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2022 | OriginalPaper | Buchkapitel

Workspace Evaluation of Robotino-XT Under Reconfiguration

verfasst von : Vipin Pachouri, Pushparaj Mani Pathak, Mrunal K. Mishra, Arun K. Samantharay, Rochdi Merzouki, B. O. Bouamama

Erschienen in: Machines, Mechanism and Robotics

Verlag: Springer Singapore

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Abstract

The major part of ongoing research in the field of robotics is to mimic the behaviour of species present in nature. This paper presents the workspace of the multi-section bionic manipulator Robotino-XT under the failure of one of its bellow. These types of failure may be due to repeated use, pressure leakage, hysteresis or improper design. The CBHA part of Robotino-XT has two bending sections, where each section has three bellows (actuator). Various strategies are proposed to compensate for the loss in workspace due to failure of one bellow. Also, the workspace obtained after the failure of the bellow is compared with the full-fledged workspace.

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Titel: Workspace Evaluation of Robotino-XT Under Reconfiguration
verfasst von: Vipin Pachouri
Pushparaj Mani Pathak
Mrunal K. Mishra
Arun K. Samantharay
Rochdi Merzouki
B. O. Bouamama
Verlag: Springer Singapore
Buch: Machines, Mechanism and Robotics
Print ISBN: 978-981-16-0549-9

Electronic ISBN: 978-981-16-0550-5

Copyright-Jahr: 2022
DOI: https://doi.org/10.1007/978-981-16-0550-5_25

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