Manufacturing and Control of a Robotic Arm Used in an Educational Mechatronic Platform for Laser Treatments, Followed by Cooling at Low Temperatures
Source abstract
Abstract
In this paper, we present a mechatronic platform that must be used for the handling of thermally processed samples using laser equipment, after which it is cooled at low temperatures. In addition to the laser and cryogenic equipment, the mechatronic platform includes one robotic arm (with a new modular structure that allows it to adapt to different working places) for sample transfer between storage areas, a controlling system for the robotic arm based on a new haptic device with physical feedback, a laser system, a cryogenic system, and an optical thermal processing measurement system. A new VR application enables remote control of a robotic arm, ensuring user safety using a haptic device based on the VR model. We exemplified the process of manufacturing the parts for the robotic arm and glove using a 3D printing method.
Source: crossref · Quality: baseline
Research context
OpenAlex topics: Robotics and Automated Systems · Teleoperation and Haptic Systems · Robot Manipulation and Learning
SciVX discovery tags are terminology-based. OpenAlex topics are source-provided classifications.
Affiliations
Mechatronics and Precision Mechanics Department, Faculty of Mechanical Engineering and Mechatronics, University Politehnica of Bucharest, 060042 Bucharest, Romania
Funding
National University of Science and Technology Politehnica Bucharest
References (44)
Show source-provided references
1. Influence of cryogenic treatment on hardness, tensile properties, and microstructure of aluminum alloy AA606110.1016/j.matpr.2022.02.131 ↗
2. Effects of the combined heat and cryogenic treatment on the stability of austenite in a high Co-Ni steel10.1515/amm-2015-0358 ↗
3. Combined effects of cryogenic treatment and tempering on microstructural and tribological features of AISI H13 steel10.1016/j.matchemphys.2022.126802 ↗
4. Effect of Cryogenic Heat Treatment and Heat Treatment on the Influence of Mechanical, Energy, and Wear Properties of 316L Stainless Steel by Selective Laser Melting10.1007/s11837-022-05382-1 ↗
5. Effects of traditional heat treatment and a novel deep cryogenic treatment on microstructure and mechanical properties of low-carbon high-alloy martensitic bearing steel10.1007/s42243-020-00527-5 ↗
6. Laser safety: The need for protocols10.12788/cutis.0025 ↗
7. Vega-Bosch, A., Santamarina-Campos, V., Colomina-Subiela, A., and Carabal-Montagud, M.-Á. (2022). Cryogenics as an Advanced Method of Cleaning Cultural Heritage: Challenges and Solutions. Sustainability, 14.10.3390/su14031052 ↗
8. (2024, September 10). JSC Safety and Health Requirements, Available online: https://www.nasa.gov/wp-content/uploads/2023/06/jpr1700-1ch6-4l.pdf.
9. Zhang, Q., Liu, Q., Duan, J., and Qin, J. (2023). Research on Teleoperated Virtual Reality Human-Robot Five-Dimensional Collaboration System. Biomimetics, 8.10.3390/biomimetics8080605 ↗
10. Luu, T., Nguyen, Q., Tran, T., Tran, M.Q., Ding, S., Kua, J., and Hoang, T. (2024, January 02). Effectiveness of IoT and VR for Real-Time Teleoperation of Industrial Robots. Preprint (Version 1). Research Square. Available online: https://www.researchsquare.com/article/rs-3812859/v1.10.21203/rs.3.rs-3812859/v1 ↗
11. Teleoperation methods and enhancement techniques for mobile robots: A comprehensive survey10.1016/j.robot.2021.103973 ↗
12. Lee, S.H., Jeong, D.Y., Kim, I.S., Lee, D.I., Cho, D.Y., and Lee, M.C. (2009, January 18–21). Control of robot manipulator for storing cord blood in cryogenic environments. Proceedings of the 2009 ICCAS-SICE, Fukuoka, Japan.
13. French, R., Marin-Reyes, H., and Kourlitis, E. (2016, January 6–9). Usability study to qualify a dexterous robotic manipulator for high radiation environments. Proceedings of the 2016 IEEE 21st International Conference on Emerging Technologies and Factory Automation (ETFA), Berlin, Germany.10.1109/ETFA.2016.7733521 ↗
14. A large-scale inflatable robotic arm toward inspecting sensitive environments: Design and performance evaluation10.1109/TIE.2022.3232643 ↗
15. Design and implementation of a robotic arm prototype for a streamlined small chocolate packaging process
16. Mourtzis, D., Angelopoulos, J., and Panopoulos, N. (2022). Closed-loop robotic arm manipulation based on mixed reality. Appl. Sci., 12.10.3390/app12062972 ↗
17. Herbst, F., Suppelt, S., Schäfer, N., Chadda, R., and Kupnik, M. (2025). HELENE: Six-Axis Accessible Open-Source 3D-Printed Robotic Arm for Research and Education. Hardware, 3.10.3390/hardware3030007 ↗
18. Sokovic, M., Bozic, D., Lukic, D., Milosevic, M., Sokac, M., and Santosi, Z. (2025). Physical Adaptation of Articulated Robotic Arm into 3D Scanning System. Appl. Sci., 15.10.3390/app15105377 ↗
19. Michalik, P., Molnár, V., Fedorko, G., Stehlíková, B., Tirpak, P., and Macej, J. (2021). Research on the Influence of Production Technologies on the Positioning Accuracy of a Robotic Arm for Low-Handling Weights. Appl. Sci., 11.10.21203/rs.3.rs-494018/v1 ↗
20. Yifeng, G., Ge, S., Nair, A., Bidwai, A., Raghuram, C.S., Grezmak, J., Sartoretti, G., and Daltorio, K.A. (2023). Legged robots for object manipulation: A review. Front. Mech. Eng., 9.10.3389/fmech.2023.1142421 ↗
21. Jiawei, M., Buzzatto, J., Yuanchang, L., and Liarokapis, M. (2022). On Aerial Robots with Grasping and Perching Capabilities: A Comprehensive Review. Front. Robot. AI, 8.10.3389/frobt.2021.739173 ↗
22. Mazzeo, A., Aguzzi, J., Calisti, M., Canese, S., Vecchi, F., Stefanni, S., and Controzzi, M. (2022). Marine Robotics for Deep-Sea Specimen Collection: A Systematic Review of Underwater Grippers. Sensors, 22.10.3390/s22020648 ↗
23. State-of-the-art robotic grippers, grasping and control strategies, as well as their applications in agricultural robots: A review10.1016/j.compag.2020.105694 ↗
24. State of the Art in Artificial Wrists: A Review of Prosthetic and Robotic Wrist Design10.1109/TRO.2018.2865890 ↗
25. Hernandez, J., Sunny, M.S.H., Sanjuan, J., Rulik, I., Zarif, M.I.I., Ahamed, S.I., Ahmed, H.U., and Rahman, M.H. (2023). Current Designs of Robotic Arm Grippers: A Comprehensive Systematic Review. Robotics, 12.10.3390/robotics12010005 ↗
26. A statistical review of industrial robotic grippers10.1016/j.rcim.2017.05.007 ↗
27. Implementation of an origami inspired gripper robot for picking objects of variable geometry
28. Grămescu, B., Cartal, L.A., Hashim, A.S., and Nițu, C. (2019). Clamping Mechanisms of an Inspection Robot Working on External Pipe Surface. ICOMECYME 2019: Proceedings of the International Conference of Mechatronics and Cyber-MixMechatronics 2019, Springer.10.1007/978-3-030-26991-3_20 ↗
29. Ciobanu, R., Rizescu, C.I., Rizescu, D., and Gramescu, B. (2024). Surface Durability of 3D-Printed Polymer Gears. Appl. Sci., 14.10.3390/app14062531 ↗
30. Zhang, S., Xia, Q., Chen, M., and Cheng, S. (2023). Multi-Objective Optimal Trajectory Planning for Robotic Arms Using Deep Reinforcement Learning. Sensors, 23.10.3390/s23135974 ↗
31. Development of a prototype 6 degree of freedom robot arm10.1016/j.rineng.2023.101049 ↗
32. Injection molding of soft robots10.1002/admt.202100605 ↗
33. 3D printed robotic arm with elements of artificial intelligence10.1016/j.procs.2020.09.013 ↗
34. A comparative study on mechanical properties of Ti–6Al–4V alloy processed by additive manufacturing vs. traditional processing10.1016/j.msea.2021.141384 ↗
35. Gao, B., Zhao, H., Peng, L., and Sun, Z. (2022). A review of research progress in selective laser melting (SLM). Micromachines, 14.10.3390/mi14010057 ↗
36. A short review on 3D printing methods, process parameters and materials10.1016/j.matpr.2020.10.225 ↗
37. Wickramasinghe, S., Do, T., and Tran, P. (2020). FDM-based 3D printing of polymer and associated composite: A review on mechanical properties, defects and treatments. Polymers, 12.10.3390/polym12071529 ↗
38. Powder bed fusion process: A brief review10.1016/j.matpr.2020.08.415 ↗
39. Wang, J.J., Liu, E., Tor, S.B., and Chua, C.K. (2016, January 16–19). Metal 3D printing via selective laser melting and direct metal deposition: Materials, properties and applications. Proceedings of the 2nd International Conference on Progress in Additive Manufacturing (Pro-AM 2016), Singapore.
40. Rizescu, C.I., Besnea, D., Rizescu, D., Moraru, E., and Constantin, V. (2019). Mechanical analysis of leaf springs realized by additive technologies. Advances in Manufacturing II: 1-Solutions for Industry 4.0, Springer International Publishing.10.1007/978-3-030-18715-6_26 ↗
41. The using of additive manufacturing for prototype production of moulds
42. Tümer, E.H., and Erbil, H.Y. (2021). Extrusion-based 3D printing applications of PLA composites: A review. Coatings, 11.10.3390/coatings11040390 ↗
43. Research regarding the influence of different printing strategies on the mechanical characteristics of some FDM manufactured structures10.1088/1757-899X/1262/1/012032 ↗
44. Study on 3D printing of gyroid-based structures for superior structural behaviour10.1007/s40964-021-00191-5 ↗