Qorayaasha:  (1) Jorge Francisco Garcia-Samartın, Xarunta Automation iyo Robotics (UPM-CSIC), Jaamacadda Polytechnic ee Madrid - Golaha Sare ee Cilmi-baarista Sayniska, Jose Gutierrez Abascal 2, 28006 Madrid, Spain (jorge.gsamartin@upm.es);  (2) Adrian Rieker, Xarunta Automation iyo Robotics (UPM-CSIC), Jaamacadda Polytechnic ee Madrid - Golaha Sare ee Cilmi-baarista Sayniska, Jose Gutierrez Abascal 2, 28006 Madrid, Spain;  (3) Antonio Barrientos, Xarunta Automation iyo Robotics (UPM-CSIC), Jaamacadda Polytechnic ee Madrid - Golaha Sare ee Cilmi-baarista Sayniska, Jose Gutierrez Abascal 2, 28006 Madrid, Spain.  Shaxda Xiriirinta   Abstract iyo 1 Hordhac  2 Shaqooyinka la xidhiidha   2.1 Dhaqdhaqaaqa Pneumatic   2.2 Gacmaha Pneumatic   2.3 Xakamaynta Robotyada Jilicsan  3 BULUS: Naqshadeynta iyo Wax-soo-saarka   3.1 Naqshadaynta Robot   3.2 Xulashada Qalabka   3.3 Wax-soo-saarka   3.4 Bangiga Waxqabadka  4 Helitaanka Xogta iyo Xakamaynta Loop Furan   4.1 Dejinta Hardware   4.2 Nidaamka Qabashada Aragtida   4.3 Jiilka Xogta: Qaababka ku salaysan Miiska   4.4 Xakamaynta Loop Furan  5 Natiijooyin   5.1 Nooca u dambeeya ee PAULU   5.2 Falanqaynta Goobta Shaqada   5.3 Waxqabadka moodooyinka Miiska-ku-salaysan   5.4 Tijaabooyinka laabashada   5.5 Tijaabooyinka Qaadista Miisaanka   6 Gabagabo   Macluumaadka Maalgelinta   A. Tijaabooyin iyo Tixraacyo la sameeyay  5.5 Tijaabooyinka Qaadista Miisaanka  Ugu dambeyntii, awoodda culeyska ee robot-ka iyo waxqabadka qaabka kinematic-ka ayaa la qiimeeyay waxaana xogta lagu soo ururiyay meel bannaan, oo leh culeysyo kala duwan. Ujeedadaas awgeed, curiye la mid ah isgoysyada u dhexeeya qaybaha, oo sidoo kale lagu daabacay PLA, ayaa lagu dhejiyay robot-ka oo miisaanno kala duwan ayaa la saaray. Qalabka laga hadlayo waxa lagu arki karaa sawirka 20  Tijaabooyinku waxay ka koobnaayeen in PUL uu 10 dhibcood oo kala duwan ka dhigo goobtiisa shaqo iyo isbarbardhigga mawqifka uu gaadhay iyo mawqifkii uu gaadhi lahaa haddii aanu miisaan lahayn. Isbarbardhigga ayaa sidaas darteed la sameeyay iyadoo la adeegsanayo qaabka kinematic-ka hore, sababtoo ah saxnaantiisa weyn. Afar miisaan oo kala duwan ayaa la tijaabiyay: 55, 90, 130 iyo 155 g. Qiimayaashani waxay la mid yihiin kuwa loo isticmaalo shaqooyinka kale ee berrinka ee gebi ahaanba jilicsan   robots-marka laga reebo kuwa isku-dhafan, kuwaas oo, dabcan, leh miisaan culus oo qaadis ah- [47, 61].  Jaantuska 21 ayaa muujinaya natiijooyinka la helay. Khaladaadka celceliska ah waa siday u kala horreeyaan 5.11, 4.40, 8.61 iyo 10.01 mm. Xogtan waxaa laga soo saari karaa in, ka fogaanshaha korodhka korodhka miisaanka leh, waxaa jira laba qaybood: mid ka soo ururiya tijaabooyinka culeyska 55 iyo 90 g iyo mid kale oo kooxo ah 130 iyo 155 g. Qiimaha culeyska hoose, qaabka PAUL wuxuu saadaaliyaa qiyamka leh khaladaadka la midka ah kuwa la helay iyadoo la tashanayo kinematics tooska ah ee miiska la helay miisaan la'aan. Xaaladaha kale, natiijadu waxay si cad u sii xumaanaysaa.   Waxa kale oo la arki karaa in qiyamka khaladka hoose, si kastaba ha ahaatee, ay aad isugu dhow yihiin dhammaan kiisaska. Tani waxay sabab u tahay xaqiiqda ah in, meelaha ugu dhow ee bartamaha goobta shaqada, manipulator wuxuu awood u leeyahay inuu iskiis u dhigo qalad aad u yar, iyada oo aan loo eegin miisaanka uu sido. Waxa culeysku soo saaro, sidaas darteed, maaha koror nidaamsan oo qalad ah laakiin hoos u dhaca goobta shaqada, maadaama PUL ay ka maqan tahay xoogga si uu u gaaro meelaha ka fog xarunta oo leh miisaan dheeraad ah.   Shaxda 5 waxa ay isbarbar dhigaysaa waxqabadka BULUS iyo kuwa lagu gaadhay shaqooyinka kale. Inkasta oo ay jirto meel lagu hagaajin karo, natiijooyinka halkan laga helay way ka fiican yihiin kuwa xakamaynta xiran ee [47], halkaasoo celceliska qaladka la helay uu yahay 2 cm, iyo kuwa manipulator fiilooyinka ah ee [61]. Halka kan dambe uu u muuqdo inuu ka madax bannaan yahay culeyska, PUL wuxuu arkayaa qaladkiisa kororka culeyska sii kordhaya, taas oo u muuqata inay muujineyso in, marka la eego culeysyada sare, PUL uu runtii hoos u dhigi doono.  Laba dhinac ayaa hadhay in la lafo-guro. Dhinaca kale, si loo arko haddii inta u dhaxaysa 90 iyo 130 g korodhka khaladku uu yahay mid horumarsan ama haddii, liddi ku ah, waxaa jira qodob si cad u kala qaybiya labada kooxood. Dhanka kale, waxa kale oo lagama maarmaan noqon doonta in la barto sida hagaajinta saxnaanta marka madhan ay saameynayso saxnaanta marka la raro: haddii robotku uu ahaan doono mid sax ah ama haddii khaladaadkani aysan hoos u dhicin.  Warqadan waxaa   hoos timaada shatiga CC BY-NC-SA 4.0 DEED. laga heli karaa arxiv ee

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