section "Industrial Robots and Automation".

Deadline for manuscript submissions: closed (31 January 2023) | Viewed by 13597

Special Issue Editors

Prof. Dr. Xinjun Liu

E-Mail Website
Guest Editor
Department of Mechanical Engineering, Tsinghua University, Beijing, China
Interests: mechanism and robotics; parallel manipulators; advanced and smart manufacturing equipments
Prof. Dr. Jingjun Yu

E-Mail Website
Guest Editor
Robotics Institute, Beihang University, Beijing, China
Interests: mechanisms and robotics; flexure design
Prof. Dr. Jiantao Yao

E-Mail Website
Guest Editor
Key Laboratory of Advanced Forging & Stamping Technology and Science, Yanshan University, Qinhuangdao, China
Interests: mechanism and robotics; soft robotics; advanced and smart assembly equipment

Special Issue Information

Dear Colleague,

In the 21st century intelligence wave, the mission of creating intelligent robots and equipment with different structures and functions continues to be undertaken. Research on mechanisms and robotics is mainly composed of five parts: structure design, kinematics, dynamics, sensing and control, and theory and method of system design. With the rapid increase in the complexity of tasks and environments, higher requirements are put forward on the adaptability and interaction capabilities of robots. The development trend is to deeply cross-integrate with information, computers, materials, measurement, manufacturing life sciences, etc., to achieve high-quality and intelligent equipment.

This Special Issue aims at collecting recent theoretical and technical achievements in the interdisciplinary research of mechanisms and robotics. Topics of interest include (but are not limited to):

  • Parallel mechanisms;
  • Serial–parallel mechanisms;
  • Bioinspired mechanisms;
  • Rigid-flexible-soft coupling mechanisms;
  • Deployable mechanisms;
  • Wearable robots;
  • Soft robots;
  • Medical and rehabilitation robots.

Prof. Dr. Xinjun Liu
Prof. Dr. Jingjun Yu
Prof. Dr. Jiantao Yao
Guest Editors

Manuscript Submission Information

Manuscripts should be submitted online at www.mdpi.com by registering and logging in to this website. Once you are registered, click here to go to the submission form. Manuscripts can be submitted until the deadline. All submissions that pass pre-check are peer-reviewed. Accepted papers will be published continuously in the journal (as soon as accepted) and will be listed together on the special issue website. Research articles, review articles as well as short communications are invited. For planned papers, a title and short abstract (about 100 words) can be sent to the Editorial Office for announcement on this website.

Submitted manuscripts should not have been published previously, nor be under consideration for publication elsewhere (except conference proceedings papers). All manuscripts are thoroughly refereed through a single-blind peer-review process. A guide for authors and other relevant information for submission of manuscripts is available on the Instructions for Authors page. Robotics is an international peer-reviewed open access monthly journal published by MDPI.

Please visit the Instructions for Authors page before submitting a manuscript. The Article Processing Charge (APC) for publication in this open access journal is 1800 CHF (Swiss Francs). Submitted papers should be well formatted and use good English. Authors may use MDPI's English editing service prior to publication or during author revisions.

Benefits of Publishing in a Special Issue

  • Ease of navigation: Grouping papers by topic helps scholars navigate broad scope journals more efficiently.
  • Greater discoverability: Special Issues support the reach and impact of scientific research. Articles in Special Issues are more discoverable and cited more frequently.
  • Expansion of research network: Special Issues facilitate connections among authors, fostering scientific collaborations.
  • External promotion: Articles in Special Issues are often promoted through the journal's social media, increasing their visibility.
  • e-Book format: Special Issues with more than 10 articles can be published as dedicated e-books, ensuring wide and rapid dissemination.

Further information on MDPI's Special Issue polices can be found here.

Published Papers (2 papers)

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Research

Jump to: Review

19 pages, 8090 KiB  
Article
Stastaball: Design and Control of a Statically Stable Ball Robot
by Luca Fornarelli, Jack Young, Thomas McKenna, Ebenezer Koya and John Hedley
Robotics 2023, 12(2), 34; https://doi.org/10.3390/robotics12020034 - 28 Feb 2023
Cited by 2 | Viewed by 3484
Abstract
Ballbots are omnidirectional robots in which a robot chassis is built and balanced on top of a ball, thereby allowing for a highly manoeuvrable platform on a planar surface. However, the stability of such robots is performed dynamically with the use of a [...] Read more.
Ballbots are omnidirectional robots in which a robot chassis is built and balanced on top of a ball, thereby allowing for a highly manoeuvrable platform on a planar surface. However, the stability of such robots is performed dynamically with the use of a suitable controller, and thus, power to such robots must be continually maintained. In this paper, a novel approach to the ballbot design is presented in which unpowered static stability is maintained mechanically by a suitable choice of position for the centre of mass of the robot. The simulations of the design and a built prototype evidence the feasibility of such an approach, demonstrating static stability and performance parameters of three degrees of freedom movement, linear speeds of 0.05 m/s, rotation angular speed of 1 rad/s and the ability to traverse inclines up to 3°. Limitations in performance were predominantly due to compressibility of the ball used and power of the motors. Areas for future development to address these issues are suggested. Full article
(This article belongs to the Special Issue Recent Trends and Advances in Mechanism Design and Robotics)
►▼ Show Figures

Figure 1

Figure 1
<p>The operational principle of a statically stable ball robot. As the centre of mass of the robot (CM) is lower than the centre of rotation (CR) of the ball, any induced tilt onto the robot will result in a restoring force that corrects for this tilt.</p> Full article ">Figure 2
<p>The Stastaball robot as simulated in Webots. A solid sphere of mass 10 kg was used as the central ball. Frame mass was 1 kg and offset downwards from ball centre by 0.08 m.</p> Full article ">Figure 3
<p>Response of the stationary robot when a pitch and roll disturbance is introduced in the first 1.3 s.</p> Full article ">Figure 4
<p>Rotation of the robot frame as the robot translates in the x direction, the dotted horizontal lines show the maximum pitch angle for the robot. At 0.05 m/s (shown in (<b>A</b>)), oscillations are seen in the pitch angle. At 0.1 m/s (shown in (<b>B</b>)), the excessive pitching causes the frame to collide with the ground at 5.0 s, causing movement in the roll and yaw.</p> Full article ">Figure 5
<p>Recovery of the robot to a disturbance at 2 s using a PID controller to correct frame orientation. The PID controller was activated at 2.7 s.</p> Full article ">Figure 6
<p>Response of the robot to an initial disturbance at 2 s followed by a command at 3.1 s to translate towards a heading of −135° with PID implemented.</p> Full article ">Figure 7
<p>Response of the robot to a command to move forward with a heading of −135° with PID implemented. Initial heading is 0°. Sudden changes in yaw causes disturbances in pitch and roll as seen at 31.2 s.</p> Full article ">Figure 8
<p>CAD drawing of the robot viewed from (<b>A</b>) above and (<b>B</b>) below from where the drive wheels are clearly visible. Six omnidirectional support wheels on the halo of the robot were incorporated to help centralize the ball within the frame.</p> Full article ">Figure 9
<p>Schematic of the communication structure of the robot.</p> Full article ">Figure 10
<p>Image of the constructed prototype of Stastaball showing a primary Arduino (<b>A</b>); a secondary Arduino (<b>B</b>); a driven wheel (<b>C</b>), which is partially visible behind the halo; passive support wheels on the frame (<b>D</b>); and halo (<b>E</b>); one of the power banks (<b>F</b>); ultrasonic sensors (<b>G</b>); and camera (<b>H</b>). Upper inset shows zoomed view of primary Arduino containing Bluetooth module (<b>I</b>) and IMU module (not visible in this image). Lower inset shows zoomed view of one of the secondary Arduinos with voltage regulator (<b>J</b>) and motor driver (<b>K</b>) mounted onto an Arduino shield.</p> Full article ">Figure 11
<p>Static stability test for the robot. Induced displacements in the pitch and then roll angles demonstrate damped oscillations back to the static position.</p> Full article ">Figure 12
<p>Response of the robot in the pitch, roll and yaw axes when (<b>A</b>) being driven at 0.05 m/s in the x direction and (<b>B</b>) programmed to rotate on the spot at varying yaw rates.</p> Full article ">Figure 12 Cont.
<p>Response of the robot in the pitch, roll and yaw axes when (<b>A</b>) being driven at 0.05 m/s in the x direction and (<b>B</b>) programmed to rotate on the spot at varying yaw rates.</p> Full article ">Figure A1
<p>(<b>A</b>) Side view of the robot showing placement of one of the drive wheels. (<b>B</b>) Top view of the robot showing placement of the three drive wheels. The force imparted on the ball by the wheels, shown by the arrows, results in the frame rotating in the opposite direction (clockwise for the case shown).</p> Full article ">Figure A2
<p>The moment produced by the driving wheels results in a tilting of the frame, which is then balanced by the moment produced from the gravitational force on the offset centre of mass.</p> Full article ">

Review

Jump to: Research

22 pages, 12218 KiB  
Review
Trends in the Control of Hexapod Robots: A Survey
by Joana Coelho, Fernando Ribeiro, Bruno Dias, Gil Lopes and Paulo Flores
Robotics 2021, 10(3), 100; https://doi.org/10.3390/robotics10030100 - 4 Aug 2021
Cited by 29 | Viewed by 8825
Abstract
The static stability of hexapods motivates their design for tasks in which stable locomotion is required, such as navigation across complex environments. This task is of high interest due to the possibility of replacing human beings in exploration, surveillance and rescue missions. For [...] Read more.
The static stability of hexapods motivates their design for tasks in which stable locomotion is required, such as navigation across complex environments. This task is of high interest due to the possibility of replacing human beings in exploration, surveillance and rescue missions. For this application, the control system must adapt the actuation of the limbs according to their surroundings to ensure that the hexapod does not tumble during locomotion. The most traditional approach considers their limbs as robotic manipulators and relies on mechanical models to actuate them. However, the increasing interest in model-free models for the control of these systems has led to the design of novel solutions. Through a systematic literature review, this paper intends to overview the trends in this field of research and determine in which stage the design of autonomous and adaptable controllers for hexapods is. Full article
(This article belongs to the Special Issue Recent Trends and Advances in Mechanism Design and Robotics)
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Figure 1

Figure 1
<p>Evaluation of the analyzed papers according to their year of publication and the type of controller.</p> Full article ">Figure 2
<p>Results for (<b>a</b>) the final application of the hexapods and (<b>b</b>) the adaptive behavior presented.</p> Full article ">Figure 3
<p>Analysis of the method adopted to validate the control systems considering (<b>a</b>) all publications and (<b>b</b>) the type of control.</p> Full article ">Figure 4
<p>Analysis of the type of environment in which the hexapods were tested according to (<b>a</b>) the general results and (<b>b</b>) the type of control.</p> Full article ">Figure 5
<p>Results for (<b>a</b>) the type of control designed and (<b>b</b>) the number of kinematic- and dynamic-based systems among the traditional controllers.</p> Full article ">Figure 6
<p>Analysis of the adopted type of traditional controller according to the environment in which the hexapod was tested.</p> Full article ">Figure 7
<p>Results for (<b>a</b>) the type of sensors selected to gather data and control the locomotion and (<b>b</b>) the computer vision algorithms implemented.</p> Full article ">
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