Modeling of 2R Planar Dumbbell Stacker Robot Locomotion Using Force Control for Gripper Dexterous Manipulation
Round 1
Reviewer 1 Report
This paper describes the application of a new approach to the design of the robotic system’s dexterity manipulator arm. Firstly, the position, velocity and acceleration equations of planar 2R manipulator are derived. Secondly, an impedance control strategy is proposed and simulated by Matlab/ Simulink software. In addition, various force parameters such as friction, damping were evaluated. The dynamic behavior of the robotic system was described by Lagrange dynamics equations to find the acceleration of the robot’s joints during friction interaction, and the energy performance was described. The manuscript can be accepted after major revision. The following comments may be helpful in improving the manuscript: Comments to the Author： 1. This chapter is logically confusing, for example, section 2.6 is the design of the mechanical structure of the robot gripper, which is suggested to be placed in the mechanical part. 2. In section 2.1, the description of mechanical structure is too simple, and Figure 1 is not standardized. It is recommended to draw with professional drawing tools. 3. It is recommended to mark the parameters used in the derivation of subsequent formulas, such as X&Y axis direction, 1、2et al. 4. Formula 4&5 was derived incorrectly. How does the derivative of formula 5 of a 2 by 1 matrix give you a 2 by 2 matrix?The structure of formula 5 cannot be derived by attempt, please re-derive or explain. 5. Revise the formula carefully, taking care to distinguish between vectors and scalars, such as P. 6. The description of contact force in Section 2.7 has no substantive content, and it is not recommended to be used as a separate section. 7. Results and Analysis in Chapter 3, only some data result diagrams are drawn, and useful conclusions should be drawn by analyzing the obtained data. 8. The drawing is not standard. The font and legend in Fig.8 andFig.9 are too small.
Author Response
The authors considered all the requirements and recommendations. In the edited version, the subsections in the second section were redesigned; Figure 1 and the description of the mechanical part were redesigned; the parameters used in the derivation of subsequent formulas were marked; formulas were revised as well; added conclusions and deeper description of each figure of results in the text of Section 3; font and legend were redesigned and were scaled for user-friendly reading (Section 3). Based on this information, the work can be reviewed again. Thank you for your time.
Reviewer 2 Report
The paper “Modeling of 2R Planar Dumbbell Stacker Robot Locomotion using Force Control for Gripper Dexterous Manipulation” by Kondratev and Meshcheryakov, describes a new approach to the design of dexterity manipulator arms based on a simulation model of the system.
The article is quite interesting, but authors should clarify the novelty aspects of their approach that seems rather incremental compared to the state of the art.
In addition, I would suggest authors to include some issue that could be relevant to improve the performance of dexterous manipulator that could be based on neural circuits evolved in biological systems, such as lateralization.
Some useful example that may help authors in improving the scientific value of their manuscript are
Romano, D., Benelli, G., Kavallieratos, N. G., Athanassiou, C. G., Canale, A., & Stefanini, C. (2020). Beetle-robot hybrid interaction: Sex, lateralization and mating experience modulate behavioural responses to robotic cues in the larger grain borer Prostephanus truncatus (Horn). Biological Cybernetics, 114(4), 473-483.
Güntürkün, O., Ströckens, F., & Ocklenburg, S. (2020). Brain lateralization: a comparative perspective. Physiological reviews, 100(3), 1019-1063.
A deep English revision is needed.
Author Response
The authors considered all the requirements and recommendations. The edited version now clarifies the novelty aspects of authors’ approach and suggested sources for future versions of this paper in the conclusions section. Based on this information, the work can be reviewed again. Thank you for your time.
Reviewer 3 Report
The manuscript has the character of a well-crafted engineering activity and does not bring anything new in the research area. The manuscript primarily applies standard methods and procedures for performing simulations. For this reason, I cannot recommend its publication in a magazine.
Author Response
Authors note that this research actually brings the novelty to robotics and manipulation in terms of applying new design approach of the unique gripper for non-standard object manipulation as well as using a novel way to model the whole robotic manipulation system with its unique environment design to simulate all the needed data.
Reviewer 4 Report
The main problem with this paper is that it is more about describing a novel approach for designing a humanoid dexterous hand than writing about developing an end-to-end design workflow for high level engineering tasks that utilize robotics technology in real world applications.In order to improve this paper the authors should analyze error estimation. The authors should check that their errors are negligible compared with their results (by checking efficiency). If it is not possible they should try to minimize them without compromising on their results (eg by increasing sampling rate).
Also, please pay attention to:
1- Designing gripper with improved accuracy
2- Optimization and tuning up numerical algorithms based on experimental results
3- Calculation analysis for other robots with different dimensional parameters
4- Using more realistic material properties
5- Experimental validation for all proposed results in future research
Perhaps the following references might be of use:
1.- Yerazunian B., Vardi S., “Theoretical analysis and implementation for a compliant humanoid robot hand with passive elastic fingers” IEEE International Conference on Robotics & Automation (ICRA), 2002 2.- Javidi F., Farhang M., “A review on soft robots” International Journal Of Engineering Science And Applications 2015.
2. Cristyan R. Gil, Hiram Calvo, Humberto Sossa ( 2019) Learning an efficient Gait Cycle of a Biped Robot Based on Reinforcement Learning and Artificial Neural Networks, Applied Sciences 9(3), 502.
3. Marco A. Moreno-Armendáriz, Hiram Calvo, Visual SLAM and Obstacle Avoidance in Real Time for Mobile Robots Navigation, Mechatronics, Electronics and Automotive Engineering 2014, 44-49.
4.- Javidi F., Farhang M., Abolghasemi G., Farmani E., Hamedzadeh H. Robotic manipulation based on soft contact dynamics: A comparative study between Newtonian versus non-Newtonian models” IEEE Robotics & Automation Magazine 2017.
5.- Huang Z., Jin L., Zhang Y., Lu X.: Intelligent Soft Hand System Based On Newtonian Contact Model With Load Feedback Controller For Manipulation Robot Control 2019.
Author Response
Authors have considered all the remarks regarding the work with references list and conclusions for a future research goals.
Round 2
Reviewer 1 Report
the authors revised the manuscript following all comments.
Can be accepted.
Reviewer 2 Report
Authors addressed most of my comments and now the manuscript is uch improved.
I have some minor suggestion to further incorease the scientific value of the work.
In particular, the reference list cited is really poor.
Some useful and relevant work that authors can add are, especially in the future work perspectives and lateralization
Romano, D., Donati, E., Canale, A., Messing, R. H., Benelli, G., & Stefanini, C. (2016). Lateralized courtship in a parasitic wasp. Laterality: Asymmetries of Body, Brain and Cognition, 21(3), 243-254.
Cogan, G. B., Thesen, T., Carlson, C., Doyle, W., Devinsky, O., & Pesaran, B. (2014). Sensory–motor transformations for speech occur bilaterally. Nature, 507(7490), 94-98.
Also an English editing is needed.
Author Response
Authors have considered all the comments on reference list and english language revision.
