A Design Implementation Process for Robotic Hand Synthesis

2015 ◽  
Author(s):  
Neda Hassanzadeh ◽  
Xiangwei He ◽  
Alba Perez-Gracia
Keyword(s):  
Computer Aided Design ◽  
Implementation Process ◽  
Robotic Hand ◽  
Dimensional Synthesis ◽  
Robotic Hands ◽  
Detailed Design ◽  
Kinematic Synthesis ◽  
Friction Forces ◽  
Starting Point ◽  
Higher Derivatives

The design of multi-fingered robotic hands can follow a kinematic synthesis approach, in which a trajectory or set of points and higher derivatives are defined for each fingertip. The output of the dimensional synthesis is a set of joint axes, effectively defining the basic kinematic structure of the hand. In the case of spatial motion, there seems to be a big gap between the results of the dimensional synthesis and a real and effective detailed design of the robotic hand, this being one of the reasons why synthesis is not regularly used in the design of robotic hands. This work aims to reduce the gap from kinematic synthesis to detailed, computer-aided design of robotic hands. In order to do so, the output of the dimensional synthesis is first used as the input of a link-based optimization process, aim to bring to reasonable values requirements such as link lengths, internal friction forces and obstacle avoidance, including self-intersection. The optimized results are automatically imported to a popular solid modeling software, creating reference geometry for parts, and joint axes and anchor points for the final hand assembly. At the same time, a database of hand parts is presented to the user to select and adapt in order to create a first realistic assembly of the robotic hand. The output of the process is a first detailed design of the robotic hand, which can be a good starting point for the designer to implement transmission and actuation in further stages.

Analysis and Dimensional Synthesis of a Robotic Hand Based on the Stewart-Gough Platform

2018 ◽  
Author(s):  
Connor M. McCann ◽  
Aaron M. Dollar
Keyword(s):  
Contact Forces ◽  
Performance Criteria ◽  
Optimal Designs ◽  
Design Parameters ◽  
Robotic Hand ◽  
Dimensional Synthesis ◽  
Robotic Hands ◽  
Stewart Gough Platform ◽  
Kinematic Motion ◽  
Motion Quality

In this paper, we study the dimensional synthesis of a Stewart-Gough platform-inspired dexterous robotic hand, seeking to optimize the hand’s geometric design parameters to achieve the largest possible 6-degree-of-freedom workspace of a grasped object serving in the place of the “platform.” We present an analysis of the hand mechanism that considers both object stability from frictional contact forces as well as kinematic motion transmissibility, seeking a balance between these two properties. We examine the effect of variations in the kinematic and frictional parameters on both the workspace size of the hand as well as on the motion quality throughout the workspace across a range of grasped object sizes. We then present a spectrum of optimal designs that weight these two performance criteria differently. Most notably, the palm radius of the hand was found to have the greatest effect on the workspace size, with smaller palms exhibiting significantly larger workspaces. Overall, this work serves to inform the design process for dexterous robotic hands based on this common kinematic configuration, with the ultimate goal of increasing the dexterity of robotic manipulators to facilitate more versatile interactions with the environment.

scholarly journals Dimensional Synthesis of Wristed Binary Hands

2015 ◽  
Vol 8 (2) ◽  
Author(s):  
Neda Hassanzadeh ◽  
Alba Perez-Gracia
Keyword(s):  
Robot Manipulator ◽  
Dimensional Synthesis ◽  
Design Strategies ◽  
Robotic Hands ◽  
Kinematic Synthesis ◽  
Multifingered Hands ◽  
Position Task ◽  
Grasping And Manipulation ◽  
Manipulator Arm ◽  
Tree Topologies

The kinematic synthesis applied to tree topologies is a tool for the design of multifingered robotic hands, for a simultaneous task of all fingertips. Even though traditionally wrists and hands have been designed separately, the wrist usually being part of the robot manipulator arm, it makes sense to consider the wrist as a part of the hand, as many grasping and manipulation actions are a coordinated action of wrist and fingers. The manipulation capabilities of robotic hands may also be enhanced by considering more than one splitting stage, as opposed to the single-palm traditional hand. In this work, we present the dimensional synthesis for a family of multifingered hands, the binary hands, which have a 2R wrist and several splitting stages, each of them spanning two branches consisting of a revolute joint for each edge. For these topologies, it is proved that a three-position task can be defined for each fingertip, regardless of the number of fingers. One example is presented to show the possible design strategies and uses for this family of hands.

Two-Configuration Synthesis of Origami-Guided Planar, Spherical and Spatial Revolute–Revolute Chains

2013 ◽  
Vol 5 (3) ◽  
Author(s):  
Kassim Abdul-Sater ◽  
Franz Irlinger ◽  
Tim C. Lueth
Keyword(s):  
Computer Aided Design ◽  
Solar Panels ◽  
Dimensional Synthesis ◽  
Kinematic Synthesis ◽  
Folding Pattern ◽  
Synthesis Procedure ◽  
Configuration Synthesis ◽  
Synthesis Methodology ◽  
Aided Design ◽  
Synthesis Approach

This paper presents a topological and dimensional kinematic synthesis methodology that can be used to constrain the movement of kinematic planar, spherical, and spatial revolute–revolute dyads (RR dyads). The approach is inspired by a subcategory of origami called rigid origami, which deals with highly overconstrained spatial deployable linkages. An example is the Miura-ori folding pattern used to deploy solar panels in space. In addition to this application, this linkage also provides an interesting way to constrain general RR dyads so that they perform a single DOF motion. Here, these mechanisms are called origami-guided RR chains, and computer aided design models (CAD) of the planar, spherical and spatial type are presented. The dimensional synthesis approach allows us to constrain consecutive links using R or C joints so that the links satisfy two arbitrarily predefined task positions. This leads to what we call the two-configuration synthesis of linkages, and we examine a concrete synthesis procedure for an origami-guided spatial RR chain, which is also built using rapid prototyping. The procedure actually combines the two-configuration synthesis approach with the synthesis of the spatial TS dyad, and the paper provides an outlook on further ways to apply the two-configuration synthesis and also to synthesize the origami-guided RR chains.

Geometric Design of Symmetric 3-RRS Constrained Parallel Platforms

2004 ◽  
Author(s):  
Eric Wolbrecht ◽  
Hai-Jun Su ◽  
Alba Perez ◽  
J. Michael McCarthy
Keyword(s):  
Geometric Design ◽  
Homotopy Continuation ◽  
Total Degree ◽  
Polynomial Equations ◽  
Dimensional Synthesis ◽  
Kinematic Synthesis ◽  
Real Solutions ◽  
Parallel Platform ◽  
Three Degree Of Freedom ◽  
Serial Chains

The paper presents the kinematic synthesis of a symmetric parallel platform supported by three RRS serial chains. The dimensional synthesis of this three degree-of-freedom system is obtained using design equations for each of three RRS chains obtained by requiring that they reach a specified set of task positions. The result is 10 polynomial equations in 10 unknowns, which is solved using polynomial homotopy continuation. An example is provided in which the direction of the first revolute joint (2 parameters) and the z component of the base and platform are specified as well as the two task positions. The system of polynomials has a total degree of 4096 which means that in theory it can have as many solutions. Our example has 70 real solutions that define 70 different symmetric platforms that can reach the specified positions.

Performing Detailed Design Reviews of a U.S. Navy Surface Combatant within an Integrated Data Environment

2009 ◽  
Author(s):  
G. R. Grogan ◽  
J. L. Borthen
Keyword(s):  
Computer Aided Design ◽  
Effective Means ◽  
Government Accountability ◽  
Construction Costs ◽  
Detailed Design ◽  
Efficient Communication ◽  
Surface Combatant ◽  
Data Environment ◽  
Aided Design ◽  
Communication Methods

Between November 2006 and March 2009, the U.S. Navy’s first ZUMWALT class Guided Missile Destroyer, DDG 1000, underwent Detailed Design. According to a Government Accountability Office shipbuilding study in 2005, late changes to a ship’s design is recognized as the primary factor contributing to increasing ship construction costs. Therefore a strict Detailed Design review process was implemented for DDG 1000 that included improved Computer Aided Design tools and more efficient communication methods than previous ship Detailed Design efforts. The actual benefit of the design reviews of the ZUMWALT Class will not truly be known until after the Lead Ship has been commissioned, however, the design reviews, along with the unprecedented involvement by stakeholders via an Integrated Data Environment, have already proved to be an effective means for reducing the probability that setbacks will be encountered at the waterfront.

scholarly journals A new innovation paradigm: combining technological and social innovation

2019 ◽  
Vol 107 (1) ◽  
pp. 107 ◽  
Author(s):  
Michael Kohlgrüber ◽  
Antonius Schröder ◽  
Félix Bayón Yusta ◽  
Asier Arteaga Ayarza
Keyword(s):  
Social Innovation ◽  
Raw Materials ◽  
Innovation Process ◽  
Implementation Process ◽  
Steel Company ◽  
User Perspective ◽  
Horizon 2020 ◽  
Starting Point ◽  
The Future ◽  
Industry Sectors

A new innovation paradigm is needed to answer the societal, economic and environmental challenges the world and companies are facing. The EU funded Horizon 2020 SPIRE Project “Coordinating Optimisation of Complex Industrial Processes” (COCOP) is combining technological and social innovation within a steel company pilot case (Sidenor). The project aims at reducing raw materials consumption (and energy and emissions reduction as well) by plant-wide optimisation of production processes based on a software solution and at the same time changing social practices. Key for COCOP is a methodology integrating technological innovation within a social innovation process of co-creation and co-development by involving (potential) users of the future software system and relevant stakeholders right from the beginning; thereby improving effectiveness and impact of the innovations and the implementation process. This involvement is instructed and measured by social key performance indicators (social KPIs) and operationalised in surveys (questionnaire and interviews) with future users, engineers and external experts (from different industry sectors not involved in the project). The article presents the results of the starting point of COCOP illustrating the future user perspective of the pilot steel company (Sidenor) contrasted by the view of external experts – seriously taking into account the interfaces between technology, human and organisation.

scholarly journals Supervisi Pendidikan

2019 ◽  
Author(s):  
Trisvi
Keyword(s):  
School Leadership ◽  
Teaching And Learning ◽  
School Principals ◽  
Implementation Process ◽  
Teaching Profession ◽  
Administrative Staff ◽  
Continuous Assessment ◽  
Basic Principles ◽  
Starting Point ◽  
Educational Supervision

Supervision is guidance given to all school staff so that they can improve their ability to develop better teaching and learning situations. The person who carries out supervision is called a supervisor. Supervision can be interpreted as coaching. While the target of coaching can be for school principals, teachers, administrative staff. But what becomes the target of supervision also means teacher guidance.The aim of educational supervision is to develop better teaching and learning situations through coaching and enhancing the teaching profession. The functions and objectives of educational supervision include: As the direction of education, goals as an end point, goals as a starting point to achieve other goals. In this case, the educational objectives of one another are inseparable.Supervision has a very important goal to achieve, therefore supervision certainly has very important benefits. Among the benefits of supervision are Coordinating all school businesses, Equipping school leadership, Extending the experience of teachers, Stimulating creative school businesses, Providing continuous assessment and facilities and many more benefits or functions of the educational supervision. In addition to having goals and functions, supervision also has basic principles in the implementation process. Then supervision also has various types, among which are autocracy, democratic, pseudo-democratic, diplomatic manipulation of Laissez-faire

Design and Analysis of a Tendon-Driven, Under-Actuated Robotic Hand

2014 ◽  
Author(s):  
Raymond Guo ◽  
Vienny Nguyen ◽  
Lei Niu ◽  
Lyndon Bridgwater
Keyword(s):  
Design Parameters ◽  
Robotic Hand ◽  
Robotic Hands ◽  
Mechanical Adaptation ◽  
Lagrange Formulation ◽  
Hand Grasp ◽  
Design Case ◽  
Design Case Study ◽  
General Dynamic

There has been continuous research and development to add more actuators into robotic hands to increase their dexterity. However, dexterous hands require complex control and are more costly to build. Therefore, many researchers and commercial enterprises have begun developing under-actuated robotic hands with fewer actuators and passive mechanical adaptation to not only reduce complexity and cost, but to also achieve better grasp performance in unstructured settings. This paper presents the design and analysis of the Valkyrie hand — a four fingered, tendon-driven, and under-actuated robotic hand that balances dexterity and simplicity with total 14 joints, and six degrees of actuated freedom. A derivation is provided of general dynamic and static equations for the analysis of a tendon driven mechanism, based on Euler-Lagrange formulation. The equations were used to evaluate the design parameters’ impact on the hand grasp shape and closing effort, and also validated against a design case study.

Kinematic Synthesis of Spatial R-R Dyads for Path Following Revisited Using the Rotation Matrix Approach

1999 ◽  
Author(s):  
Venkat Krovi ◽  
G. K. Ananthasuresh ◽  
Vijay Kumar
Keyword(s):  
Linear System ◽  
Path Following ◽  
Rotation Matrix ◽  
Dimensional Synthesis ◽  
Kinematic Synthesis ◽  
End Effector ◽  
Serial Chain ◽  
Systematic Development ◽  
Matrix Vector ◽  
Selection Of

Abstract We revisit the dimensional synthesis of a spatial two-link, two revolute-jointed serial chain for path following applications, focussing on the systematic development of the design equations and their analytic solution for the three precision point synthesis problem. The kinematic design equations are obtained from the equations of loop-closure for end-effector position in rotation-matrix/vector form at the three precision points. These design equations form a rank-deficient linear system in the link-vector components. The nullspace of the rank deficient linear system is then deduced analytically and interpreted geometrically. Tools from linear algebra are applied to systematically create the auxiliary conditions required for synthesis and to verify consistency. An analytic procedure for obtaining the link-vector components is then developed after a suitable selection of free choices. Optimization over the free choices is possible to permit the matching of additional criteria and explored further. Examples of the design of optimal two-link coupled spatial R-R dyads are presented where the end-effector interpolates three positions exactly and closely approximates an entire desired path.

Internal Digital Divide in Organizations

2012 ◽  
pp. 235-249
Author(s):  
Kerstin Grundén
Keyword(s):  
Digital Divide ◽  
Management Strategies ◽  
Implementation Process ◽  
Soft Systems Methodology ◽  
Longitudinal Case Study ◽  
Systems Methodology ◽  
Soft Systems ◽  
Starting Point ◽  
Information And Communication

In this chapter, internal digital divide problems in organizations are identified and discussed. A longitudinal case study focusing on the implementation of e-Government at a public organization in Sweden is used as a starting-point for the discussion. Although the general use of information and communication technology is very high in Sweden there are still problems with digital divide. Such problems could hamper the implementation process of e-Government. In the case study the older employees were especially stressed and had problems to renewing their competencies and adapting to new working situations due to the implementation of e-Government. Internal digital divide is, however, a complex phenomenon, and involves aspects of learning, motivation, professionalization, management strategies, and organizational culture. Some ways of bridging internal digital divide problems are discussed. Soft systems methodology could be used for analysis and change of internal digital divide aspects involving a discussion with the concerned communities.

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