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Robot manufacturers, like many other manufacturers, are experiencing increasing competition in a global market where one way to confront the challenge is by making the development process more efficient. One way to speed up the time to market for new products is to take advantage of design optimization based on simulation models. By optimizing performance with the help of dynamic simulation, an immense amount of both time and money may be saved. In this thesis, design optimization strategies for industrial robot design are studied. Often, the trade-offs between performance, cost and quality are essential for design decisions. These tradeoffs can be investigated with the help of simulation models. Generating the trade-offs can be both cumbersome and time-consuming, but the process may be partly automated with the help of optimization algorithms. How the optimization problem needs to be formulated to generate the trade-off is discussed in this thesis. Robot design problems usually consist of a mixture of deciding continuous parameters as well as selecting components from catalogs and databases. Hence, there is a need for optimization algorithms which can handle variables of both a discrete and a continuous nature. A new method has been developed to address this problem. The method has also been improved by adding adaptive characteristics for further efficient design optimization. The ideas in this thesis have been applied to both simulation models of conceptual degrees of elaboration as well as simulation models of complete robot systems. An optimization procedure which shows how optimization can be used in the early phases of a development process is developed. The objective of the optimization is to determine optimal gearboxes and arm lengths from an acceleration capability perspective. An optimization based design method for robot drive trains is also presented. For further efficient use of already installed robots the concept of application adapted performance optimization is introduced. This means that the robot control is optimized with respect to thermal and fatigue load for the specific program that the robot performs. The motion program itself, i.e. the path planning, can be optimized at the same time in order to get the most out of the robot.

The topic of this master thesis is conceptual design of firefighting robot. The thesis shows alternative approach to designing robot in comparison with other current designs. The final product is quadrupedal robot, which can either walk or move on tracks. Robot is designed for indoor and outdoor firefighting.

Observando-se as diversas aplicações de robôs na área de serviços é possível perceber uma crescente busca por manipulação de ferramentas em lugares elevados utilizando dispositivos robóticos, visto que tais tarefas exigem a utilização de diversos equipamentos de segurança e apresentam um alto risco à presença humana. Os exemplos mais comuns desse tipo de tarefa são: inspeção de: máquinas de grande porte, tanques de armazenamento, silos, postes, linhas de transmissão e distribuição de energia elétrica, etc. Com o intuito de aplicar robôs a essas tarefas, e consequentemente aumentar a segurança e eficiência dessas operações, foi realizado, primeiramente neste trabalho, um estudo sobre as classes de robôs manipuladores existentes. Para tanto adotou-se uma classificação que separa os robôs de acordo com o número de juntas, o que gera uma divisão em três diferentes grupos, robôs discretos, robôs do tipo serpente e robôs contínuos. Ao analisar as três classes, observa-se que os robôs contínuos possuem mais graus de liberdade que os outros grupos, apresentando como estrutura uma coluna vertebral continuamente deformável, que em oposição aos tradicionais manipuladores robóticos elo/junta/elo, possuem mecanismos mais simplificados, controle menos complexo devido ao menor número de atuadores e podem interagir com obstáculos encontrados em seu ambiente sem criar grandes forças de contato. Ao utilizar configurações extrínsecas, ou seja, posicionando os atuadores fora da estrutura do robô, e transmitindo o movimento utilizando cabos, é possível construir robôs com alta isolação elétrica, o que é de grande utilidade para operações que envolvem tarefas nas proximidades de redes elétricas de alta tensão. Apesar das diversas vantagens, não foram encontradas na literatura aplicações de robôs contínuos na realização de tarefas em alturas elevadas. Levando em consideração as vantagens oferecidas pelos robôs contínuos, este trabalho propõe o estudo e a aplicação de um robô do tipo contínuo que possua uma arquitetura mais adequada para realizar trabalhos a alturas elevadas. Com o intuito de demonstrar as vantagens oferecidas por essa arquitetura, será realizado um estudo de caso no qual o objeto a ser inspecionado são as cruzetas de madeira em postes de distribuição de energia elétrica. Em uma segunda etapa, elabora-se o projeto mecânico do robô contínuo proposto, onde são detalhados os mecanismos propostos e são feitas simulações utilizando o método dos elementos finitos para analisar o comportamento da estrutura quando submetida a carregamentos. Em uma terceira etapa, adotando-se uma estratégia de controle seqüencial é elaborado o projeto de controle. Em uma ultima etapa, com o intuito de analisar o funcionamento do robô é construído um protótipo, com o qual são feitos os testes. / Among several applications of robots in the service field, it is possible to percept an increasing interest in manipulate tools in higher positions using automatic devices, due to the fact that such activities are high risked operations and demands the use of several safety equipments. The most common examples of this kind of activity are the inspection of machines, silos, electrical distribution poles, etc. With the aim of apply robots to these activities and increase the safety and efficiency in these operations, as a first step in this work is done the study of different kinds of manipulators. Adopting a classification based on the number of joints, it is possible to separate robots in three different classes: discrete robots, snake-like robots and continuum robots. By analyzing these classes, it is possible to say that continuum robots have more degrees of freedom than the robots of others groups; Compared with the classic discrete robots, continuum robots have simplified mechanisms, simpler control scheme due to the small number of actuators and, in the case of an obstacle, they can contour the obstacle without generating high contact forces. By positioning the actuators out of the robot structure and transferring the motion using cables, i.e., adopting an extrinsic actuation, it is possible to build continuum robots with high electric insulation that is important in applications in which the robot must work near of an electrical distribution network. Despite these advantages, no previous works concerning the use of continuum robots to work in higher positions were found in the literature. Considering the advantages offered by continuum robots, this work proposes a study and application of a continuum robot that uses a more suitable architecture to work in higher positions. Aiming to demonstrate the advantages provided by this architecture, It will be used a case study, in which, the object to be inspected is the wood cross-arms of an electrical poles used in the electrical distribution networks. In a second step, it is done the mechanical project of the robot, where the proposed mechanisms are explained and structural simulations using the finite element method are performed in order to analyze how the structure would react to loads. In a third step, by adopting a strategy of sequential control, it is done the control project. In the last step, with the aim of analyze the robot in practical situation, a prototype is built, which is used to perform the tests.

The recent advancement of robotic technology brings robots closer to assisting us in our everyday spaces, providing support for healthcare, cleaning, entertaining and other tasks. In this dissertation, I refer to these robots as everyday robots. Scholars argue that the key to successful human acceptance lies in the design of robots that have the ability to blend into everyday activities. A challenge remains; robots are an autonomous technology that triggers multi-faceted interactions: physical, intellectual, social and emotional, making their presence visible and even obtrusive. These challenges need more than technological advances to be resolved; more human-centered approaches are required in the design. However to date, little is known about how to support that human-centered design of everyday robots. In this thesis, I address this gap by introducing an initial set of design guidelines for everyday robots. These guidelines are based on four empirical studies undertaken to identify how people live with robots in the home. These studies mine insights about what interaction attributes of everyday robots elicit positive or negative user responses. The guidelines were deployed in the development of one type of everyday robot: a senior-care robot called HomeMate. It shows that the guidelines become useful during the early development process by helping designers and robot engineers to focus on how social and emotional values of end-users influence the design of the technical functions required. Overall, this thesis addresses a question how we can support the design of everyday robots to become more accepted by users. I respond to this question by proposing a set of design guidelines that account for lived experiences of robots in the home, which ultimately can improve the adoption and use of everyday robots.

Observando-se as diversas aplicações de robôs na área de serviços é possível perceber uma crescente busca por manipulação de ferramentas em lugares elevados utilizando dispositivos robóticos, visto que tais tarefas exigem a utilização de diversos equipamentos de segurança e apresentam um alto risco à presença humana. Os exemplos mais comuns desse tipo de tarefa são: inspeção de: máquinas de grande porte, tanques de armazenamento, silos, postes, linhas de transmissão e distribuição de energia elétrica, etc. Com o intuito de aplicar robôs a essas tarefas, e consequentemente aumentar a segurança e eficiência dessas operações, foi realizado, primeiramente neste trabalho, um estudo sobre as classes de robôs manipuladores existentes. Para tanto adotou-se uma classificação que separa os robôs de acordo com o número de juntas, o que gera uma divisão em três diferentes grupos, robôs discretos, robôs do tipo serpente e robôs contínuos. Ao analisar as três classes, observa-se que os robôs contínuos possuem mais graus de liberdade que os outros grupos, apresentando como estrutura uma coluna vertebral continuamente deformável, que em oposição aos tradicionais manipuladores robóticos elo/junta/elo, possuem mecanismos mais simplificados, controle menos complexo devido ao menor número de atuadores e podem interagir com obstáculos encontrados em seu ambiente sem criar grandes forças de contato. Ao utilizar configurações extrínsecas, ou seja, posicionando os atuadores fora da estrutura do robô, e transmitindo o movimento utilizando cabos, é possível construir robôs com alta isolação elétrica, o que é de grande utilidade para operações que envolvem tarefas nas proximidades de redes elétricas de alta tensão. Apesar das diversas vantagens, não foram encontradas na literatura aplicações de robôs contínuos na realização de tarefas em alturas elevadas. Levando em consideração as vantagens oferecidas pelos robôs contínuos, este trabalho propõe o estudo e a aplicação de um robô do tipo contínuo que possua uma arquitetura mais adequada para realizar trabalhos a alturas elevadas. Com o intuito de demonstrar as vantagens oferecidas por essa arquitetura, será realizado um estudo de caso no qual o objeto a ser inspecionado são as cruzetas de madeira em postes de distribuição de energia elétrica. Em uma segunda etapa, elabora-se o projeto mecânico do robô contínuo proposto, onde são detalhados os mecanismos propostos e são feitas simulações utilizando o método dos elementos finitos para analisar o comportamento da estrutura quando submetida a carregamentos. Em uma terceira etapa, adotando-se uma estratégia de controle seqüencial é elaborado o projeto de controle. Em uma ultima etapa, com o intuito de analisar o funcionamento do robô é construído um protótipo, com o qual são feitos os testes. / Among several applications of robots in the service field, it is possible to percept an increasing interest in manipulate tools in higher positions using automatic devices, due to the fact that such activities are high risked operations and demands the use of several safety equipments. The most common examples of this kind of activity are the inspection of machines, silos, electrical distribution poles, etc. With the aim of apply robots to these activities and increase the safety and efficiency in these operations, as a first step in this work is done the study of different kinds of manipulators. Adopting a classification based on the number of joints, it is possible to separate robots in three different classes: discrete robots, snake-like robots and continuum robots. By analyzing these classes, it is possible to say that continuum robots have more degrees of freedom than the robots of others groups; Compared with the classic discrete robots, continuum robots have simplified mechanisms, simpler control scheme due to the small number of actuators and, in the case of an obstacle, they can contour the obstacle without generating high contact forces. By positioning the actuators out of the robot structure and transferring the motion using cables, i.e., adopting an extrinsic actuation, it is possible to build continuum robots with high electric insulation that is important in applications in which the robot must work near of an electrical distribution network. Despite these advantages, no previous works concerning the use of continuum robots to work in higher positions were found in the literature. Considering the advantages offered by continuum robots, this work proposes a study and application of a continuum robot that uses a more suitable architecture to work in higher positions. Aiming to demonstrate the advantages provided by this architecture, It will be used a case study, in which, the object to be inspected is the wood cross-arms of an electrical poles used in the electrical distribution networks. In a second step, it is done the mechanical project of the robot, where the proposed mechanisms are explained and structural simulations using the finite element method are performed in order to analyze how the structure would react to loads. In a third step, by adopting a strategy of sequential control, it is done the control project. In the last step, with the aim of analyze the robot in practical situation, a prototype is built, which is used to perform the tests.

No description available.

In the thesis study, it is intended to design and manufacture an anthropomorphic robot head that can resemble human head/neck and eye movements. The designed robot head consists of a 4-DOF neck and a 4-DOF head. The head is composed of 3-DOF eyes and 1-DOF jaw. This work focuses on the head/neck and eyes therefore / the other free to move parts such as eyebrows, eyelids, ears etc. are not implemented. The general kinematic human modeling technique can be applied to facilitate the humanoid robotics design process since human anatomy can be represented as a sequence of rigid bodies connected by joints. In this study, we refer to the anthropometric data in determining the dimensions of all parts in order to have a robot head as human-like as possible. In addition, motion types, motion ranges and their velocities are considered. These factors are of great importance in imitating the human head movements as close as possible. It is intended that the developed humanoid robot head will be used as a research platform in studying fields such as / social interaction between human and robots, artificial intelligence and virtual reality. It will also be an experimental setup to conduct experiments for studying active vision systems.

The Roobots are a robot soccer team which participated in the RoboCup small-sized robot league competition in the years 2000, 2001 and 2002, when they finished in fourth place. This thesis describes the design of the robots in the 2002 team. Design issues for mobile robots in the RoboCup small-sized robot league are reviewed. The design decisions are presented. Finally, some lessons learnt for system design and project management from the three years of competition are presented.

This thesis solves design of the pneumobile bodywork designated for robotic manufacturing using curved folding method. The thesis evaluates possibilities of this technology and issue of specific behaviour of CCF geometries. With intention to simplify and speedup the proces of designing, the suggestion of software tool for CCF geometry simulation is proposed. Obtained pieces of knowledge are being used in creating the prototype of designed solution using curved folding.