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Main Stages of Evolution from Mechanical Automatic Systems to Humanoid Robot

Journal of Mechanics Engineering and Automation 2015年第5期5卷 309-316页

作者： ionel staretu Product Design Mechatronics and Environment Department Product Design and Environment Faculty Transylvania University ofBrasov Brasov 500036 Romania

Since ancient times, man has been concerned to create an artificial structure similar to itself. This concern has remained constant attention and creative thinkers most profound since antiquity until today, it is of greatest interest. This article aims to highlight the most significant moments of the evolution from mechanical creatures mythical or real, from antiquity to the present humanoid robots. There are thus shown the most significant variants humanoid imagined or realized since Talos, described in Greek mythology, continuing with mechanical machines during late Roman Empire, the Byzantine Empire and then the Renaissance of the post-renaissance, then they are shown the main achievements of the industrialization period from the nineteenth to the early part of the twentieth century, then to the most important made in the last decades of the twentieth century and early twenty-first century. The work is important to stimulate concerns academic theorists and practice but also in the industrial practice specializing in robotics and more generally in mechatronics. It also opens the prospect of defining the concept of an artificial humanoid useful both for human prosthesis with certain disabilities, and a humanoid robot performance.

关键词： Mechanical automate humanoid robot service robot medical robot robotics market.

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Structural Synthesis and Workspaces of Serial Robotic Chains with 7 Axes

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Journal of Mechanics Engineering and Automation 2014年第1期4卷 35-39页

作者： ionel staretu Sebastian Jitariu Product Design and Medium Faculty Transilvania University of Brasov

Redundant serial robot kinematic chains with seven axes are an extension of classical 6-axis ones. The structural synthesis of these structures is useful to provide a working basis, including for the promotion of new structures with 7 axes, besides some already existing and applied structures. This paper summarizes kinematic chain structures using a combinatorial method by listing all possible variants of the structures with 7 axes, obtained by adding a rotational or translational coupling, in a parallel or perpendicular position, against the guiding structure with 6 axes consisting of two distinct modules： positioning module （3 axes） and orientation module （3 axes）. Representation of proper workspaces can help the designer in choosing the structure with maximum functionality for a given application.

关键词： Robot structural synthesis redundant kinematic chain workspace.

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Experimental Results Regarding an Anthropomorphic Original Gripper with Two-Finger Tests during Grasping Objects with Varied Shapes

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Journal of Mechanics Engineering and Automation 2014年第3期4卷 234-241页

作者： Marian Bolboe ionel staretu Petre Alexandru Department of Product Design Mechatronics and Medium Faculty of Product Design and Medium Transilvania University ofBrasov Brasov 500036 Romania

The paper presents theoretical and experimental results on an original anthropomorphic gripping concept. Compared to the existing anthropomorphic grippers, this gripper is very simple, yet it has the advantage of high performance in terms of gripping possibilities and a very low manufacturing cost. Source of inspiration was the human hand, which is able to catch objects by only using two fingers. The analyzed anthropomorphic gripper has two fingers, with two phalanxes each, and is based on a new mechanism with articulated bars. The kinematic analysis performed on the gripping mechanism reveals the optimal displacement in the translational coupling, which was experimentally validated. The gripping possibilities were increased by attaching clamping jaws to each phalanx. The clamping jaws have been attached by means of spherical couplings, thus offering the possibility to catch objects with any type of surface. By carrying out gripping tests with different objects, we underline the importance of a safe use of the two-fingered anthropomorphic grippers in different applications. Due to the innovative mechanical structure, the gripper can insure the minimal gripping conditions, whilst the complexity of the objects that can be gripped make it suitable for the use in robots.

关键词： Anthropomorphic gripper robot gripping clamping jaws.

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Design, Prototype and Command for an Anthropomorphic Modular Reconfigurable Gripper with Three Fingers for Industrial Robots

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材料科学与工程（中英文B版） 2014年第2期4卷 20-27页

作者： ionel staretu Sebastian Jitariu Nicolae Joni Faculty of Product Design and Medium Transilvania University of Brasov Brasov 500036 Romania Robcon SRL Timisoara 300479 Romania

This paper describes one anthropomorphic modular reconfigurable gripper for robots, including a prototype and one command solution. For the first time the stages of synthesis, analysis design and functional simulation are presented. The structural synthesis of the anthropomorphic grippers for robots can be made regarding the following main criteria: the number of fingers, the number of phalanxes, the relative dimensions of the phalanxes, the relative position of the fingers, the degree of freedom of the gripping mechanism and the characteristic constructive elements used. We have chosen a version with three identical fingers with three phalanxes on finger. The kinematic synthesis is used to obtain a correct closing of the finger and of the gripping mechanism. The static synthesis solves the problem to obtaining the necessary gripping force on each finger and the total gripping force. With the constructive dimensions a 3D model can be obtained using CATIA soft. Aspects regarding functional CAD and virtual simulations are shown too. For one variant of this type of gripper, the technical documentation is completed and the technical project has all the conditions for practical achievement and a prototype was made. There are two main constructive modules: the support, the palm and the finger. Main technical characteristics of the prototype are indicated. Some aspects regarding actuated and command schemes are shown.

关键词：工业机器人原型制作模块化拟人化可重构手指设计命令

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