Products: Robotics

The idea behind this project was to design a novel type of multi-rotor underwater robots by taking advantage of a new and effective arrangement of eight propulsions. This type of mini low-height underwater robot was inspired by Zakeri master’s thesis (a mini unmanned underwater vehicle equipped with a new arrangement of waterjet propulsions). However, due to the lack of required equipment and facilities, this idea did not come into reality and only the schematic of the robot is designed by using SOLIDWORK software.

This project deals with designing and constructing a new type of underwater robot equipped with six waterjet propulsion. Using waterjet propulsions has several advantages compared to the conventional propeller ones such as producing lower noise, faster response to the controller command, producing no undesirable torque, and implementing an effective arrangement of propulsions. The proposed underwater robot in this research enjoys from two water pump and six servo valves with a proper arrangement of guided waterjet output in order to be controllable in its six degrees of freedom. In order to control this underwater robot a wide range of different methods such as PID, Fuzzy logic, Quantitive Feedback Theory, and Sliding Mode, is employed. Furthermore, in addition to performing a number of simulation tests, several experimental tests are carried out to illustrate the robot prototype capabilities and examine the performance of applied controllers.

In this project, dynamic modeling, control, design, and construction of the 3-RPR parallel robot are investigated. Based on the Lagrange equations method, the equations of motion of the robot are derived in both cases of rigid and flexible intermediate links. In this study, for controlling 3-RPR robot, the feedback linearization and the sliding mode controllers are selected. Also, in order to control this robot, a quantitative feedback theory (QFT), for which the relations are expressed in the frequency domain, is used. Then, the end-effector of the robot is controlled on the short and smooth path in the presence of numerous obstacles, which are produced by the Modified Cuckoo Optimization Algorithm. To verify the equations of motion and also the control laws, the robot is simulated in Adams and Simmechanics software. To validate the simulation results, an experimental setup is designed and constructed. In order to communicate with the experimental model of the robot, a graphical software is also designed and developed. Finally, a robust optimal fuzzy and PID controllers based on the Pulse Width Modulation (PWM) technique are proposed to control a laboratory parallel robot using inexpensive on/off solenoid valves.

This parallel Delta robot is equipped with three electro-pneumatic actuators, enabling it to handle significantly higher loads compared to conventional electric actuators.

Each actuator operates using a set of six fast 2/3 on-off solenoid valves, allowing the robot’s end-effector to follow precise and rapid trajectory tracking. The system can be controlled using various platforms such as MATLAB-Simulink, LabVIEW, or Python, making it suitable for a wide range of motion tracking tasks and application scenarios.