Design and Simulation of a Seven-Degree-of-Freedom Hydraulic Robot Arm

Abstract

The current reliance on manual rescue is inefficient, and lightweight, highly flexible, and intelligent robots need to be investigated. Global seismic disasters occur often, and rescue jobs are defined by tight timetables and high functional and intellectual requirements. This study develops a hydraulically powered redundant robotic arm with seven degrees of freedom. To determine the force situation of the robotic arm in various positions, the common digging and handling conditions of the robotic arm are dynamically simulated in ADAMS. A finite element analysis is then performed for the dangerous force situation to confirm the structural strength of the robotic arm. The hydraulic manipulator prototype is manufactured, and stress–strain experiments are conducted on the robotic arm to verify the finite element simulation’s reliability.

Design and Position Control of a Bionic Joint Actuated by Shape Memory Alloy Wires

“…Their primary objective is to mimic the rotational motion and flexibility inherent in human and animal joints through the integration of mechanical structures, actuators, transmission methods, sensors, and controllers. Bionic joints can be categorized into several groups based on their actuators: electric motors [1,2], hydraulic actuators [3][4][5], pneumatic actuators [6][7][8], and smart material actuators (such as piezoelectric actuators [9][10][11][12], electroactive polymer actuators [13][14][15], shape memory alloy (SMA) actuators [16][17][18][19][20], and twisted and coiled polymer actuators [20,21]).…”

Dynamic Modeling and Performance Analysis of a Hip Rehabilitation Robot

“…Based on the established velocity and acceleration model, the velocity and acceleration of the robot were simulated [26] in forward flexion, extension, abduction, and adduction. The results are as follows.…”