METHODOLOGY FOR COMPLIANT MECHANISMS DESIGN

The purpose of this research program is to develop a design methodology for compliant mechanisms. Compliant mechanisms represent a class of mechanical systems which makes use of large-displacement flexible elements in design, as opposed to the use of only rigid-body members in conventional mechanisms. This incorporation is now believed to be possible with the vast developments in material science, bearing stronger and more resilient materials for use, and computer technology enabling expeditious computations. These techniques, when suitably introduced into mechanical design, are expected to yield more efficient designs. The manufacturing costs may be reduced significantly due to the use of fewer components, and modern mass production capabilities

Alternative Gaits for Multiped Robots with Leg Failures To Retain Maneuverability

In modern day, from planetary exploration, disaster response to antiterrorism mission multiped robot has become the major tool. Smart robot with effective gait plan may play a significant role in such missions. But if a leg is injured, it is not possible to repair in this kind of mission. Then robot needs some alternative strategies to complete its mission. This paper proposes a removable sliding leg approach to solve this problem. A fault leg can be detaches and other legs can be slide to better position by the command of operator to get optimum alternative gait configuration. Based on leg sequence, stride length, longitudinal stability and efficiency, alternative gaits are evaluated. This paper recommends tables for different gait sequence with progressive efficiency. These tables can provide options for alternative gait and information about certain damaged leg. Moreover, a procedure for a multi-legged robot to complete its mission after serious leg failure is included. By taking the recommended tables and procedure, the multiped Robot can overcome any fault event and maintain stability and efficiency

Comparison of Alternative Gaits for Multiped Robots with Severed Legs

Multiped robots have become the focus of heated discussion lately, especially in applications involving rescue or military missions and underwater or extra-terrestrial explorations. The surroundings concerned are harsh and hazardous terrains, and predictably the malfunction rate is high. What if a leg is irreparably damaged? The original gait can no longer be used and an alternative gait must be taken for the robot to continue its mission. This paper studies and enumerates preferred alternative gaits for six- and eight-legged robots under a proposed severed leg scheme. A leg is assumed to be completely detachable when a failure occurs. Based on a new criterion called the progressive efficiency (PE), defined via the enhanced gait charts, along with other criteria like the stride length and the longitudinal stability, alternative gaits are evaluated. The tables of recommended gaits in this paper are useful for robots when a leg failure is foreseen. These tables not only provide a guideline as to what alternative gait to use, they also give insight into how important a certain leg is. A comparison between the severed leg scheme and the existing locked-joint strategy is also included

A Study on the Effect of the Contact Point and the Contact Force of a Glass Fiber under End-Face Polishing Process

The offset between the center lines of the polished end-face and the fiber core has a significant effect on coupling efficiency. The initial contact point and the contact force are two of the most important parameters that induce the offset. This study proposes an image assistant method to find the initial contact point and a mathematical model to estimate the contact force when fabricating the double-variable-curvature end-face of single mode glass fiber. The repeatability of finding the initial contact point via the vision assistant program is 0.3 μm. Based on the assumption of a large deflection, a mathematical model is developed to study the relationship between the contact force and the displacement of the lapping film. In order to verify the feasibility of the mathematical model, experiments, as well as DEFORM simulations, are carried out. The results show that the contact forces are alomst linearly proportional to the feed amounts of the lapping film and the errors are less than 9%. By using the method developed in this study, the offset between the grinding end-face and the center line of the fiber core is within 0.15 to 0.35 μm