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Zawidzka E., Zawidzki M., Kiński W.♦, Prototyp ekstremalnie modularnego hiperredundantnego manipulatora Arm-Z,
POMIARY - AUTOMATYKA - ROBOTYKA. PAR, ISSN: 1427-9126, DOI: 10.14313/PAR_247/39, Vol.27, No.1, pp.39-44, 2023Streszczenie:
Arm-Z to koncepcja hiperredundantnego manipulatora robotycznego składającego się z przystających modułów o jednym stopniu swobody (1-DOF) i realizującego (prawie) dowolne ruchy w przestrzeni. Zasadnicze zalety Arm-Z to: ekonomizacja (dzięki masowej produkcji identycznych elementów) oraz odporność na awarie (po pierwsze – zepsute moduły mogą być łatwo zastąpione, po drugie – nawet gdy jeden lub więcej modułów ulegnie awarii – manipulator taki może ciągle wykonywać, prawdopodobnie w stopniu ograniczonym, zakładane zadania). Podstawową wadą systemu Arm-Z jest jego nieintuicyjne, bardzo trudne sterowanie. Innymi słowy, połączenie koncepcji nietrywialnego modułu z formowaniem praktycznych konstrukcji oraz sterowanie ich rekonfiguracją (transformacją ze stanu A do B) są bardzo złożone obliczeniowo. Mimo to prezentowane podejście jest racjonalne, zważywszy powszechną dostępność wielkich mocy obliczeniowych w kontraście z wysokimi kosztami i „delikatnością” niestandardowych rozwiązań i urządzeń. W artykule nakreślono ogólną koncepcję manipulatora Arm-Z i zaprezentowano wstępne prace zmierzające do wykonania prototypu. Słowa kluczowe: Arm-Z, odporność na awarie, sterowanie kształtem ogólnym, systemy modularne Afiliacje autorów:
Zawidzka E. | - | IPPT PAN | Zawidzki M. | - | IPPT PAN | Kiński W. | - | inna afiliacja |
| | 100p. |
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Zawidzka E., Zawidzki M., Simulation of simple movements of Arm-Z oblique swivel joint chain manipulator,
POMIARY - AUTOMATYKA - ROBOTYKA. PAR, ISSN: 1427-9126, DOI: 10.14313/PAR_248/59, Vol.27, No.2, pp.59-67, 2023Streszczenie: Arm-Z is a concept of a hyper-redundant manipulator based on linearly joined sequence of congruent modules by oblique swivel joint mechanism. Each module has one degree of freedom only, namely a twist relative to the previous module in the sequence. Although the concept of this type of manipulator is relatively old and simple, its control is very difficult an nonintuitive, which results in a limited use in industrial practice. This paper presents a simple simulation of Arm-Z in Mathematica programming environment which demonstrates a few simple but potentially useful movements. Słowa kluczowe: Arm-Z, Extremely Modular System, hyper-redundant manipulator, Mathematica, oblique swivel joint Afiliacje autorów:
Zawidzka E. | - | IPPT PAN | Zawidzki M. | - | IPPT PAN |
| | 100p. |
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Zawidzka E., Zawidzki M., Discrete (Two-State) Modular Hyper-Redundant Planar Manipulator,
COMPUTER ASSISTED METHODS IN ENGINEERING AND SCIENCE, ISSN: 2299-3649, DOI: 10.24423/cames.550, Vol.29, No.4, pp.397-407, 2022Streszczenie: This paper presents a concept of an extremely simple planar manipulator composed of 24
congruent modules. Each module has only two possible discrete positions in relation to
the previous module: left (− π
6 ) or right ( π
6 ). However, despite its conceptual simplicity,
this manipulator can perform relatively demanding tasks, for example as an inspection
device. The manipulator is placed in an experimental environment, and the goal is to place
its tip in close proximity to five given points without collisions. Despite the constraints
of its motion, the manipulator effectively “crawls” inside the working space and visits
assigned points. The control of the manipulator is executed by manual placing to desired
configurations and interpolating the intermediate transitions. The preliminary results are
promising and show that for certain practical types of tasks, the functionality and precision
of this extremely simple manipulator could be sufficient, e.g., visual inspection, provision of
survival supplies, placing of explosives, etc. Słowa kluczowe: discrete manipulator,hyper-redundant,snake robot,modular Afiliacje autorów:
Zawidzka E. | - | IPPT PAN | Zawidzki M. | - | IPPT PAN |
| | 70p. |
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Zawidzka E., Szklarski J., Zawidzki M., Arm-Z as a modular tracking device,
Lecture Notes in Networks and Systems, ISSN: 2367-3389, DOI: 10.1007/978-981-19-1610-6_37, Vol.448, pp.429-437, 2022Streszczenie: Arm-Z is a hyper-redundant manipulator based on a sequence of linearly joined identical modules. Each module has only one degree of freedom—a twist relative to the previous module. Arm-Z can be potentially economical, as the modules can be mass-produced. Arm-Z is also robust, as the malfunctioning module can be replaced. Moreover, if some modules malfunction, the device can still execute tasks with certain accuracy. However, the disadvantage of Arm-Z is a non-intuitive and difficult control. This paper presents a concept of a modular tracking device comprised of four identical modules. As an example, the Sun-tracking setup is used with possible application for solar energy harvesting. Słowa kluczowe: Extremely modular system, Arm-Z, Hyper-redundant manipulator, Sun-tracking Afiliacje autorów:
Zawidzka E. | - | IPPT PAN | Szklarski J. | - | IPPT PAN | Zawidzki M. | - | IPPT PAN |
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Zawidzka E., Szklarski J., Kiński W.♦, Zawidzki M., Prototype of the Arm-Z modular solar tracker,
Advances in Intelligent Systems and Computing, ISSN: 2194-5357, DOI: 10.1007/978-3-031-03502-9_28, Vol.1427, pp.273-282, 2022Streszczenie: Arm-Z - a hyper-redundant manipulator based on linearly joined sequence of congruent units is presented. Each unit has 1-DOF (one degree of freedom) only, namely a twist relative to the previous unit in the sequence. Arm-Z has a potential of being economical and robust. The control of Arm-Z, however, is not intuitive and difficult. This paper presents the preliminary results of designing a prototype of a modular Sun-tracking device comprised of four congruent units with possible application as a solar energy harvester or a Sun-shade. Słowa kluczowe: Extremely modular system, Arm-Z, Hyper-redundant manipulator, Rapid prototyping, Low-tech Afiliacje autorów:
Zawidzka E. | - | IPPT PAN | Szklarski J. | - | IPPT PAN | Kiński W. | - | inna afiliacja | Zawidzki M. | - | IPPT PAN |
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Zawidzka E., Zawidzki M., Kinetic street furniture with Arm-Z,
WIT Transactions on The Built Environment, ISSN: 1743-3509, DOI: 10.2495/HPSU220021, Vol.209, pp.15-22, 2022Streszczenie: Arm-Z is a concept of a hyper-redundant manipulator based on linearly joined sequence of congruent units. Each unit has only one degree of freedom (1-DOF), namely a twist relative to the previous unit in the sequence. Since each module is identical, Arm-Z has a potential of being economical and robust: the modules can be mass-produced and, in case of failure, easily replaced. However, the control of Arm-Z is nonintuitive and difficult, thus it usually requires application of computational intelligence methods. This paper presents a number of concepts for kinetic street furniture based on Arm-Z: a spiral column of adjustable height, a sun-tracking shade/solar energy harvester, bio-mimicry sculpture, kinetic sprinkler/fountain. The proposed concepts are low-tech in principle. Therefore in each case, the first module in the sequence is fastened to a solid base (ground). For simplicity, the drive is applied directly to the first module and transferred to subsequent units by internal gears. Each module is equipped with a set of cylindrical and bevel gears with straight teeth with involute profile (for connecting the modules). Słowa kluczowe: Arm-Z, extremely modular system, low-tech, street furniture Afiliacje autorów:
Zawidzka E. | - | IPPT PAN | Zawidzki M. | - | IPPT PAN |
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Zawidzka E., Kiński W.♦, Zawidzki M., Preliminary prototype of a 4-unit arm-Z hyper-redundant modular manipulator,
Advances in Intelligent Systems and Computing, ISSN: 2194-5357, DOI: 10.1007/978-3-030-74893-7_27, pp.285-294, 2021Streszczenie: Arm-Z is a concept of a robotic manipulator comprised of linearly joined congruent modules with possibility of relative twist. The advantages of Arm-Z are: economization (mass-production) and robustness (modules which failed can be replaced, also if some fail the system can perform certain tasks). Non-intuitive and difficult control are the disadvantages of Arm-Z. It has been introduced over six years ago. The theretofore research focused on the control of the virtual Arm-Z manipulator through the relative twists of its constituent units. This paper documents the fabrication and testing of the preliminary physical prototype of a simple Arm-Z, which has been built using relatively low-tech approach. The modules have been assembled from 3D-printed elements using PET-G filament. Each module is equipped with a transmission mechanism allowing to pre-set the spin of its twist (either positive/right or negative/left). Although the presented system is very simple it demonstrates certain meaningful kinematic actions and sets clear paths for the future research in the area of Extremely Modular Systems. Słowa kluczowe: extremely modular system, arm-Z, hyper-redundant manipulator, rapid prototyping, low-tech Afiliacje autorów:
Zawidzka E. | - | IPPT PAN | Kiński W. | - | inna afiliacja | Zawidzki M. | - | IPPT PAN |
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