Additive manufacturing for agile legged robots with hydraulic actuation

Semini, Claudio; Goldsmith, Jake; Manfredi, Diego; Calignano, Flaviana; Ambrosio, Elisa Paola; Pakkanen, Jukka Antero; Caldwell, Darwin G.

doi:10.1109/icar.2015.7251444

Cited by 43 publications

(26 citation statements)

References 14 publications

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“…All the mentioned benefits generate important cost savings over the life of the part [183,184]. Other remarkable examples of complex geometries in the literature include integrated wiring channels and air tubes for robots [185], or a water redistribution manifold [186] where the optimized paths of fluid channels allowed a 90% reduction of vibrations caused by turbulence.…”

Section: Part Level and Associated Macro Scale Complexitymentioning

confidence: 99%

Metal additive manufacturing in the commercial aviation industry: A review

Gisario

Kazarian

Martina

et al. 2019

Journal of Manufacturing Systems

425

124

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The applications of Additive Manufacturing (AM) have been grown up rapidly in various industries in the past few decades. Among them, aerospace has been attracted more attention due to heavy investment of the principal aviation companies for developing the AM industrial applications. However, many studies have been going on to make it more versatile and safer technology and require making development in novel materials, technologies, process design, and cost efficiency. As a matter of fact, AM has a great potential to make a revolution in the global parts manufacturing and distribution while offering less complexity, lower cost, and energy consumption, and very highly customization. The current paper aims to review the last updates on AM technologies, material issues, postprocesses, and design aspects, particularly in the aviation industry. Moreover, the AM process is investigated economically including various cost models, spare part digitalization and environmental consequences. This review would be helpfully applied in both academia and industry as well.

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Section: Part Level and Associated Macro Scale Complexitymentioning

confidence: 99%

Metal additive manufacturing in the commercial aviation industry: A review

Gisario

Kazarian

Martina

et al. 2019

Journal of Manufacturing Systems

425

124

View full text Add to dashboard Cite

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“…The walking induced energy is regenerated by high pressure fluid, and then the energy conversion is achieved. As for component fabrication, additive manufacturing has been employed to make the integrated hydraulic actuation system for a legged robot and has proven its significant performance in constructing compact and lightweight drive units [122,123]. For a powered exoskeleton, hydraulic drive system may be superior to that of electric motors in terms of energy efficiency partly because amplifier losses usually should not be underestimated in power consumption [119].…”

Section:  Energy Conversionmentioning

confidence: 99%

Overview of Human Walking Induced Energy Harvesting Technologies and Its Possibility for Walking Robotics

2019

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This study is mainly to provide an overview of human walking induced energy harvest. Focusing on the proportion of all energy sources provided by daily activity, the available human walking induced energy is divided with respect to the generation principle. The extensive research on harvesting energy results from body vibration, inertial element, and foot press to convert into electricity is overviewed. Over the past decades, various smart materials have been employed to achieve energy conversion. Generators based on electromagnetic induction or the triboelectric effect were developed and integrated. Small captured power and low overall efficiency are criticized. The concept of human walking energy harvest is extended into the wearable walking robotics using other mediums, such as fluid, to transmit power instead of electricity. By comparison, it is indicated that less energy conversion links are involved in energy regeneration of such applications and expected to guarantee less loss and higher efficiency. Meanwhile, in order to overcome the shortage of relatively low power output, comments are made that the harvester should be capable of adaptation under the condition that the mechanical energy of lower limb and feet is subject to change in different gait phases so as to maximize the collected energy.

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“…The torso and leg structures are built so that the robot is not damaged during falls. The hydraulic system of the robot includes highly integrated leg manifolds that are produced with additive manufacturing of AlSiMg aluminium alloy (direct metal laser sintering) [14]. Each joint features high-resolution absolute encoders (ICHaus/Balluff 19-bit) and custom torque sensors or load cells (Futek LCM 325).…”

Section: Design Of the Hydraulic Quadruped Field Robotmentioning

confidence: 99%

Next-Generation Collaborative Robotic Systems for Industrial Safety and Health

Deshpande

Ortiz

Sarakoglou

et al. 2017

WIT Transactions on the Built Environment

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Occupational Safety and Health (OSH) is defined through three objectives: (i) maintenance of workers' health; (ii) improvement of working environment and safety; and (iii) promotion of a work culture that supports health and safety. In industry, the most frequent threat to workers' health is musculoskeletal disorders. Furthermore, even routine tasks in certain work environments (nuclear, construction, disaster response, marine, chemical, etc.) expose workers to extreme risks like explosions, contaminations, fires, confined spaces, debris, toxic gases, etc. The goal of this research is to design and develop advanced collaborative robotic technologies towards: (i) reducing workers' physical stress and improving their health through a novel modular full-body wearable exoskeleton with arm, lower-back, and leg modules, allowing full motion dexterity; and (ii) avoiding hazard-prone worker environments and improving safety through a new collaborative master-slave teleoperation system consisting of: (a) a hydraulicallydriven, quadruped field robot with a robotic manipulator arm for operation in hazardous environments; (b) a hand exoskeleton master device for teleoperation control. The article presents the current status of development of these technologies. Preliminary validation of the exoskeleton shows reductions in muscular efforts of up to 30% for the lower back. For the master-slave collaborative system, (a) the Hydraulic Quadruped robot prototypes can traverse rough environments through capabilities that include stair climbing, walking over obstacles, omni-directional trotting with step reflexes, running, jumping, and self-righting; (b) the 7 degrees-of-freedom (DOF) manipulator arm allows object manipulation in a large workspace with dexterous grasping of up to 160 N of payload; and (c) the novel HEXOTRAC 3-digit hand exoskeleton provides high-resolution tracking of fingers and provides force feedback for intuitive bilateral teleoperation of robotic manipulators. These next-generation industrial exoskeletons and collaborative teleoperation systems can address the emerging challenges in industrial workers' health and safety.

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Additive manufacturing for agile legged robots with hydraulic actuation

Cited by 43 publications

References 14 publications

Metal additive manufacturing in the commercial aviation industry: A review

Metal additive manufacturing in the commercial aviation industry: A review

Overview of Human Walking Induced Energy Harvesting Technologies and Its Possibility for Walking Robotics

Next-Generation Collaborative Robotic Systems for Industrial Safety and Health

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