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Journal of Mechanisms and Robotics | Volume 8 | Issue 1 | research-article
Technical Brief

Novel Robotic Manipulator With Four Screws for Automated Storage and Retrieval System

[+] Author and Article Information
Dan Wang, An Mo, Te Shan

Department of Mechanical Engineering,
Tsinghua University,
Beijing 100084, China;Key Laboratory for Advanced Materials
Processing Technology,
MOE,
Beijing 100084, China

Wenzeng Zhang

Department of Mechanical Engineering,
Tsinghua University,
Beijing 100084, China;Key Laboratory for Advanced Materials
Processing Technology,
MOE,
Beijing 100084, China;State Key Laboratory of Tribology,
Tsinghua University,
Beijing 100084, China

Zhenguo Sun

Department of Mechanical Engineering,
Tsinghua University,
Beijing 100084, China;Key Laboratory for Advanced Materials
Processing Technology,
MOE,
Beijing 100084, China
e-mail: sunzhg@mail.tsinghua.edu.cn

Qiang Chen

Department of Mechanical Engineering,
Tsinghua University,
Beijing 100084, China;Key Laboratory for Advanced Materials
Processing Technology,
MOE,
Beijing 100084, China;Yangtze Delta Region Institution of Tsinghua University,
Zhejiang 314006, China

1Corresponding author.

Manuscript received July 9, 2014; final manuscript received June 23, 2015; published online August 18, 2015. Assoc. Editor: Satyandra K. Gupta.

J. Mechanisms Robotics 8(1), 014501 (Aug 18, 2015) (6 pages) Paper No: JMR-14-1161; doi: 10.1115/1.4030985 History: Received July 09, 2014
Article
References
Figures
Tables

With a new perspective, this paper integrates the concept of automated storage and retrieval system (AS/RS) in production and distribution with high-throughput screening (HTS) system and strikes out a new path in designing AS/RS in biological and medical laboratories. Robotic manipulators are used in AS/RSs to pick-and-place objects. Robot hands are proper to fulfill this function, whereas they are complex in mechanical control system. In this paper, a novel four-screw robotic (FSR) manipulator is presented. Kinematics and dynamics framework of the FSR manipulator is given.
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References

1
Roodbergen, K. J. , and Vis, I. F. , 2009, “A Survey of Literature on Automated Storage and Retrieval Systems,” Eur. J. Oper. Res., 194(2), pp. 343–362. [CrossRef]
2
Gagliardi, J. P. , Renaud, J. , and Ruiz, A. , 2012, “Models for Automated Storage and Retrieval Systems: A Literature Review,” Int. J. Prod. Res., 50(24), pp. 7110–7125. [CrossRef]
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Mayr, L. M. , and Bojanic, D. , 2009, “Novel Trends in High-Throughput Screening,” Curr. Opin. Pharmacol., 9(5), pp. 580–588. [CrossRef] [PubMed]
4
Macarron, R. , Banks, M. N. , and Sittampalam, G. S. , 2011, “Impact of High-Throughput Screening in Biomedical Research,” Nat. Rev. Drug Discovery, 10(3), pp. 188–195. [CrossRef]
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Rhode, H. , Schulze, M. , and Renard, S. , 2004, “An Improved Method for Checking HTS/uHTS Liquid-Handling Systems,” J. Biomol. Screening, 9(8), pp. 726–733. [CrossRef]
6
Jacobsen, S. , Iversen, E. , and Knutti, D. , 1986, “Design of the Utah/M.I.T. Dextrous Hand,” IEEE International Conference on Robotics and Automation, (ICRA), San Francisco, CA, Apr. 7–10, pp. 1520–1532.
7
Lovchik, C. , Aldridge, H. , and Diftler, M. , 1999, “Design of the NASA Robonaut Hand,” ASME Dynamics and Control Division DSC, Nashville, TN, Nov. 14–19, Vol. 67, pp. 813–830.
8
Salisbury, J. K. , and Craig, J. J. , 1982, “Articulated Hands: Force Control and Kinematic Issues,” Int. J. Rob. Res., 1(1), pp. 4–17. [CrossRef]
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Lotti, F. , Tiezzi, P. , and Vassura, G. , 2005, “Development of UB Hand 3: Early Results,” IEEE International Conference on Robotics and Automation (ICRA 2005), Barcelona, Spain, Apr. 18–22, pp. 4488–4493.
10
Gorner, M. , Wimbock, T. , and Baumann, A. , 2008, “The DLR-Crawler: A Testbed for Actively Compliant Hexapod Walking Based on the Fingers of DLR-Hand II,” IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2008), Nice, France, Sept. 22–26, pp. 1525–1531.
11
Chen, Z. P. , Neal, Y. L. , and Wimboeck, T. , 2010, “Experimental Study on Impedance Control for the Five-Finger Dexterous Robot Hand DLR-HIT II,” IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Taipei, Taiwan, Oct. 18–22, pp. 5867–5874.
12
Shi, S. , Gao, X. , and Jiang, L. , 2004, “Development of the Underactuated Self-Adaptive Robotic Hand,” Robot, 26(6), pp. 496–501.
13
Guo, W. , Li, J. , and Su, W. , 2004, “Designing Research of 3-DOF Humanoid Hand With Self-Adaptation Grasping,” J. Mach. Des., 21(9), pp. 17–19.
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Wu, L. , and Ceccarelli, M. , 2009, “A Numerical Simulation for Design and Operation of an Under-Actuated Finger Mechanism for LARM Hand,” Mech. Based Des. Struct. Mach., 37(1), pp. 86–112. [CrossRef]
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Li, G. , Li, B. , Sun, J. , and Zhang, W. , 2013, “Development of a Directly Self-Adaptive Robot Hand With Pulley-Belt Mechanism,” Int. J. Precis. Eng. Manuf., 14(8), pp. 1361–1368. [CrossRef]
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Figures

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Fig. 1

Schematic diagram of FSR manipulator

+Schematic diagram of FSR manipulator
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Schematic diagram of FSR manipulator
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Fig. 2

FSR system: 1—base, 2—first motor, 3—active screw, 4—first passive screw, 5—second passive screw, 6—third passive screw, 7—microplate, 8—rack, 9—carrier, 10—first active pulley, 11—first belt, 12—first passive pulley, 13—second active pulley, 14—second passive pulley, 15—second belt, 16—third active pulley, 17—third belt, 18—third passive pulley, 19—second motor, 20—object, and 21—pallet

+FSR system: 1—base, 2—first motor, 3—active screw, 4—first passive screw, 5—second passive screw, 6—third passive screw, 7—microplate, 8—rack, 9—carrier, 10—first active pulley, 11—first belt, 12—first passive pulley, 13—second active pulley, 14—second passive pulley, 15—second belt, 16—third active pulley, 17—third belt, 18—third passive pulley, 19—second motor, 20—object, and 21—pallet
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FSR system: 1—base, 2—first motor, 3—active screw, 4—first passive screw, 5—second passive screw, 6—third passive screw, 7—microplate, 8—rack, 9—carrier, 10—first active pulley, 11—first belt, 12—first passive pulley, 13—second active pulley, 14—second passive pulley, 15—second belt, 16—third active pulley, 17—third belt, 18—third passive pulley, 19—second motor, 20—object, and 21—pallet
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Fig. 3

Motion process of FSR system

+Motion process of FSR system
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Motion process of FSR system
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Fig. 4

Geometrical relationship of screws and pallet

+Geometrical relationship of screws and pallet
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Geometrical relationship of screws and pallet
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Fig. 5

Helicoids in a screw of the FSR system

+Helicoids in a screw of the FSR system
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Helicoids in a screw of the FSR system
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Fig. 6

Intersections of plane M and helicoids

+Intersections of plane M and helicoids
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Intersections of plane M and helicoids
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Fig. 14

Operation interface of the FSR system

+Operation interface of the FSR system
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Operation interface of the FSR system
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Fig. 13

Motion process of the FSR system

+Motion process of the FSR system
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Motion process of the FSR system
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Fig. 12

Structure of the FSR system: 1—computer, 2—step motor driver, and 3—USB to RS485 converter

+Structure of the FSR system: 1—computer, 2—step motor driver, and 3—USB to RS485 converter
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Structure of the FSR system: 1—computer, 2—step motor driver, and 3—USB to RS485 converter
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Fig. 9

Force analysis of screws

+Force analysis of screws
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Force analysis of screws
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Fig. 8

Relationships of Δ, y0, and hp

+Relationships of Δ, y0, and hp
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Relationships of Δ, y0, and hp
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Fig. 7

Relationships of x, y0, and α

+Relationships of x, y0, and α
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Relationships of x, y0, and α
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Fig. 11

Simulation of the middle process: (a) stress of screw and (b) displacement of screw

+Simulation of the middle process: (a) stress of screw and (b) displacement of screw
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Simulation of the middle process: (a) stress of screw and (b) displacement of screw
Grahic Jump Location
Fig. 10

Relationship of T, ψ, and n

+Relationship of T, ψ, and n
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Relationship of T, ψ, and n

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