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This paper presents a novel bio-inspired modular robotic arm that is purely
evolved and developed from a mechanical stem cell. Inspired by stem cell
whilst different from the other robot "cell" or "molecule", a
fundamental mechanical stem cell is proposed leading to the development of
mechanical cells, bones and a Sarrus-linkage-based muscle. Using...
Context in source publication
Context 1
... on the mechanical bones and muscle developed from the mechanical stem cells in the previous section, differ- ent type of robotic arms can be evolved and grown satisfy- ing specific purpose and environment, and one bio-inspired modular-based 5-DOF robotic arm is developed in this pa- per as illustrated in Fig. 4. This bio-inspired robotic arm is composed of three bio-inspired bones, i.e. the shoulder bone, upper-arm bone and forearm bone, and two bio-inspired mus- cles as the upper-arm muscle and the forearm muscle, con- nected by three revolute joints, that is, the shoulder joint, the elbow joint and the wrist joint, and two rigid connections ...
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Citations
... In robotics, scholars and practitioners have long had aspirations of creating robotic arms that possess the skill and adaptability akin to that of the human arm [1]. The objective is to enable these robotic arms to execute complex tasks effectively in challenging and unpredictable contexts [2]. it is premature to assert that this aspiration has been fully realized. ...
This research article introduces an innovative modular Robotic Arm that draws inspiration from biological systems and is exclusively derived and constructed by an evolutionary process from a mechanical stem cell. Drawing inspiration from stem cells, this proposal introduces a distinct mechanical stem cell that differs from existing robot "cells" or "molecules". The aim is to advance the field by creating motorized cells, bones, and a muscle based on the Sarrus linking mechanism. The suggested skeleton and muscle system create a bio-inspired, segmental, five-DOF robotic arm. Then, the non-linear transcendental calculations that govern the kinematics of the robotic arm are solved using an arithmetic iterative approach based on an optimization strategy. Next, an arithmetical sample of the future arm for the robot is shown, complete with imitations that showcase the arm's workstation opposite kinematics. Initial motion and manipulation experiments are also performed, and a robotic arm prototype is created and combined with low-level regulator systems. The findings show that the innovative robotic arm performs as expected and has the benefits of being cheaper, taking up less space, being smaller in size and having a more straightforward construction.
Modular robots can adapt to different production needs and working conditions. However, the complexity of structures and the choice of driving modes limit the development of modularization. In this paper, a robot joint module with a universal joint configuration driven by shape memory alloy (SMA) wires is proposed, which has 2-DOFs. For lightweight, the main body of the module is made of polylactic acid materials. SMA wires are used as the actuator due to the advantages of large output displacement, high mass-to-energy ratio, and low activation voltage. Adopting antagonistically arranged SMA wires and bias springs combination method increases the recovery speed and driving angles. A locking device is creatively proposed to avoid the influence of self-biasing spring compression. The detailed kinematic model of the module is established. A proportional integral differential controller is used to precisely control module movements, and the attitude angle sensor is used as the monitoring device. Through the maximum rotation angles and trajectory tracking movement experiments, the module is tested comprehensively, and the results show that the module has good movement characteristics and control precision. In addition, analyzing the tracking performance of the module in the time domain shows that the module has a relatively fast tracking speed. This module is beneficial to the research of configurations, actuators, and controls of modular robots.
