Modular Robotic Arm

The following paper describes the process and results undertaken to create a modular robotic arm system. The intent of the project was to create a low cost modular robotic arms system with features seen in more expensive systems as such a product does not exist on the market today. By following a systems engineering approach, our team was able to develop a modular robotic joint in an attempt to fill this market gap

Design and manufacturing of a Selective Laser Sintering test bench to test sintering materials

The goal of this project is to design and build a prototype of recoating system for a laser cutting machine to turn it into a selective laser sintering printing machine. This prototype will be used to study new sintering materials and to design, if decided, a SLS 3D printing Machine (Selective Laser Sintering). This project has been developed in the installations and funded by Fundació CIM. The project develops the mechanical design and the electronic system design. Both parts are explained on this paper, so new users can use the machine and can understand the system. With this paper, it is expected that it can be improved in a future to test other parameters and configurations. The paper is divided in three basic blocks that are summed up here: The first block is an introduction to the 3D printing technologies. The most used of them are explained and selective laser sintering is explained in deep. With this block the reader can understand why it is important to develop the SLS technology and what has to be done to improve the machines and the technology. The second block is a discussion on the mechanical design of the machine. The general idea of the machine is explained so the user can understand why the machine is designed in this way. After that, each part is detailed to see how the different mechanical challenges where overtaken. At the end of the block, there is a small calculations section needed on the electronic part. The third block is an extensive explanation of the electronic system that controls and moves the machine. In that block, the different components are explained so the user can understand its basics working principles. It is also explained how the selection of the electronic components was done. Then everything is put together to see the whole electronic system. Along with this paper, there are annexes that provide some extra information for the reader. One of this annexes refers to the mechanical part and the other one has some datasheets and coding for the electronic section. The whole design has been done in SOLIDWORKS cad software and its electric extension ELECWORKS. The programming job was done with Arduino compiler

Compliant polymeric actuators as robot drive units

A co-polymer made from Polyvinyl Alcohol and Polyacrylic Acid (PVA-PAA) has been synthesized to form new robotic actuation systems which use the contractile and variable compliance properties of this material. The stimulation of these fibres is studied (particularly chemical activation using acetone and water), as are the factors which influence the response, especially those relating to its performance as an artificial muscle.Mathematical models and simulations of the dynamics of the polymeric strips have been developed, permitting a thorough analysis of the performance determining parameters. Using these models a control strategy has been designed and implemented, with experimental results being obtained for a gripper powered by a flexor/extensor pair formed using these polymeric actuators.An investigation of a second property of the polymer, its variable compliance is also included. Use of this feature has lead to the design, construction and testing of a multi degree-of-freedom dextrous hand, which despite having only a single actuator, can exercise independent control over each joint

Soft Robotic Exo-muscular Arm Brace

The goal of this project is to assist patients with impaired movement and to regain control of their arm. A robotic brace was developed to assist with movement, using signals generated from the user’s muscles to drive the arm. This brace was biologically inspired, allowing the user to complete the range of motions of a healthy individual. Different actuators and sensors were evaluated in order to design the best model for home and patient use. Boards were developed to achieve desired values from signals that were read. Classifications were also created to accurately assess the movements the user wanted to perfor

Characterisation of contact pressure distribution in bolted joints

The quantification of contact area and pressure distribution in a bolted joint is essential information, as it determines the integrity of the coupling. Current bolted joint design standards are based on analytical solutions of the pressure distribution, which, because of the inherent assumptions, frequently do not accurately represent the real conditions in a joint. This study uses a nonintrusive ultrasonic technique to quantify the contact pressure distribution in a bolted connection. The advantage of this experimental technique is that the effect of actual contact conditions can be determined. An ultrasonic wave is focused onto the clamped interface, and the reflected sound signal recorded. In areas where the contact pressure is high, most of the ultrasound is transmitted, and the reflected sound signal is weak. Whereas, when the contact pressure is low, the vast majority of the ultrasound is reflected back. A parallel experimental calibration is then used to find the relationship between the reflected sound signal and contact pressure. In this way, the pressure distribution in a clamped interface is determined for a series of different bolt torques. Two different interfaces were investigated: the first consisted of two ground surfaces clamped together, and the second a turned profile pressed against a ground surface. The effect of a washer underneath the bolt head was also considered. The turned profile was found to cause the contact to spread; there was also a certain degree of fragmentation leading to higher peak pressures than in the ground interface case. With a washer positioned under the bolt head for the turned case, the clamping performance of the bolt was improved. Good agreement was found when comparing the ultrasonic measurements with previous studies, with respect to the spread of the contact pressure distribution. However, in this study, the peak contact pressure was found to occur away from the edge of the bolt hole, and to be influenced by the edge of the bolt head

Design, Modeling and Performance Optimization of a Novel Rotary Piezoelectric Motor

This work has demonstrated a proof of concept for a torsional inchworm type motor. The prototype motor has shown that piezoelectric stack actuators can be used for rotary inchworm motor. The discrete linear motion of piezoelectric stacks can be converted into rotary stepping motion. The stacks with its high force and displacement output are suitable actuators for use in piezoelectric motor. The designed motor is capable of delivering high torque and speed. Critical issues involving the design and operation of piezoelectric motors were studied. The tolerance between the contact shoes and the rotor has proved to be very critical to the performance of the motor. Based on the prototype motor, a waveform optimization scheme was proposed and implemented to improve the performance of the motor. The motor was successfully modeled in MATLAB. The model closely represents the behavior of the prototype motor. Using the motor model, the input waveforms were successfully optimized to improve the performance of the motor in term of speed, torque, power and precision. These optimized waveforms drastically improve the speed of the motor at different frequencies and loading conditions experimentally. The optimized waveforms also increase the level of precision of the motor. The use of the optimized waveform is a break-away from the traditional use of sinusoidal and square waves as the driving signals. This waveform optimization scheme can be applied to any inchworm motors to improve their performance. The prototype motor in this dissertation as a proof of concept was designed to be robust and large. Future motor can be designed much smaller and more efficient with lessons learned from the prototype motor