A novel design process of low cost 3D printed ambidextrous finger designed for an ambidextrous robotic hand

This paper presents the novel mechanical design of an ambidextrous finger specifically designed for an ambidextrous anthropomorphic robotic hand actuated by pneumatic artificial muscles. The ambidextrous nature of design allows fingers to perform both left and right hand movements. The aim of our design is to reduce the number of actuators, increase the range of movements with best possible range ideally greater than a common human finger. Four prototypes are discussed in this paper; first prototype is focused on the choice of material and to consider the possible ways to reduce friction. Second prototype is designed to investigate the tendons routing configurations. Aim of third and fourth prototype is to improve the overall performance and to maximize the grasping force. Finally, a unified design (Final design) is presented in great detail. Comparison of all prototypes is done from different angles to evaluate the best design. The kinematic features of intermediate mode have been analysed to optimize both the flexibility and the robustness of the system, as well as to minimize the number of pneumatic muscles. The final design of an ambidextrous finger has developed, tested and 3D printed

Internal states of model isotropic granular packings. I. Assembling process, geometry and contact networks

This is the first paper of a series of three, reporting on numerical simulation studies of geometric and mechanical properties of static assemblies of spherical beads under an isotropic pressure. Frictionless systems assemble in the unique random close packing (RCP) state in the low pressure limit if the compression process is fast enough, slower processes inducing traces of crystallization, and exhibit specific properties directly related to isostaticity of the force-carrying structure. The different structures of frictional packings assembled by various methods cannot be classified by the sole density. While lubricated systems approach RCP densities and coordination number z^*~=6 on the backbone in the rigid limit, an idealized "vibration" procedure results in equally dense configurations with z^*~=4.5. Near neighbor correlations on various scales are computed and compared to available laboratory data, although z^* values remain experimentally inaccessible. Low coordination packings have many rattlers (more than 10% of the grains carry no force), which should be accounted for on studying position correlations, and a small proportion of harmless "floppy modes" associated with divalent grains. Frictional packings, however slowly assembled under low pressure, retain a finite level of force indeterminacy, except in the limit of infinite friction.Comment: 29 pages. Published in Physical Review

From one to many islands : the emergence of search and matching models

The notion of frictional unemployment first arose in the writings of Beveridge, Pigou and Hicks. Why did it fail at the time to grow into a fully fledged theory ? Our answer is simple. This failure was due to the fact these economists were unwilling and/or unable to go beyond the then-prevailing Marshallian approach, in particular to depart from its trade organization assumptions. They did not realize that these assumptions excluded any rationing outcome in general, and any unemployment result in particular. We make our claim in three steps. First, we make explicit the trade-organization assumptions underpinning Marshall’s equilibrium theory. Our second step is a study of the attempts at introducing unemployment in a Marshallian framework. We start with an examination of Beveridge’s, Pigou’s and Hicks’s early works on wages and unemployment. We also briefly discuss how and why Keynes was able to shift attention from frictional to involuntary unemployment. Newt, for a reason that will become clear as the paper evolves, we ponder Friedman’s celebrated Presidential Address inaugurating the notion of a natural rate of unemployment. In our third and last step we look at the papers by McCall, Lucas and Prescott, Mortensen and Pissarides that paved the way for the present thriving research literature. We show that their success in providing an equilibrium unemployment result stems from the fact that they have indeed departed from the Marshallian trade-organization assumptionsSupply and Demand; Marshall; Search; Matching

Robotic Manipulation of Environmentally Constrained Objects Using Underactuated Hands

Robotics for agriculture represents the ultimate application of one of our society\u27s latest and most advanced innovations to its most ancient and vital industry. Over the course of history, mechanization and automation have increased crop output several orders of magnitude, enabling a geometric growth in population and an increase in quality of life across the globe. As a challenging step, manipulating objects in harvesting automation is still under investigation in literature. Harvesting or the process of gathering ripe crops can be described as breaking environmentally constrained objects into two or more pieces at the desired locations. In this thesis, the problem of purposefully failing (breaking) or yielding objects by a robotic gripper is investigated. A failure task is first formulated using mechanical failure theories. Next, a grasp quality measure is presented to characterize a suitable grasp configuration and systematically control the failure behavior of the object. This approach combines the failure task and the capability of the gripper for wrench insertion. The friction between the object and the gripper is used to formulate the capability of the gripper for wrench insertion. A new method inspired by the human pre-manipulation process is introduced to utilize the gripper itself as the measurement tool and obtain a friction model. The developed friction model is capable of capturing the anisotropic behavior of materials which is the case for most fruits and vegetables.The limited operating space for harvesting process, the vulnerability of agricultural products and clusters of crops demand strict conditions for the manipulation process. This thesis presents a new sensorized underactuated self-adaptive finger to address the stringent conditions in the agricultural environment. This design incorporates link-driven underactuated mechanism with an embedded load cell for contact force measurement and a trimmer potentiometer for acquiring joint variables. The integration of these sensors results in tactile-like sensations in the finger without compromising the size and complexity of the proposed design. To obtain an optimum finger design, the placement of the load cell is analyzed using Finite Element Method (FEM). The design of the finger features a particular round shape of the distal phalanx and specific size ratio between the phalanxes to enable both precision and power grasps. A quantitative evaluation of the grasp efficiency by constructing a grasp wrench space is also provided. The effectiveness of the proposed designs and theories are verified through real-time experiments. For conducting the experiments in real-time, a software/hardware platform capable of dataset management is crucial. In this thesis, a new comprehensive software interface for integration of industrial robots with peripheral tools and sensors is designed and developed. This software provides a real-time low-level access to the manipulator controller. Furthermore, Data Acquisition boards are integrated into the software which enables Rapid Prototyping methods. Additionally, Hardware-in-the-loop techniques can be implemented by adding the complexity of the plant under control to the test platform. The software is a collection of features developed and distributed under GPL V3.0

Grasp Evaluation Method for Applying Static Loads leading to Beam Failure

This paper deals with the problem of purposefully failing or yielding an object by a robotic gripper. We propose a grasp quality measure fabricated for robotic harvesting in which picking a crop from its stem is desired. The proposed metric characterizes a suitable grasp configuration for systematically controlling the failure behavior of an object to break it at the desired location while avoiding damage on other areas. Our approach is based on failure task information and gripper wrench insertion capability. Failure task definition is accomplished using failure theories. Gripper wrench insertion capability is formulated by modeling the friction between the object and gripper. A new method inspired by human pre-manipulation process is introduced to utilize gripper itself as a friction measurement device. The provided friction model is capable of handling the anisotropic behavior of materials which is the case for fruits and vegetables. The evaluation method is formulated as a quasistatic grasp problem. Additionally, the general case of both fully-actuated and under-actuated grippers are considered. As a validation of the proposed evaluation method, experimental results for failing parts using Kuka Light-Weight Robot IV robot are presented

A cognitive architecture for learning in reactive environments

Previous research in machine learning has viewed the process of empirical discovery as search through a space of 'theoretical' terms. In this paper, we propose a problem space for empirical discovery, specifying six complementary operators for defining new terms that ease the statement of empirical laws. The six types of terms include: numeric attributes (such as PV/T); intrinsic properties (such as mass); composite objects (such as pairs of colliding balls); classes of objects (such as acids and alkalis); composite relations (such as chemical reactions); and classes of relations (such as combustion/oxidation). We review existing machine discovery systems in light of this framework, examining which parts of the problem space were, covered by these systems. Finally, we outline an integrated discovery system (IDS) we are constructing that includes all six of the operators and which should be able to discover a broad range of empirical laws

Stiffness pathologies in discrete granular systems: bifurcation, neutral equilibrium, and instability in the presence of kinematic constraints

The paper develops the stiffness relationship between the movements and forces among a system of discrete interacting grains. The approach is similar to that used in structural analysis, but the stiffness matrix of granular material is inherently non-symmetric because of the geometrics of particle interactions and of the frictional behavior of the contacts. Internal geometric constraints are imposed by the particles' shapes, in particular, by the surface curvatures of the particles at their points of contact. Moreover, the stiffness relationship is incrementally non-linear, and even small assemblies require the analysis of multiple stiffness branches, with each branch region being a pointed convex cone in displacement-space. These aspects of the particle-level stiffness relationship gives rise to three types of micro-scale failure: neutral equilibrium, bifurcation and path instability, and instability of equilibrium. These three pathologies are defined in the context of four types of displacement constraints, which can be readily analyzed with certain generalized inverses. That is, instability and non-uniqueness are investigated in the presence of kinematic constraints. Bifurcation paths can be either stable or unstable, as determined with the Hill-Bazant-Petryk criterion. Examples of simple granular systems of three, sixteen, and sixty four disks are analyzed. With each system, multiple contacts were assumed to be at the friction limit. Even with these small systems, micro-scale failure is expressed in many different forms, with some systems having hundreds of micro-scale failure modes. The examples suggest that micro-scale failure is pervasive within granular materials, with particle arrangements being in a nearly continual state of instability