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Arm-Z: an extremely modular hyper-redundant low-cost manipulator -- development of control methods and efficiency analysis

2019/33/B/ST8/02791

Keywords

Descriptors

  • ST8_009: Wzornictwo, projektowanie wyrobów i maszyn, ergonomia, układ człowiek-maszyna
  • ST7_001: Inżynieria sterowania w automatyce i robotyce
  • ST7_010: Sprzętowa implementacja algorytmów

Panel

ST8 – Production and processes engineering: modelling, product design, process design and control, construction methods and engineering, power units and systems

Host institution

Instytut Podstawowych Problemów Techniki Polska Akademia Nauk

Voivodeship: mazowieckie

Other projects carried out by the institution »

Principal investigator (from the host institution)

dr Maciej Daniel Zawidzki

Number of co-investigators in the project: 5

Call

OPUS 17 – announced on 2019-03-15

Amount awarded
752 456 PLN
Project start date
2020-01-31
Project end date
2024-12-30
Project duration
59 months (the same as in the proposal)
Project status
Project settled

Project description

Download the project description in a pdf file

Note — project descriptions were prepared by the authors of the applications themselves and placed in the system in an unchanged form.

Information in the final report

Publication in academic press/journals (8)

  1. Przykłady Małej Architektury w oparciu o System Arm-Z

    Authors:
    E. Zawidzka, J. Szklarski, J. Kobaka, M. Zawidzki
    Academic press:
    POMIARY - AUTOMATYKA - ROBOTYKA (year: 2024, volume: 2, pages: 73-80), Publisher: Łukasiewicz - PIAP
    Status:
    Published
    DOI:
    10.14313/PAR_252/73 – link to the publication

  2. Optimization Problem of the size-scale for a Foldable Chain Scissors Structure based on Stress Analysis

    Authors:
    Keigo Y., Ario I., Zawidzki M., Yuta H.
    Academic press:
    Journal of Physics: Conference Series (year: 2024, volume: 2647, pages: 46031), Publisher: IOP Publishing
    Status:
    Published
    DOI:
    10.1088/1742-6596/2647/4/042005 – link to the publication

  3. MorphoGen: Topology optimization software for Extremely Modular Systems

    Authors:
    Piotr Tauzowski, Bartlomiej Blachowski, Ela Zawidzka, Machi Zawidzki
    Academic press:
    SoftwareX (year: 2024, volume: 27, pages: 46032), Publisher: Elsevier
    Status:
    Published
    DOI:
    10.1016/j.softx.2024.101797 – link to the publication

  4. Discrete (two-state) modular hyper-redundant planar manipulator

    Authors:
    E. Zawidzka, M. Zawidzki
    Academic press:
    Computer Assisted Methods in Engineering and Science (year: 2022, volume: 29(4), pages: 397-407), Publisher: IPPT PAN
    Status:
    Published
    DOI:
    link to the publication

  5. Simulation of simple movements of Arm-Z oblique swivel joint chain manipulator

    Authors:
    Zawidzka E., Zawidzki M.
    Academic press:
    Pomiary Automatyka Robotyka (year: 2023, volume: 44958, pages: 59-67), Publisher: Industrial Research Institute for Automation and Measurements PIAP
    Status:
    Published
    DOI:
    link to the publication

  6. The Overview of Optimization Methods Applied to Truss-Z Modular System

    Authors:
    M. Zawidzki
    Academic press:
    Computer Assisted Methods in Engineering and Science (year: 2020, volume: 27 (2-3), pages: 155–176), Publisher: Instytut Podstawowych Problemów Techniki PAN
    Status:
    Published
    DOI:
    link to the publication

  7. Prototyp ekstremalnie modularnego hiperredundantnego manipulatora Arm-Z

    Authors:
    Zawidzka E., Zawidzki M., Kinski W.
    Academic press:
    Pomiary Automatyka Robotyka (year: 2023, volume: 1, pages: 39-44), Publisher: Sieć Badawcza Łukasiewicz − Przemysłowy Instytut Automatyki i Pomiarów PIAP
    Status:
    Published
    DOI:
    10.14313/PAR_247/39 – link to the publication

  8. Symulacja inspekcji przestrzennej ekstremalnie modularnym hiper-redundantnym manipulatorem Arm-Z

    Authors:
    E. Zawidzka, J. Szklarski, T. Pokiniewski, M. Zawidzki
    Status:
    Accepted for publication

Articles in post-conference publications (13)

  1. Optimization Problem of the size-scale for Foldable Chain Scissors Structure based on Stress Analysis

    Authors:
    Yoshida K., Ario I., Zawidzki M., Hama Y
    Conference:
    Proceedings of EURODYN 2023 – the 12th International Conference on Structural Dynamics (year: 2023, volume: EURODYN 2023 – the 12th International Conference on Structural Dynamics, pages: 46031), Publisher: n/a
    Date:
    conference 2-5 lipca 2023
    Status:
    Published

  2. Arm-Z: A Hyper-redundant Modular Inspection Manipulator (For Extreme Environments

    Authors:
    E. Zawidzka, W. Kiński, J. Szklarski, M. Zawidzki
    Conference:
    WEO 2021: 2nd Workshop on Engineering Optimization (year: 2021, volume: WEO 2021: 2nd Workshop on Engineering Optimization, pages: 46025), Publisher: IPPT PAN
    Date:
    conference 7-8.10.2021
    Status:
    Published
    DOI:
    link to the publication

  3. Quasi-Static Approximation in Topology Optimization of Beam Structure Subjected to Modal Inertial Forces

    Authors:
    P. Tauzowski, M. Zawidzki and B. Blachowski
    Conference:
    Proceedings of the Eighteenth International Conference on Civil, Structural and Environmental Engineering Computing (year: 2025, volume: CST 2025: Eighteenth International Conference on Civil, Structural and Environmental Engineering Computing, pages: 46033), Publisher: Civil-Comp
    Date:
    conference 27-29 August 2025
    Status:
    Published
    DOI:
    10.4203/ccc.10.4.4 – link to the publication

  4. Reinforced Learning for Ground Movement of the Hyperreduntant Modular Robot

    Authors:
    Szklarski J., Zawidzka E., Zawidzki M.
    Conference:
    Progress in Polish Artificial Intelligence Research 5 (year: 2024, volume: PP-RAI 2024: 5th Polish Conference on Artificial Intelligence, pages: 346-353), Publisher: Warsaw University of Technology
    Date:
    conference 18 - 20.04 2024
    Status:
    Published
    DOI:
    10.17388/WUT.2024.0002.MiNI – link to the publication

  5. Topology Optimization of a 6-DOF Arm-Z Modular Robotic Manipulator

    Authors:
    Tauzowski P., Błachowski B., Zawidzka E., Jankowski Ł., Zawidzki M.
    Conference:
    Proceedings of the Fifteenth International Conference on Computational Structures Technology (year: 2024, volume: CST 2025: 15th International Conference on Computational Structures Technology, pages: 46030), Publisher: Civil-Comp
    Date:
    conference 4-6 09 2024
    Status:
    Published
    DOI:
    10.4203/ccc.9.5.2 – link to the publication

  6. Preliminary Prototype of a 4-Unit Arm-Z Hyper-redundant Modular Manipulator

    Authors:
    Zawidzka E., Kiński W., Zawidzki M.
    Conference:
    AUTOMATION 2021: Automation 2021: Recent Achievements in Automation, Robotics and Measurement Techniques (year: 2021, volume: AUTOMATION 2021, pages: 285-294), Publisher: Springer
    Date:
    conference 44317
    Status:
    Published
    DOI:
    10.1007/978-3-030-74893-7_27 – link to the publication

  7. Kinetic Street Furniture with Arm-Z

    Authors:
    Zawidzka E., Zawidzki M.
    Conference:
    WIT Transactions on the Built Environment (year: 2022, volume: International Conference on High Performance and Optimum Structures and Materials Encompassing Shock and Impact Loading, pages: 15-22), Publisher: WIT Press
    Date:
    conference 11–13 July 2022
    Status:
    Published
    DOI:
    10.2495/HPSU220021 – link to the publication

  8. Extremely Modular Arm-Z manipulator

    Authors:
    Zawidzka E., Chikahiro Y., Ario I
    Conference:
    Proceedings of the 5th National Convention of the Japan Society of Civil Engineers (year: 2023, volume: The 5th National Convention of the Japan Society of Civil Engineers, pages: 46024), Publisher: Japan Society of Civil Engineers
    Date:
    conference 14-15 września 2023
    Status:
    Published

  9. Arm-Z as a modular tracking device

    Authors:
    Zawidzka E., Szklarski J., Zawidzki M
    Conference:
    Proceedings of Seventh International Congress on Information and Communication Technology (year: 2022, volume: ICICT 2022, pages: 429-437), Publisher: Springer
    Date:
    conference 23-24 February 2022
    Status:
    Published
    DOI:
    10.1007/978-981-19-1610-6_37 – link to the publication

  10. Prototype of the Arm-Z modular solar tracker

    Authors:
    E. Zawidzka, J. Szklarski , W. Kinski, M. Zawidzki
    Conference:
    Automation 2022: New Solutions and Technologies for Automation, Robotics and Measurement Techniques (year: 2022, volume: Automation 2022, pages: 273-282), Publisher: Springer
    Date:
    conference 25 – 27 may 2022
    Status:
    Published
    DOI:
    10.1007/978-3-031-03502-9_28 – link to the publication

  11. Simulation of 6-DOF Modular Arm-Z Manipulator in MATLAB Simulink

    Authors:
    Jarek M., Zawalski K., Falkowski P., Zawidzka E., Zawidzki M.
    Conference:
    Lecture Notes in Networks and Systems (year: 2025, volume: Automation 2024: Advances in Automation, Robotics and Measurement Techniques, pages: 176-191), Publisher: Springer
    Date:
    conference 8-9 maja 2024
    Status:
    Published
    DOI:
    10.1007/978-3-031-78266-4_16 – link to the publication

  12. Design and construction of a 6-DOF modular robotic Arm-Z

    Authors:
    Zawalski K., Jarek M., Falkowski P., Zawidzka E., Zawidzki M.
    Conference:
    Lecture Notes in Networks and Systems (year: 2024, volume: Automation 2024: Advances in Automation, Robotics and Measurement Techniques, pages: 139-150), Publisher: Springer
    Date:
    conference 8-9 maja 2024
    Status:
    Published
    DOI:
    10.1007/978-3-031-78266-4_13 – link to the publication

  13. Shelter-Z - a Modular System for Free-Form Backyard Bunkers

    Authors:
    M. Zawidzki, E. Zawidzka, J. Katzer, P. Miarka
    Conference:
    Archives of Civil Engineering (year: 2027, volume: II Międzynarodowa Konferencja Wybrane Problemy Konstrukcji Budowlanych BSD 2024, pages: 46033), Publisher: Warsaw University of Technology Publishing House
    Status:
    Accepted for publication

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Graphic design and implementation: Jakub Piotrowski