2,614 research outputs found

    A bistable soft gripper with mechanically embedded sensing and actuation for fast closed-loop grasping

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    Soft robotic grippers are shown to be high effective for grasping unstructured objects with simple sensing and control strategies. However, they are still limited by their speed, sensing capabilities and actuation mechanism. Hence, their usage have been restricted in highly dynamic grasping tasks. This paper presents a soft robotic gripper with tunable bistable properties for sensor-less dynamic grasping. The bistable mechanism allows us to store arbitrarily large strain energy in the soft system which is then released upon contact. The mechanism also provides flexibility on the type of actuation mechanism as the grasping and sensing phase is completely passive. Theoretical background behind the mechanism is presented with finite element analysis to provide insights into design parameters. Finally, we experimentally demonstrate sensor-less dynamic grasping of an unknown object within 0.02 seconds, including the time to sense and actuate

    Present and future resilience research driven by science and technology

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    Community resilience against major disasters is a multidisciplinary research field that garners an ever-increasing interest worldwide. This paper provides summaries of the discussions held on the subject matter and the research outcomes presented during the Second Resilience Workshop in Nanjing and Shanghai. It, thus, offers a community view of present work and future research directions identified by the workshop participants who hail from Asia – including China, Japan and Korea; Europe and the Americas

    Directing self-assembly to grow adaptive physical structures

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    Additive manufacturing technologies offer exciting opportunities to rethink the process of designing and fabricating physical structures. This paper outlines initial work that seeks to extend existing AM capabilities, creating physically adaptive structures by exploiting processes of self-assembling materials. The paper details an investigation of self-assembling structures that can respond to different conditions by adapting their physical properties over time. The process uses electrolysis of seawater to demonstrate a proof-of concept of tuneable material structures, via crystal growth. Results demonstrate an aggregation-based multi-material system that is sensitive to changing environmental conditions. Material properties of grown structures have been analysed and illustrate that different materials can be created from an abundant base material (seawater) by manipulating environmental conditions (i.e. electrical current). It is found that turbulence is a useful property within these kinds of systems and that the physical properties of cathode scaffold structures have a significant impact in controlling material properties and resolution

    Additive Manufacturing of a Microbial Fuel Cell - A detailed study

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    In contemporary society we observe an everlasting permeation of electron devices, smartphones, portable computing tools. The tiniest living organisms on Earth could become the key to address this challenge: energy generation by bacterial processes from renewable stocks/waste through devices such as microbial fuel cells (MFCs). However, the application of this solution was limited by a moderately low efficiency. We explored the limits, if any, of additive manufacturing (AM) technology to fabricate a fully AM-based powering device, exploiting low density, open porosities able to host the microbes, systems easy to fuel continuously and to run safely. We obtained an optimal energy recovery close to 3 kWh m−3 per day that can power sensors and low-power appliances, allowing data processing and transmission from remote/harsh environments

    A design approach to a standard manipulator

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    New structures for gripping objects in robotic manipulation processes are oriented to the new arrangement of mechanical structures using new materials and processing technologies and innovative procedures for the implementation of contact gripping element links to an object with a high degree of adaptively of applications together with the ability to alter the structure of grip and limiting the intensity of the contact stiffness variation of snap elements custody and pliability. The application of elastomeric materials and surface finishes is important. This paper presents both a new gripper design for robot arms but also the search of the selected materials to make an experimental evaluation of technical parameters that are used to assess their application potential and suitability for the targeted applications. Also the results and conclusions for gripper testing in manipulation operations with two different robot arms are presented.Sellés Cantó, MÁ.; Pérez Bernabeu, E.; Sanchez-Caballero, S.; Cihlar, J. (2012). A design approach to a standard manipulator. Scientific Bulletin of "Petru Maior" Universityof Tîrgu-Mureş. 9(2):66-70. http://hdl.handle.net/10251/62593S66709

    a review of particle damping modeling and testing

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    Abstract This survey provides an overview of the different approaches seen in the literature concerning particle damping. The emphasis is on particle dampers used on beams vibrating at frequencies between 10 Hz and 1 kHz. Design examples, analytical formulations, numerical models, and experimental setups for such dampers are gathered. Modeling approaches are presented both for particle interaction and for systems equipped with particle dampers. The consequences of the nonlinear behavior of particle dampers are brought to attention. As such, the apparent contradictions of the conclusions and approaches presented in the literature are highlighted. A list of particle simulation software and their use in the literature is provided. Most importantly, a suggested approach to create a sound numerical simulation of a particle damper and the accompanying experimental tests is given. It consists of setting up a discrete element method simulation, calibrating it with literature data and a representative damper experiment, and testing it outside of the range of operation used for the tuning

    Oblique impact breakage unification of nonspherical particles using discrete element method

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    Particle breakage commonly occurs during processing of particulate materials, but a mechanistic model of particle impact breakage is not fully established. This article presents oblique impact breakage characteristics of nonspherical particles using discrete element method (DEM) simulations. Three different particle shapes, i.e. spherical, cuboidal and cylindrical, are investigated. Constituent spheres are agglomerated with bridging bonds to model the breakage characteristics under impact conditions. The effect of agglomerate shapes on the breakage pattern, damage ratio, and fragment size distribution is fully investigated. By using a newly proposed oblique impact model, unified breakage master surfaces are theoretically constructed for all the particle shapes under oblique impact conditions. The developed approach can be applied to modelling particulate processes where nonspherical particles and oblique impact breakage are prevailing.</p

    Magnetorheological Variable Stiffness Robot Legs for Improved Locomotion Performance

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    In an increasingly automated world, interest in the field of robotics is surging, with an exciting branch of this area being legged robotics. These biologically inspired robots have leg-like limbs which enable locomotion, suited to challenging terrains which wheels struggle to conquer. While it has been quite some time since the idea of a legged machine was first made a reality, this technology has been modernised with compliant legs to improve locomotion performance. Recently, developments in biological science have uncovered that humans and animals alike control their leg stiffness, adapting to different locomotion conditions. Furthermore, as these studies highlighted potential to improve upon the existing compliant-legged robots, modern robot designs have seen implementation of variable stiffness into their legs. As this is quite a new concept, few works have been published which document such designs, and hence much potential exists for research in this area. As a promising technology which can achieve variable stiffness, magnetorheological (MR) smart materials may be ideal for use in robot legs. In particular, recent advances have enabled the use of MR fluid (MRF) to facilitate variable stiffness in a robust manner, in contrast to MR elastomer (MRE). Developed in this thesis is what was at the time the first rotary MR damper variable stiffness mechanism. This is proposed by the author for use within a robot leg to enable rapid stiffness control during locomotion. Based its mechanics and actuation, the leg is termed the magnetorheological variable stiffness actuator leg mark-I (MRVSAL-I). The leg, with a C-shaped morphology suited to torque actuation is first characterised through linear compression testing, demonstrating a wide range of stiffness variation. This variation is in response to an increase in electric current supplied to the internal electromagnetic coils of the MR damper. A limited degrees-of-freedom (DOF) bipedal locomotion platform is designed and manufactured to study the locomotion performance resulting from the variable stiffness leg. It is established that optimal stiffness tuning of the leg could achieve reduced mechanical cost of transport (MCOT), thereby improving locomotion performance. Despite the advancements to locomotion demonstrated, some design issues with the leg required further optimisation and a new leg morphology

    Development of a Fabrication Technique for Soft Planar Inflatable Composites

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    Soft robotics is a rapidly growing field in robotics that combines aspects of biologically inspired characteristics to unorthodox methods capable of conforming and/or adapting to unknown tasks or environments that would otherwise be improbable or complex with conventional robotic technologies. The field of soft robotics has grown rapidly over the past decade with increasing popularity and relevance to real-world applications. However, the means of fabricating these soft, compliant and intricate robots still poses a fundamental challenge, due to the liberal use of soft materials that are difficult to manipulate in their original state such as elastomers and fabric. These material properties rely on informal design approaches and bespoke fabrication methods to build soft systems. As such, there are a limited variety of fabrication techniques used to develop soft robots which hinders the scalability of robots and the time to manufacture, thus limiting their development. This research focuses towards developing a novel fabrication method for constructing soft planar inflatable composites. The fundamental method is based on a sub-set of additive manufacturing known as composite layering. The approach is designed from a planar manner and takes layers of elastomeric materials, embedded strain-limiting and mask layers. These components are then built up through a layer-by-layer fabrication method with the use of a bespoke film applicator set-up. This enables the fabrication of millimetre-scale soft inflatable composites with complex integrated masks and/or strain-limiting layers. These inflatable composites can then be cut into a desired shape via laser cutting or ablation. A design approach was also developed to expand the functionality of these inflatable composites through modelling and simulation via finite element analysis. Proof of concept prototypes were designed and fabricated to enable pneumatic driven actuation in the form of bending soft actuators, adjustable stiffness sensor, and planar shape change. This technique highlights the feasibility of the fabrication method and the value of its use in creating multi-material composite soft actuators which are thin, compact, flexible, and stretchable and can be applicable towards real-world application
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