Self-Forcing Mechanism of the Braided Tube as a Robotic Gripper

2019 ◽  
Vol 11 (5) ◽  
Author(s):  
Zufeng Shang ◽  
Jiayao Ma ◽  
Jinhua Li ◽  
Zemin Zhang ◽  
Guokai Zhang ◽  
...  
Keyword(s):  
The Self ◽  
Design Parameters ◽  
Robot Arm ◽  
End Effector ◽  
Detailed Understanding ◽  
New Device ◽  
Cylindrical Object ◽  
Object Weight ◽  
Wide Range ◽  
Different Shapes

Robotic grippers, which act as the end effector and contact the objects directly, play a crucial role in the performance of the robots. In this paper, we design and analyze a new robotic gripper based on the braided tube. Apart from deployability, a self-forcing mechanism, i.e., the holding force increases with load/object weight, facilitates the braided tube as a robotic gripper to grasp objects with different shapes, weights, and rigidities. First, taking a cylindrical object as an example, the self-forcing mechanism is theoretically analyzed, and explicit formulas are derived to estimate the holding force. Second, experimental and numerical analyses are also conducted for a more detailed understanding of the mechanism. The results show that a holding force increment by 120% is achieved due to self-forcing, and the effects of design parameters on the holding force are obtained. Finally, a braided gripper is fabricated and operated on a KUKA robot arm, which successfully grasps a family of objects with varying shapes, weights, and rigidities. To summarize, the new device shows great potentials for a wide range of engineering applications where properties of the objects are varied and unpredictable.

scholarly journals Dexterous Grasping Tasks Generated With an Add-on End Effector of a Haptic Feedback System

2016 ◽  
Vol 16 (3) ◽  
Author(s):  
Jean-Claude Leon ◽  
Thomas Dupeux ◽  
Jean-Rémy Chardonnet ◽  
Jérôme Perret
Keyword(s):  
Force Feedback ◽  
Haptic Feedback ◽  
Feedback System ◽  
Validation Process ◽  
End Effector ◽  
New Device ◽  
Virtual Hand ◽  
Wide Range ◽  
Hand Exoskeleton ◽  
Technical Solutions

The simulation of grasping operations in virtual reality (VR) is required for many applications, especially in the domain of industrial product design, but it is very difficult to achieve without any haptic feedback. Force feedback on the fingers can be provided by a hand exoskeleton, but such a device is very complex, invasive, and costly. In this paper, we present a new device, called HaptiHand, which provides position and force input as well as haptic output for four fingers in a noninvasive way, and is mounted on a standard force-feedback arm. The device incorporates four independent modules, one for each finger, inside an ergonomic shape, allowing the user to generate a wide range of virtual hand configurations to grasp naturally an object. It is also possible to reconfigure the virtual finger positions when holding an object. The paper explains how the device is used to control a virtual hand in order to perform dexterous grasping operations. The structure of the HaptiHand is described through the major technical solutions required and tests of key functions serve as validation process for some key requirements. Also, an effective grasping task illustrates some capabilities of the HaptiHand.

scholarly journals New Sensor Device to Accurately Measure Cable Tension in Cable-Driven Parallel Robots

Sensors ◽  
2021 ◽  
Vol 21 (11) ◽  
pp. 3604
Author(s):  
Guillermo Rubio-Gómez ◽  
Sergio Juárez-Pérez ◽  
Antonio Gonzalez-Rodríguez ◽  
David Rodríguez-Rosa ◽  
Lis Corral-Gómez ◽  
...  
Keyword(s):  
Parallel Robots ◽  
Control Algorithms ◽  
Cable Tension ◽  
End Effector ◽  
New Device ◽  
Fixed Frame ◽  
Serial Robots ◽  
Sensor Device ◽  
Wide Range ◽  
Improved Accuracy

Cable-driven parallel robots are a special type of robot in which an end-effector is attached to a fixed frame by means of several cables. The position and orientation of the end-effector can be controlled by controlling the length of the cables. These robots present a wide range of advantages, and the control algorithms required have greater complexity than those in traditional serial robots. Measuring the cable tension is an important task in this type of robot as many control algorithms rely on this information. There are several well-known approaches to measure cable tension in cable robots, where a trade-off between complexity and accuracy is observed. This work presents a new device based on strain gauges to measure cable tension specially designed to be applied in cable-driven parallel robots. This device can be easily mounted on the cable near the fixed frame, allowing the cable length and orientation to change freely, while the measure is taken before the cable passes through the guiding pulleys for improved accuracy. The results obtained from the device show a strong repeatability and linearity of the measures

A Comparison of Physiological Demand between Self-Propelled and Motorized Treadmill Exercise

2018 ◽  
Vol 7 (4) ◽  
pp. 13-21
Author(s):  
Todd Backes ◽  
Charlene Takacs
Keyword(s):  
Respiratory Exchange Ratio ◽  
Treadmill Exercise ◽  
Cardiopulmonary Exercise Testing ◽  
Mean Value ◽  
The Self ◽  
Mixing Chamber ◽  
Wide Range ◽  
The Subject ◽  
The Mean ◽  
Computer Controlled

There are a wide range of options for individuals to choose from in order to engage in aerobic exercise; from outdoor running to computer controlled and self-propelled treadmills. Recently, self-propelled treadmills have increased in popularity and provide an alternative to a motorized treadmill. Twenty subjects (10 men, 10 women) ranging in age from 19-23 with a mean of 20.4 ± 0.8 SD were participants in this study. The subjects visited the laboratory on three occasions. The purpose of the first visit was to familiarize the subject with the self-propelled treadmill (Woodway Curve 3.0). The second visit, subjects were instructed to run on the self-propelled treadmill for 3km at a self-determined pace. Speed data were collected directly from the self-propelled treadmill. The third visit used speed data collected during the self-propelled treadmill run to create an identically paced 3km run for the subjects to perform on a motorized treadmill (COSMED T150). During both the second and third visit, oxygen consumption (VO2) and respiratory exchange ratio (R) data were collected with COSMED’s Quark cardiopulmonary exercise testing (CPET) metabolic mixing chamber system. The VO2 mean value for the self-propelled treadmill (44.90 ± 1.65 SE ml/kg/min) was significantly greater than the motorized treadmill (34.38 ± 1.39 SE ml/kg/min). The mean R value for the self-propelled treadmill (0.91 ± 0.01 SE) was significantly greater than the motorized treadmill (0.86 ± 0.01 SE). Our study demonstrated that a 3km run on a self-propelled treadmill does elicit a greater physiological response than a 3km run at on a standard motorized treadmill. Self-propelled treadmills provide a mode of exercise that offers increased training loads and should be considered as an alternative to motorized treadmills.

Expressing the Self

2018 ◽  
Keyword(s):  
Philosophy Of Mind ◽  
The Self ◽  
Epistemic Status ◽  
First Person ◽  
Semantic Categories ◽  
Wide Range ◽  
Person Reference ◽  
De Se ◽  
Novel Method ◽  
Cultural Pragmatics

This book addresses different linguistic and philosophical aspects of referring to the self in a wide range of languages from different language families, including Amharic, English, French, Japanese, Korean, Mandarin, Newari (Sino-Tibetan), Polish, Tariana (Arawak), and Thai. In the domain of speaking about oneself, languages use a myriad of expressions that cut across grammatical and semantic categories, as well as a wide variety of constructions. Languages of Southeast and East Asia famously employ a great number of terms for first-person reference to signal honorification. The number and mixed properties of these terms make them debatable candidates for pronounhood, with many grammar-driven classifications opting to classify them with nouns. Some languages make use of egophors or logophors, and many exhibit an interaction between expressing the self and expressing evidentiality qua the epistemic status of information held from the ego perspective. The volume’s focus on expressing the self, however, is not directly motivated by an interest in the grammar or lexicon, but instead stems from philosophical discussions of the special status of thoughts about oneself, known as de se thoughts. It is this interdisciplinary understanding of expressing the self that underlies this volume, comprising philosophy of mind at one end of the spectrum and cross-cultural pragmatics of self-expression at the other. This unprecedented juxtaposition results in a novel method of approaching de se and de se expressions, in which research methods from linguistics and philosophy inform each other. The importance of this interdisciplinary perspective on expressing the self cannot be overemphasized. Crucially, the volume also demonstrates that linguistic research on first-person reference makes a valuable contribution to research on the self tout court, by exploring the ways in which the self is expressed, and thereby adding to the insights gained through philosophy, psychology, and cognitive science.

Charles Olson and American Modernism

2018 ◽  
Author(s):  
Mark Byers
Keyword(s):  
New York ◽  
Political Action ◽  
The Self ◽  
Instrumental Reason ◽  
Charles Olson ◽  
American Modernism ◽  
Avant Garde ◽  
Wide Range ◽  
American Poet ◽  
Mark Rothko

The Practice of the Self situates the work of American poet Charles Olson (1910–70) at the centre of the early postwar American avant-garde. It shows Olson to have been one of the major advocates and theorists of American modernism in the late 1940s and early 1950s; a poet who responded fully and variously to the political, ethical, and aesthetic urgencies driving innovation across contemporary American art. Reading Olson’s work alongside that of contemporaries associated with the New York Schools of painting and music (as well as the exiled Frankfurt School), the book draws on Olson’s published and unpublished writings to establish an original account of early postwar American modernism. The development of Olson’s work is seen to illustrate two primary drivers of formal innovation in the period: the evolution of a new model of political action pivoting around the radical individual and, relatedly, a powerful new critique of instrumental reason and the Enlightenment tradition. Drawing on extensive archival research and featuring readings of a wide range of artists—including, prominently, Barnett Newman, Mark Rothko, David Smith, Wolfgang Paalen, and John Cage—The Practice of the Self offers a new reading of a major American poet and an original account of the emergence of postwar American modernism.

Interpretation In Qualitative Research: What, Why, How

2020 ◽  
pp. 955-982
Author(s):  
Allen Trent ◽  
Jeasik Cho
Keyword(s):  
Qualitative Research ◽  
Qualitative Inquiry ◽  
The Self ◽  
Validity Evidence ◽  
Wide Range ◽  
Interpretive Strategies

This chapter addresses a wide range of concepts related to interpretation in qualitative research, examines the meaning and importance of interpretation in qualitative inquiry, and explores the ways methodology, data, and the self/researcher as instrument interact and impact interpretive processes. Additionally, the chapter presents a series of strategies for qualitative researchers engaged in the process of interpretation and closes by presenting a framework for qualitative researchers designed to inform their interpretations. The framework includes attention to the key qualitative research concepts transparency, reflexivity, analysis, validity, evidence, and literature. Four questions frame the chapter: What is interpretation, and why are interpretive strategies important in qualitative research? How do methodology, data, and the researcher/self impact interpretation in qualitative research? How do qualitative researchers engage in the process of interpretation? And, in what ways can a framework for interpretation strategies support qualitative researchers across multiple methodologies and paradigms?

scholarly journals Kaolin based protective barrier in municipal landfills against adverse chemo-mechanical loadings

2021 ◽  
Vol 11 (1) ◽  
Author(s):  
Partha Das ◽  
Tadikonda Venkata Bharat
Keyword(s):  
Ionic Strength ◽  
High Ionic Strength ◽  
The Self ◽  
Design Parameters ◽  
Layered System ◽  
Geosynthetic Clay Liners ◽  
Clay Liners ◽  
Landfill Liner ◽  
First Time ◽  
Applied Stresses

AbstractIn this work, we assess the self-sealing and swelling ability of the compacted granular bentonite (GB) under an inorganic salt environment and induced overburden stresses from the landfill waste. The laboratory permeation tests with high ionic strength salt solutions reveal that the GB fails to seal and exhibits a significant mechanical collapse under different applied stresses. The applicability of GB in the form of geosynthetic clay liners as the bottom liner facilities in landfills that produce high ionic strength salt leachates, therefore, remains a serious concern. We propose an additional barrier system based on kaolin, for the first time, to address this problem. The proposed kaolin-GB layered system performs satisfactorily in terms of its sealing and swelling ability even in adverse saline conditions and low overburden stresses. The kaolin improves the osmotic efficiency of the self and also helps the underlying GB layer to seal the inter-granular voids. The estimated design parameters by through-diffusion test suggest that the kaolin-GB layered system effectively attenuates the permeant flux and suitable as a landfill liner.

Three-Degree-of-Freedom Parallel Robot Arm

2006 ◽  
Author(s):  
Martin Hosek ◽  
Michael Valasek ◽  
Jairo Moura
Keyword(s):  
Parallel Robot ◽  
Degree Of Freedom ◽  
Motion Path ◽  
Angular Orientation ◽  
Robot Arm ◽  
Flat Panel Display ◽  
End Effector ◽  
Cluster Tools ◽  
Manufacturing Applications ◽  
Three Degree Of Freedom

This paper presents single- and dual-end-effector configurations of a planar three-degree of freedom parallel robot arm designed for automated pick-place operations in vacuum cluster tools for semiconductor and flat-panel-display manufacturing applications. The basic single end-effector configuration of the arm consists of a pivoting base platform, two elbow platforms and a wrist platform, which are connected through two symmetric pairs of parallelogram mechanisms. The wrist platform carries an end-effector, the position and angular orientation of which can be controlled independently by three motors located at the base of the robot. The joints and links of the mechanism are arranged in a unique geometric configuration which provides a sufficient range of motion for typical vacuum cluster tools. The geometric properties of the mechanism are further optimized for a given motion path of the robot. In addition to the basic symmetric single end-effector configuration, an asymmetric costeffective version of the mechanism is derived, and two dual-end-effector alternatives for improved throughput performance are described. In contrast to prior attempts to control angular orientation of the end-effector(s) of the conventional arms employed currently in vacuum cluster tools, all of the motors that drive the arm can be located at the stationary base of the robot with no need for joint actuators carried by the arm or complicated belt arrangements running through the arm. As a result, the motors do not contribute to the mass and inertia properties of the moving parts of the arm, no power and signal wires through the arm are necessary, the reliability and maintenance aspects of operation are improved, and the level of undesirable particle generation is reduced. This is particularly beneficial for high-throughput applications in vacuum and particlesensitive environments.

scholarly journals Multi-stable composite twisting structure for morphing applications

2012 ◽  
Vol 468 (2141) ◽  
pp. 1230-1251 ◽  
Author(s):  
X. Lachenal ◽  
P. M. Weaver ◽  
S. Daynes
Keyword(s):  
Analytical Model ◽  
Material Properties ◽  
Degrees Of Freedom ◽  
Design Parameters ◽  
Engineering Structures ◽  
The Past ◽  
Wide Range ◽  
Morphing Structure ◽  
Low Mass ◽  
Unstable States

Conventional shape-changing engineering structures use discrete parts articulated around a number of linkages. Each part carries the loads, and the articulations provide the degrees of freedom of the system, leading to heavy and complex mechanisms. Consequently, there has been increased interest in morphing structures over the past decade owing to their potential to combine the conflicting requirements of strength, flexibility and low mass. This article presents a novel type of morphing structure capable of large deformations, simply consisting of two pre-stressed flanges joined to introduce two stable configurations. The bistability is analysed through a simple analytical model, predicting the positions of the stable and unstable states for different design parameters and material properties. Good correlation is found between experimental results, finite-element modelling and predictions from the analytical model for one particular example. A wide range of design parameters and material properties is also analytically investigated, yielding a remarkable structure with zero stiffness along the twisting axis.

Closed-Form Correlation of Buildings Energy Use With Key Design Parameters Calibrated Using a Genetic Algorithm

2011 ◽  
Vol 133 (4) ◽  
Author(s):  
Raed I. Bourisli ◽  
Adnan A. AlAnzi
Keyword(s):  
Genetic Algorithm ◽  
Closed Form ◽  
Energy Use ◽  
Building Design ◽  
Office Buildings ◽  
Design Parameters ◽  
Wide Range ◽  
Variable Function ◽  
Real Coded Genetic Algorithm ◽  
The Difference

This work aims at developing a closed-form correlation between key building design variables and its energy use. The results can be utilized during the initial design stages to assess the different building shapes and designs according to their expected energy use. Prototypical, 20-floor office buildings were used. The relative compactness, footprint area, projection factor, and window-to-wall ratio were changed and the resulting buildings performances were simulated. In total, 729 different office buildings were developed and simulated in order to provide the training cases for optimizing the correlation’s coefficients. Simulations were done using the VisualDOE TM software with a Typical Meteorological Year data file, Kuwait City, Kuwait. A real-coded genetic algorithm (GA) was used to optimize the coefficients of a proposed function that relates the energy use of a building to its four key parameters. The figure of merit was the difference in the ratio of the annual energy use of a building normalized by that of a reference building. The objective was to minimize the difference between the simulated results and the four-variable function trying to predict them. Results show that the real-coded GA was able to come up with a function that estimates the thermal performance of a proposed design with an accuracy of around 96%, based on the number of buildings tested. The goodness of fit, roughly represented by R2, ranged from 0.950 to 0.994. In terms of the effects of the various parameters, the area was found to have the smallest role among the design parameters. It was also found that the accuracy of the function suffers the most when high window-to-wall ratios are combined with low projection factors. In such cases, the energy use develops a potential optimum compactness. The proposed function (and methodology) will be a great tool for designers to inexpensively explore a wide range of alternatives and assess them in terms of their energy use efficiency. It will also be of great use to municipality officials and building codes authors.

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