A Comprehensive Survey on Microgrippers Design: Mechanical Structure

2017 ◽  
Vol 139 (6) ◽  
Author(s):  
Matteo Verotti ◽  
Alden Dochshanov ◽  
Nicola P. Belfiore
Keyword(s):  
Kinematic Chain ◽  
Companion Paper ◽  
Operational Strategies ◽  
Mechanical Structure ◽  
Body Model ◽  
Comprehensive Survey ◽  
Related Graph

An atlas of 98 microgrippers that recently appeared in Literature is herein presented by using four different forms: (a) a restyled layout of the original mechanical structure, (b) its corresponding pseudorigid body model (PRBM), (c) its kinematic chain, and finally, (d) its related graph. Homogeneity in functional sketching (a) is assumed to be greatly helpful to understand how these grippers work and what are the most significant differences between them. Therefore, a unified and systematic set of aesthetics and proportionality criteria have been adopted. Analogously, unified criteria for obtaining pseudorigid (b), kinematic (c), and graph (d) representations have been also used, which made the atlas easy to be read and inspected. The distinction among lumped and distributed compliance has been also accepted to develop the structure of the atlas. A companion paper has been prepared to present a survey on the variety of operational strategies that are used in these microgrippers.

A Comprehensive Survey on Microgrippers Design: Operational Strategy

2017 ◽  
Vol 139 (7) ◽  
Author(s):  
Alden Dochshanov ◽  
Matteo Verotti ◽  
Nicola P. Belfiore
Keyword(s):  
Control Strategies ◽  
Structural Characteristics ◽  
Actuation Voltage ◽  
Companion Paper ◽  
Present Contribution ◽  
Operational Strategies ◽  
Comprehensive Survey ◽  
Reference Parameters ◽  
And Control ◽  
Operational Aspects

This article provides an overview of the operational strategies adopted in microgrippers design. The review covers microgrippers recently proposed in Literature, some of which have been systematically presented in a companion paper, where their topological, kinematic, and structural characteristics are discussed. In the present contribution, the prevalent actuation methods and the operational aspects are discussed: the tip displacement, the tip force, the actuation voltage, and the amplification factor are the reference parameters that are adopted to compare the different types of actuation and operational strategies. In addition, the control strategies and control algorithms currently adopted are reviewed.

scholarly journals No Need for a Body Model: Positive Velocity Feedback for the Control of an 18-DOF Robot Walker

2008 ◽  
Vol 5 (3) ◽  
pp. 135-147 ◽  
Author(s):  
Josef Schmitz ◽  
Axel Schneider ◽  
Malte Schilling ◽  
Holk Cruse
Keyword(s):  
Kinematic Chain ◽  
The Body ◽  
Dynamics Simulation ◽  
Explicit Calculation ◽  
Time Step ◽  
Joint Power ◽  
Velocity Feedback ◽  
Body Model ◽  
Multilegged Walking Robot ◽  
Joint Velocity

In a multilegged walking robot several legs usually have ground contact and thereby form a closed kinematic chain. The control of such a system is generally assumed to require the explicit calculation of the body kinematics. Such a computation requires knowledge concerning all relevant joint angles as well as the segment lengths. Here, we propose a biologically inspired solution that does not need such a body model. This is done by using implicit communication through the body mechanics (embodiment) and a local positive velocity feedback strategy (LPVF) on the single joint level. In this control scheme the locally measured joint velocity of an elastic joint is fed into the same joint during the next time step to maintain the movement. At the same time, an additional part of this joint controller observes the mechanical joint power to confine the positive feedback. This solution does not depend on changes of the geometry, e.g. length of individual segments, and allows for a simple solution of negotiation of curves. The principle is tested in a dynamics simulation on a six-legged walker and, for the first time, also on a real robot.

Compliant Parallel-Guiding Mechanisms

1996 ◽  
Author(s):  
James M. Derderian ◽  
Larry L. Howell ◽  
Morgan D. Murphy ◽  
Scott M. Lyon ◽  
Spencer D. Pack
Keyword(s):  
Closed Loop ◽  
Compliant Mechanism ◽  
Kinematic Chain ◽  
Model Concept ◽  
Rigid Link ◽  
Body Model ◽  
Small Deflection ◽  
Rigid Body Model ◽  
Plate Spring ◽  
Mechanism Modeling

Abstract The rigid-link parallel-guiding (or parallelogram) mechanism is perhaps one of the simplest closed-loop mechanisms to analyze. Compliant parallel-guiding mechanisms, often called plate-spring mechanisms, are in common use in many applications. Advances in compliant mechanism modeling and synthesis have provided an opportunity to apply these mechanisms in an even wider range of uses. Unlike the rigid-link parallel-guiding mechanism which has a simple configuration defined by one kinematic chain, this paper reveals that twenty-eight compliant parallel-guiding mechanism configurations exist. Also, traditional plate spring mechanisms have been designed to function in the linear, small-deflection range and this paper describes a design approach that allows for deflections well into the non-linear range. The purpose of this paper is then threefold: i) identify all configurations of compliant parallel-guiding mechanisms, ii) provide a method for the design and analysis of compliant parallel-guiding mechanisms, and iii) provide experimental data to validate the above purposes. Additionally, the third purpose mentioned is important outside of the context of the parallel-guiding mechanism. The experimental results presented will help to validate the pseudo-rigid-body-model concept.

Aspects on the Calculus and Construction of Translation Modules in the Mechanical Structure of an Industrial Robot Possessing Four Degrees of Freedom

2013 ◽  
Vol 390 ◽  
pp. 166-171
Author(s):  
Silviu Mihai Petrişor ◽  
Ghiţă Bârsan
Keyword(s):  
Degrees Of Freedom ◽  
Industrial Robot ◽  
Kinematic Chain ◽  
Chain Structure ◽  
Robotic Arm ◽  
Lagrangian Formalism ◽  
Modular Construction ◽  
Design Elements ◽  
Mechanical Structure ◽  
Robot Architecture

The authors of this paper wish to highlight elements specific to the dynamic calculus, the concept, optimal design and assembly of translation modules in an industrial robot architecture of serial-modular construction, a structure which possesses in its kinematic chain structure four degrees of freedom. Based on a rigorous dynamic study conducted on the mechanical structure of the TTRT type industrial robot, modelling performed using Lagrangian formalism, and, taking into account the organological design elements that are part of the translation modules (the module attached to the robotic base - MTB Sil, the module in the vertical robotic arm MTV Sil, and the module in the mechanical structure of the horizontal robotic arm - MT Sil), the authors propose an energetic method of constructive optimization of the mechatronics system, according to which, translation modules can be arranged by applying the principle of interchangeable modularity so that energy consumption be minimum and not intervene on their organology. The paper highlights the dynamic-organological algorithm proposed in order to calculate motor moments and, hence, the selection of the DC servomotors necessary for setting the translation movable systems into service.

Linkage Characteristic Polynomials: Definitions, Coefficients by Inspection

1981 ◽  
Vol 103 (3) ◽  
pp. 578-584 ◽  
Author(s):  
H. S. Yan ◽  
A. S. Hall
Keyword(s):  
Structural Analysis ◽  
Characteristic Polynomial ◽  
Adjacency Matrix ◽  
Kinematic Chain ◽  
Companion Paper ◽  
Characteristic Polynomials ◽  
Kinematic Chains ◽  
Analysis And Synthesis

A linkage characteristic polynomial is defined as the characteristic polynomial of the adjacency matrix of the kinematic graph of the kinematic chain. Some terminology and definitions, needed for discussions to follow in a companion paper, are stated. A rule from which all coefficients of the characteristic polynomial of a kinematic chain can be identified by inspection, based on the interpretation of a graph determinant, is derived and presented. This inspection rule interprets the topological meanings behind each characteristic coefficient, and might have some interesting possible uses in studies of the structural analysis and synthesis of kinematic chains.

Doxastic Naturalism and Hume's Voice in theDialogues

2016 ◽  
Vol 14 (3) ◽  
pp. 253-274 ◽  
Author(s):  
C. M. Lorkowski
Keyword(s):  
Comprehensive Survey ◽  
Naturalistic Interpretation ◽  
New Evidence

I argue that acknowledging Hume as a doxastic naturalist about belief in a deity allows an elegant, holistic reading of his Dialogues. It supports a reading in which Hume's spokesperson is Philo throughout, and enlightens many of the interpretive difficulties of the work. In arguing this, I perform a comprehensive survey of evidence for and against Philo as Hume's voice, bringing new evidence to bear against the interpretation of Hume as Cleanthes and against the amalgamation view while correcting several standard mistakes. I ultimately isolate the interpretation of Philo's Reversal at the end of the Dialogues as of paramount importance, and show how my naturalistic interpretation makes this, and other notoriously difficult passages, unproblematic.

Approaching Mull? ?adr? as Scriptural Exegete: A Survey of Scholarship on His Quranic Works

2010 ◽  
Vol 4 (1-2) ◽  
pp. 75-96
Author(s):  
Mohammed Rustom
Keyword(s):  
Intimate Relationship ◽  
Diverse Range ◽  
Scholarly Literature ◽  
Religious Worldview ◽  
Comprehensive Survey ◽  
Methodological Problems

This article offers the first comprehensive survey of scholarly literature devoted to the Qur??nic works of the famous Muslim philosopher, Mull? ?adr? (d. 1050/1640). While taking account of the merits and shortcomings of studies on ?adr?’s Qur??nic writings, we will also be concerned with highlighting some of the methodological problems raised by the diverse range of approaches adopted in these studies. Chief amongst them is the tendency to pit ?adr? the philosopher against ?adr? the scriptural exegete. Such a dichotomy is not entirely helpful, both with respect to painting a clearer picture of ?adr?’s religious worldview, and to addressing broader questions pertaining to the intimate relationship shared between the “act” of philosophy and the “act” of reading scripture.

The Solar Lunar Orientations of the Orkney-Cromarty and Clava Cairns

2016 ◽  
Vol 2 (1) ◽  
pp. 45-66 ◽  
Author(s):  
Douglas Scott
Keyword(s):  
Comprehensive Survey

This paper outlines the background to earlier studies of the orientation of the OrkneyCromarty (OC) passage cairns and the Clava passage and ring cairns, and details the outcome of a new and comprehensive survey carried out by the author over recent years. The paper sets out evidence of orientations in both sets of cairns to the eight divisions of the year and tests whether the alignments were observable. The results were compared to see if the Clava cairns had been influenced by the older OC cairns. Other solar and/or lunar aligned monuments are also briefly examined, as is relevant folklore.

Ultrafast laser processing of ceramics: Comprehensive survey of laser parameters

2021 ◽  
Vol 33 (1) ◽  
pp. 012009
Author(s):  
Aiko Narazaki ◽  
Hideyuki Takada ◽  
Dai Yoshitomi ◽  
Kenji Torizuka ◽  
Yohei Kobayashi
Keyword(s):  
Laser Processing ◽  
Ultrafast Laser ◽  
Laser Parameters ◽  
Comprehensive Survey
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