253 research outputs found

    Inherently Elastic Actuation for Soft Robotics

    Get PDF

    A Lightweight Universal Gripper with Low Activation Force for Aerial Grasping

    Get PDF
    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

    Get PDF
    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

    Proceedings of the 4th Baltic Mechatronics Symposium - Tallinn April 25, 2019

    Get PDF
    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

    Computing gripping points in 2D parallel surfaces via polygon clipping

    Get PDF

    Annals of Scientific Society for Assembly, Handling and Industrial Robotics 2021

    Get PDF
    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

    Get PDF
    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

    Get PDF
    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
    corecore