253 research outputs found
A Lightweight Universal Gripper with Low Activation Force for Aerial Grasping
Soft robotic grippers have numerous advantages that address challenges in
dynamic aerial grasping. Typical multi-fingered soft grippers recently
showcased for aerial grasping are highly dependent on the direction of the
target object for successful grasping. This study pushes the boundaries of
dynamic aerial grasping by developing an omnidirectional system for autonomous
aerial manipulation. In particular, the paper investigates the design,
fabrication, and experimental verification of a novel, highly integrated,
modular, sensor-rich, universal jamming gripper specifically designed for
aerial applications. Leveraging recent developments in particle jamming and
soft granular materials, the presented gripper produces a substantial holding
force while being very lightweight, energy-efficient and only requiring a low
activation force. We show that the holding force can be improved by up to 50%
by adding an additive to the membrane's silicone mixture. The experiments show
that our lightweight gripper can develop up to 15N of holding force with an
activation force as low as 2.5N, even without geometric interlocking. Finally,
a pick and release task is performed under real-world conditions by mounting
the gripper onto a multi-copter. The developed aerial grasping system features
many useful properties, such as resilience and robustness to collisions and the
inherent passive compliance which decouples the UAV from the environment.Comment: 21 pages, 19 figures; corrected affiliation
Plasma sprayed titanium coatings with/without a shroud
Abstract:
Titanium coatings were deposited by plasma spraying with and without a shroud. The titanium coatings were then assessed by scanning electron microscopy. A comparison in microstructure between titanium coatings with and
without the shroud was carried out. The results showed that the shroud played an important role in protecting the titanium particles from oxidation. The presence of
the shroud led to a reduction in coating porosity. The reduction in air entrainment with t he shroud resulted in better heating of the particles, and an enhanced
microstructure with lower porosity in the shrouded titanium coatings were observed compared to the air plasma sprayed counterpart
非線形弾性要素による内部力補償に基づく無段階変位–力変換機構の創生 ― 微小操作力で強大な磁気力・把持力・制動力・張力を制御可能とするロボット要素 ―
Tohoku University博士(情報科学)thesi
Proceedings of the 4th Baltic Mechatronics Symposium - Tallinn April 25, 2019
The Baltic Mechatronics Symposium is annual symposium with the objective to provide a forum for young scientists from Baltic countries to exchange knowledge, experience, results and information in large variety of fields in mechatronics. The symposium was organized in co-operation with Taltech and Aalto University. The venue of the symposium was Nordic Hotel Forum Tallinn.The symposium was organized parallel to the 12th International DAAAM Baltic Conference and 27th International Baltic Conference BALTMATTRIB 2019. The selected papers are published in Proceedings of Estonian Academy of Sciences indexed in ISI Web of Science.
The content of the proceedings:
1. Continuous wet spinning of cellulose nanofibrils
2. Development of motor efficiency test setup for direct driven hydraulic actuator
3. Development of pressure former for continuous nanopaper manufacturing
4. Device for tree volume measurements
5. Effect of external load on rotor vibration
6. Granular jamming based gripper for heavy objects
7. Integrated car camera system for monitoring inner cabin and outer traffic
8. Inverted pendulum controlled with CNC control system
9. Multi-material mixer and extruder for 3D printing
10. Object detection and trajectory planning using a LIDAR for an automated overhead cran
Annals of Scientific Society for Assembly, Handling and Industrial Robotics 2021
This Open Access proceedings presents a good overview of the current research landscape of assembly, handling and industrial robotics.
The objective of MHI Colloquium is the successful networking at both academic and management level. Thereby, the colloquium focuses an academic exchange at a high level in order to distribute the obtained research results, to determine synergy effects and trends, to connect the actors in person and in conclusion, to strengthen the research field as well as the MHI community. In addition, there is the possibility to become acquatined with the organizing institute. Primary audience is formed by members of the scientific society for assembly, handling and industrial robotics (WGMHI)
Annals of Scientific Society for Assembly, Handling and Industrial Robotics 2021
This Open Access proceedings presents a good overview of the current research landscape of assembly, handling and industrial robotics. The objective of MHI Colloquium is the successful networking at both academic and management level. Thereby, the colloquium focuses an academic exchange at a high level in order to distribute the obtained research results, to determine synergy effects and trends, to connect the actors in person and in conclusion, to strengthen the research field as well as the MHI community. In addition, there is the possibility to become acquatined with the organizing institute. Primary audience is formed by members of the scientific society for assembly, handling and industrial robotics (WGMHI)
Development of active soft robotic manipulators for stable grasping under slippery conditions
Due to the requirements of industrial automation, soft manipulators are increasingly used in machinery manufacturing, metallurgy, and other fields. Typically, a manipulator is only suited to handle objects in ideal dry conditions, which limits the applications of these actuators. To solve the above-mentioned shortcomings in traditional grippers, this paper presents a friction-enhanced soft manipulator that has good flexibility and high interactivity and safety and is also equipped with a bionic nanofiber array film to provide stronger friction under slippery conditions. A polydimethylsiloxane (PDMS) nanofiber array film for increasing the friction of the soft manipulator was fabricated. A suitable manufacturing method for preparing the nanofiber array film was presented. The contact angle of the prepared nanofiber array film was measured. The experimental results showed that the soft robot manipulator performs extremely well under slippery conditions
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