Single-Motor Controlled Tendon-Driven Peristaltic Soft Origami Robot

2018 ◽  
Vol 10 (6) ◽  
Author(s):  
Hritwick Banerjee ◽  
Neha Pusalkar ◽  
Hongliang Ren
Keyword(s):  
Axial Force ◽  
Axial Direction ◽  
Service Robot ◽  
Peristaltic Motion ◽  
Servo Motor ◽  
Robotic Navigation ◽  
Time Duration ◽  
Paper Folding ◽  
Unstructured Environment ◽  
Novel Design

Origami-based paper folding is being used in robotics community to provide stiffness and flexibility simultaneously while designing smart structures. In this paper, we propose a novel design inspired by origami pattern service robot, which transforms its shape in the axial direction and introduce peristaltic motion therein. Here, servo motor is being used for translational actuation and springs maneuver self-deployable structure when necessary. Self-deployable springs are compressed by the application of axial force as the string gets wound around the servo motor programed to rotate with a particular speed for specified time duration. Specially coated photopolymer resin structures have been used to provide external rigidity to the springs so to avoid buckling while operation. In future, this friction coated origami service robot is envisioned to be used in an unstructured environment as the scope of applications increases at the nexus of surgical robotic navigation, houses to disaster areas.

A Novel Design of Service Robot for Aged and Handicapped Using Raspberry Pi

2020 ◽  
Author(s):  
B. S. Sathish ◽  
Ganesan P ◽  
Dola Sanjay.S ◽  
A Ranganayakulu ◽  
Madamala Revanth ◽  
...  
Keyword(s):  
Service Robot ◽  
Raspberry Pi ◽  
Novel Design

Advances In The Modeling And Dynamic Simulation of Reeving Systems Using The Arbitrary Lagrangian-Eulerian Modal Method

2021 ◽  
Author(s):  
José L. Escalona ◽  
Narges Mohammadi
Keyword(s):  
Finite Elements ◽  
Axial Force ◽  
Axial Direction ◽  
Rotary Inertia ◽  
Arbitrary Lagrangian Eulerian ◽  
Original Formulation ◽  
Absolute Position ◽  
Axial Forces ◽  
Modal Coordinates ◽  
Modal Method

Abstract This paper presents new advances in the arbitrary Lagrangian-Eulerian modal method (ALEM) recently developed for the systematic simulation of the dynamics of general reeving systems. These advances are related to a more convenient model of the sheaves dynamics and the use of axial deformation modes to account for non-constant axial forces within the finite elements. Regarding the sheaves dynamics, the original formulation uses kinematic constraints to account for the torque transmission at the sheaves by neglecting the rotary inertia. One of the advances described in this paper is the use of the rotation angles of the sheaves as generalized coordinates together with the rope-to-sheave no-slip assumption as linear constraint equations. This modeling option guarantees the exact torque balance the sheave without including any non-linear kinematic constraint. Numerical results show the influence in the system dynamics of the sheave rotary inertia. Regarding the axial forces within the finite elements, the original formulation uses a combination of absolute position coordinates and transverse local modal coordinates to account for the rope absolute position and deformation shape. The axial force, which only depends on the absolute position coordinates, is constant along the element because linear shape functions are assumed to describe the axial displacements. For reeving systems with very long rope spans, as the elevators of high buildings, the constant axial force is inaccurate because the weight of the ropes becomes important and the axial force varies approximately linearly within the rope free span. To account for space-varying axial forces, this paper also introduces modal coordinates in the axial direction. Numerical results show that a set of three modal coordinates in the axial direction is enough to simulate linearly varying axial forces.

scholarly journals Axial Force at the Vessel Bottom Induced by Axial Impellers

10.14311/1039 ◽  
2008 ◽  
Vol 48 (4) ◽  
Author(s):  
I. Fořt ◽  
P. Hasal ◽  
A. Paglianti ◽  
F. Magelli
Keyword(s):  
Axial Force ◽  
Axial Direction ◽  
Liquid Jet ◽  
Turbulent Regime ◽  
Flat Bottom ◽  
Stirred Vessel ◽  
Pressure Transducers ◽  
The Mean ◽  
Mean Time ◽  
Vessel Bottom

This paper deals with the axial force affecting the flat bottom of a cylindrical stirred vessel. The vessel is equipped with four radial baffles and is stirred with a four 45° pitched blade impeller pumping downwards. The set of pressure transducers is located along the whole radius of the flat bottom between two radial baffles. The radial distribution of the dynamic pressures indicated by the transducers is measured in dependence on the impeller off-bottom clearance and impeller speed.It follows from the results of the experiments that under a turbulent regime of flow of an agitated liquid the mean time values of the dynamic pressures affecting the bottom depend not on the impeller speed but on the impeller off-bottom clearance. According to the model of the flow pattern of an agitated liquid along the flat bottom of a mixing vessel with a pitched blade impeller, three subregions can be considered in this region: the liquid jet streaming downwards from the impeller deviates from its vertical (axial) direction to the horizontal direction,  the subregion of the liquid flowing horizontally along the bottom and, finally, the subregion of the liquid changing direction from the bottom upwards (vertically) along the wall of the cylindrical vessel, when the volumetric flow rates of the liquid taking place in the downward and upward flows are the same. 

Development of Wire Actuated Monolithic Soft Gripper Positioned by Robot Manipulator

2020 ◽  
Author(s):  
Rafael Barreto Gutierrez ◽  
Martin Garcia ◽  
Joan McDuffie ◽  
Courtney Long ◽  
Ayse Tekes
Keyword(s):  
Robot Manipulator ◽  
Compliant Mechanism ◽  
Experimental Testing ◽  
Service Robot ◽  
Servo Motor ◽  
Single Piece ◽  
Pick And Place ◽  
Grasping Force ◽  
3D Printed ◽  
The Right

Abstract This paper presents the design and development of a two fingered, monolithically designed compliant gripper mounted on a two-link robot. Rigid grippers traditionally designed by rigid links and joints might have low precision due to friction and backlash. The proposed gripper is designed as a single piece compliant mechanism consisted of several flexible links and actuated by wire through a servo motor. The gripper is attached to a two-link arm robot driven by three step motors. An additional servo motor can also rotate the base of the robot. While the robot is 3D printed using polylactic acid (PLA), the gripper is 3D printed in thermoplasticpolyurethane (TPU). Two force sensors are attached to the right and left ends of the gripper to measure grasping force. Experimental testing for grasping various objects having different sizes, shapes and weights is carried out to verify the robust performance of the proposed design. Through the experimentation, it’s been noted that the compliant gripper can successfully lift up objects at a maximum mass of 200 g and have a better performance if the objects’width is closer to the width of the gripper. The presented mechanism can be utilized as a service robot for elderly people to assist them pick and place objects or lift objects if equipped with necessary sensors.

Application of Linear Servo Motor in Biochip Microarray Instrument

2013 ◽  
Vol 321-324 ◽  
pp. 795-798
Author(s):  
Quan Liu ◽  
Qiao Qiao Liu ◽  
Xiao Fei Wang ◽  
Xue Zhao
Keyword(s):  
High Speed ◽  
Ball Screw ◽  
Servo Motor ◽  
Direct Drive ◽  
Improve Performance ◽  
Positioning Accuracy ◽  
Linear Motors ◽  
Rotary Motors ◽  
Automation Control ◽  
Novel Design

A novel design to biochip microarray instrument is use of linear motors, in preference to conventional rotary motors driving ball screw. Three ironless core linear servo motors direct drive the X, Y and Z-axis motion, Improve performance such as superior positioning accuracy, high-speed operation and increased efficiency. The whole configuration for new microarray printing instrument is designed. Furthermore, the structure of special linear motors is also designed detailedly. And the linear servo motor automation control technology is introduced in this paper.

Tri-Axial Force Measurements on the Cylinder of a Motored SI Engine Operated on Lubricants of Differing Viscosity

2010 ◽  
Vol 132 (9) ◽  
Author(s):  
Bryan O’Rourke ◽  
Donald Radford ◽  
Rudolf Stanglmaier
Keyword(s):  
Axial Force ◽  
Internal Combustion Engines ◽  
Axial Direction ◽  
Internal Combustion ◽  
Mechanical Efficiency ◽  
Combustion Engines ◽  
Friction Characteristics ◽  
Colorado State University ◽  
And Performance ◽  
Lubricant Viscosity

Friction is a determining factor in the efficiency and performance of internal combustion engines. Losses in the form of friction work typically account for 10–20% of an engine’s output. Improvements in the friction characteristics of the power cylinder assembly are essential for reducing total engine friction and improving the mechanical efficiency of internal combustion engines. This paper describes the development and implementation of a new concept of the “floating liner” engine at Colorado State University that allows 0.5 crank angle deg resolved measurement of the forces on the cylinder along three axes—in the axial direction, the thrust direction, and along the wrist pin. Three different lubricants with differing properties were tested to observe the friction characteristics of each. The experimental results showed that the floating liner engine was able to resolve changes in friction characteristics coinciding with changes in lubricant viscosity and temperature. The axial force increases at TDC and BDC were observed as lubricant viscosity was decreased and larger amounts of mixed and boundary lubrication began to occur. For each test the axial friction force data was used to calculate total cycle friction work. The thrust and off-axis (wrist pin direction) forces are discussed under the same circumstances.

Tri-Axial Force Measurements on the Cylinder of a Motored SI Engine Operated on Lubricants of Differing Viscosity

2009 ◽  
Author(s):  
Bryan O’Rourke ◽  
Donald Radford ◽  
Rudolf Stanglmaier
Keyword(s):  
Axial Force ◽  
Internal Combustion Engines ◽  
Axial Direction ◽  
Internal Combustion ◽  
Mechanical Efficiency ◽  
Combustion Engines ◽  
Friction Characteristics ◽  
Colorado State University ◽  
And Performance ◽  
Lubricant Viscosity

Friction is a determining factor in the efficiency and performance of internal combustion engines. Losses in the form of friction work typically account for 10–20% of an engine’s output. Improvements in the friction characteristics of the power cylinder assembly are essential for reducing total engine friction and improving the mechanical efficiency of internal combustion engines. This paper describes the development and implementation of a new concept of the ‘floating liner’ engine at Colorado State University that allows 0.5 crank angle degree resolved measurement of the forces on the cylinder along 3 axes — in the axial direction, the thrust direction, and along the wrist pin. Three different lubricants with differing properties were tested to observe the friction characteristics of each. Experimental results showed that the floating liner engine was able to resolve changes in friction characteristics coinciding with changes in lubricant viscosity and temperature. Axial force increases at TDC and BDC were observed as lubricant viscosity was decreased and larger amounts of mixed and boundary lubrication began to occur. For each test the axial friction force data was used to calculate total cycle friction work. The thrust and off-axis (wrist pin direction) forces are discussed under the same circumstances.

A Novel Design for the Stackable Piezoelectric Power Generation Devices Conjunction with the Microelectric Energy Saving System

2013 ◽  
Vol 448-453 ◽  
pp. 2143-2148
Author(s):  
Ching Wu Wang ◽  
Ti Chun Yeh ◽  
Po Kai Lin ◽  
Ming Han Hsu ◽  
Kai Chun Lin ◽  
...  
Keyword(s):  
Power Generation ◽  
Energy Saving ◽  
Output Power ◽  
Power Dissipation ◽  
Piezoelectric Materials ◽  
Power Measurement ◽  
Time Duration ◽  
Measurement Results ◽  
Power Generation Device ◽  
Novel Design

An optimal design for the stackable four-layered piezoelectric power generation device and its microelectric energy saving method is presented here. In this work, three different device arrangements for the piezoelectric four-layered power generation devices were firstly deposited and compared for obtaining a greater output power. Measurement results demonstrated that Sample 2 among the three different device arrangements could not only avoid the damage to PZT-5H piezoelectric materials but also achieve a grater instantaneous output power (5.359mW). Subsequently, a novel microelectric energy saving system by constructing a less power dissipation boost converter IC with its proper surrounding circuit was also exhibited. Evidence showed that among the three different IC modules, Case 1 performs an optimal microelectric energy saving system since it could effectively fully charge a 30 mAh Zn-MnO2battery within the shortest time duration (4 hours).

scholarly journals Desain Mekanisme Ballscrew untuk Retrofit Drilling axis Mesin Ficep H-Beam Drilling LFB-200-49

Jurnal METTEK ◽  
2021 ◽  
Vol 7 (1) ◽  
pp. 10
Author(s):  
Kimar Turnip ◽  
Priyono Atmadi ◽  
Andreas Agung Novianto
Keyword(s):  
Axial Force ◽  
Dynamic Load ◽  
Hydraulic System ◽  
Gear Ratio ◽  
Drilling Process ◽  
Drilling Machine ◽  
Twist Drill ◽  
Servo Motor ◽  
Motor Component ◽  
H Beam

Proses retrofit adalah proses penggantian atau penambahan suatu komponen ke mesin dengan tujuan untuk memberikan nilai tambah pada performa mesin tersebut. Pada penelitian ini, proses retrofit diaplikasikan pada penggantian penggerak drilling axis mesin Ficep H-beam Drilling LFB-200-49. Proses retrofit ini membutuhkan komponen motor servo sebagai energi penggerak dan ballscrew sebagai pengubah rotasi motor menjadi gerakan linear twist drill saat melakukan proses pengeboran untuk menggantikan sistem hidrolik yang digunakan sebelumnya. Pada perancangan retrofit yang dilakukan terhadap mesin Ficep H-beam Drilling ini, gaya dorong yang dihasilkan sistem hidrolik digunakan sebagai acuan untuk mengetahui kebutuhan dynamic load yang harus ditransmisikan oleh ballscrew sedangkan thrust axial force dari mata bor digunakan sebagai acuan dalam menentukan daya motor servo. Dalam merancang penggantian sistem hidrolik ke sistem motor servo ini, komponen yang disarankan adalah ballscrew dengan pitch 10 mm dan diameter poros ballscrew 38 mm yang memenuhi syarat transmisi dynamic load 50.210,56 N dan motor servo dengan daya 8,12 kW dengan penambahan gear ratio 3 : 1. The retrofit process is the process of replacing or adding a component to a machine with the aim of adding value to the machine's performance. In this study, the retrofit process was applied to the replacement of the Ficep H-beam Drilling LFB-200-49 drilling machine axis. This retrofitting process requires a servo motor component as driving energy and a ballscrew to convert the motor rotation into a linear twist drill motion during the drilling process to replace the hydraulic system used previously. In the retrofit design carried out on the Ficep H-beam Drilling machine, the thrust generated by the hydraulic system is used as a reference to determine the dynamic load requirements that must be transmitted by the ballscrew while the thrust axial force from the drill bit is used as a reference in determining the power of the servo motor. In designing the replacement of the hydraulic system to this servo motor system, the recommended components are a ballscrew with a pitch of 10 mm and a ballscrew shaft diameter of 38 mm which meets the requirements for dynamic load transmission of 50,210.56 N and a servo motor with a power of 8.12 kW with the addition of a gear ratio of 3. : 1.

Control of Service Robot by Integration of Multiple Intermittent Sensors

2014 ◽  
Vol 939 ◽  
pp. 609-614 ◽  
Author(s):  
Liang Kuang Chen ◽  
Mao Yuan Hsiao
Keyword(s):  
Lead Time ◽  
Memory Capacity ◽  
Service Robots ◽  
Service Robot ◽  
Laser Range Finder ◽  
Range Finder ◽  
Servo Motor ◽  
Laser Range ◽  
Wireless Control ◽  
Independent Mechanism

In this paper, we design a service robot which not only can plan road to a destination by itself, but also can take an elevator to every floor. For planning road, in order to solve the Hagisonic Stargazer Robot localization system problem which in large environment will need to set a lot of landmark and this way will increase the lead time and memory capacity. So we use the concept of road nodes to combine with Stargazer landmark and Dijkstra’s algorithm. Robot can localize by itself and can plan the shortest road to a destination. In dead region of Stargazer, we integrate with a laser range finder and e-compass to assist robot in navigation, and use the laser range finder simultaneously to avoid front obstacle. For taking elevator, we design a wireless control of independent mechanism. Robot can use Xbee transmit command to control servo motor to push elevator button and use RFID to determine whether the arrival task Floor. Last, we use Borland C++ Builder to design a Human–Computer interaction. People can operate monitor to choice receiver, and we add the functions of remote call and setting code which can increase the practicability of this service robots.

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