2012 Awards for Excellence

Citation

Li, S. (2013), "2012 Awards for Excellence", Industrial Robot, Vol. 40 No. 1. https://doi.org/10.1108/ir.2013.04940aaa.011

2012 Awards for Excellence

Article Type: 2012 Awards for Excellence From: Industrial Robot An International Journal, Volume 40, Issue 1

The following article was selected for this year's Outstanding Paper Award for Industrial Robot An International Journal

“Implementation of a single motor driven manipulator with multiple joints”

Shiqi LiYang LiuSchool of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China

Ming XieSchool of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore

Purpose – The purpose of this paper is to present the design and implementation of a new manipulator with six joints driven by a single DC motor.

Design/methodology/approach – The manipulator consists of several modules, each of which has the twisting and pivoting degrees of freedom. Two clutches and one brake are mounted to control each joint. A clutch model based on PWM control is built to compute the average velocity of each clutch. Two parameters are involved in the model: PWM frequency and duty ratio. PWM frequency is limited by the natural frequencies of structure with all postures. The theoretical duty ratio should be adjusted according to the clutch model. Two experiments-line tracking and arc-tracking are carried out to verify the effectiveness of the control system.

Findings – The study has designed a manipulator with six joints driven by a single DC motor which powers all the modules through a main shaft and several clutches. In the manipulator, all the modules are supplied with a constant speed input and provide a bi-directional variable output. Experimental results show the clutch model built for the manipulator can be applied to the joint control of all multi-joint manipulators.

Originality/value – The paper describes a dexterous and lightweight manipulator driven by a single motor and designed with bi-directional joints.

Keywords Actuators, Control systems, Electric motors, Robotics

www.emeraldinsight.com/10.1108/01439911111097841

This article originally appeared in Volume 38 Number 1, 2011, pp. 48-57 Industrial Robot An International Journal

The following article was selected for this year's Highly Commended Award

“Real-time collision avoidance algorithm for robotic manipulators”

Paul Bosscher and Daniel Hedman

This article originally appeared in Volume 38 Number 2, 2011, Industrial Robot An International Journal

“Three-dimensional weld seam tracking for robotic welding by composite sensing technology”

Shanchun Wei, Meng Kong, Tao Lin and Shanben Chen

This article originally appeared in Volume 38 Number 5, 2011, Industrial Robot An International Journal

“Shanchun Wei, Meng Kong, Tao Lin and Shanben Chen”

Heping Chen, Jianjun Wang, Biao Zhang and Thomas Fuhlbrigge

This article originally appeared in Volume 38 Number 6, 2011, Industrial Robot An International Journal

Outstanding Reviewer

Professor Hong Yue