scholarly journals Model of a Coil-Reinforced Cylindrical Soft Actuator

2019 ◽  
Vol 9 (10) ◽  
pp. 2109 ◽  
Author(s):  
Takahiro Kanno ◽  
Shunya Ohkura ◽  
Osamu Azami ◽  
Tetsuro Miyazaki ◽  
Toshihiro Kawase ◽  
...  

A cylindrical soft actuator is suitable for applications in which pneumatic or hydraulic cylinders are conventionally used. In this report, we discuss the force output model of a spring-reinforced-type cylindrical soft actuator. This type of actuator outputs a larger force than the air pressure multiplied by the pressure-receiving area. We construct a quasi-static model to explore the reason for this phenomenon, based on the strength of materials. A thick-walled cylinder model with three boundary conditions was defined and analyzed. The model indicates that the rubber cylinder itself transmits pneumatic pressure and contributes to the output force. We also modeled the relationship between the pressure and the elongation of the soft actuator. Experiments were conducted to evaluate the proposed models.

Micromachines ◽  
2021 ◽  
Vol 12 (2) ◽  
pp. 200
Author(s):  
Changjun Hu ◽  
Yunyang Shi ◽  
Fangfang Liu

In order to process micro scale parts more conveniently, especially the micro parts with complex shape, a new micro blanking equipment based on piezoelectric ceramic driving is proposed in this paper. Compared with other large precision machining equipment, the equipment cost has been greatly reduced. Using displacement sensor to detect the change of output displacement and feedback control piezoelectric actuator to control the change of relevant parameters, the control precision is high. The micro gear parts with diameter less than 2 mm are obtained through the blanking experiment on the experimental equipment. From the relationship between the obtained time and the punch output force, output displacement and die adjustment, it can be seen that the designed equipment has good processing performance and can complete the blanking forming of micro parts well.


2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Irem Demirkan ◽  
Ravi Srinivasan ◽  
Alka Nand

PurposeThis paper explores the role of effective resource and knowledge management capabilities on product innovation capabilities of the small and medium-sized enterprises (SMEs). Specifically, the authors research the role of the human resource investments in the form of employee training in developing firm's innovation capabilities and how SMEs manage these investments when we account for the boundary conditions such as the level of employee education, SME size and the frequency of investments in research and development (R&D).Design/methodology/approachThe authors use survey data conducted by The Centre for European Economic Research (Zentrum für Europäische Wirtschaftsforschung – ZEW). The final sample for analysis includes 983 SMEs from Germany that belong to 13 different industries. The authors use hierarchical OLS regression to test the hypotheses presented in this paper.FindingsThe authors find a positive association between increased investments in employee training and product innovation capabilities in the context of SMEs. More specifically, the authors’ findings support that (1) the relationship between employee training and innovation capabilities is weaker in industries with greater proportion of employees with university degrees, (2) the effectiveness of investments in employee training is lower among larger SMEs than smaller SMEs, and (3) continuous R&D weakens the relationship between training expenditure and innovation capabilities. While on the one hand the authors’ findings contribute to the debate of whether employee training is necessary for SMEs by affirming this notion, on the other hand the authors show that investments in employee training have differing implications for small and large SMEs within boundary conditions. Moreover, these findings have practical implications for the managers of all SMEs in terms of management of their knowledge resources.Research limitations/implicationsThe authors’ research makes important contributions to the study of innovation in SMEs. First, the authors contribute evidence to the debate whether employee training is necessary for SMEs by showing that employee training is particularly important for SMEs that are smaller in size, have lower proportion of employees with university degrees and when they invest in research and development in a targeted manner. The authors also demonstrate that investments in employee training is not a waste, rather such investments can increase the likelihood of survival for many of these firms through its positive impact on product innovation.Practical implicationsFor managers of SMEs, the authors’ findings suggest that while investments in employee training are important, the managers of particular SMEs with above-mentioned qualities should be persistent in such investments and must make deliberate efforts to reap the benefits in terms of innovative capabilities. Unlike large firms, who have the financial means to carry out investments in an abundant manner, SMEs appear to be more enterprising with their scarce resources when we also consider the role of investments in human resources.Originality/valueThe authors’ research makes important contributions to the study of innovation in SMEs. First, the authors contribute evidence to the debate whether employee training is necessary for SMEs by finding that employee training is particularly important for SMEs that are smaller in size, have lower proportion of employees with university degrees and when they do not invest in R&D continuously. The authors also demonstrate that investments in employee training is not a waste, but such investments can increase the likelihood of survival for many of these firms.


Actuators ◽  
2021 ◽  
Vol 10 (10) ◽  
pp. 269
Author(s):  
Tingchen Liao ◽  
Manivannan Sivaperuman Kalairaj ◽  
Catherine Jiayi Cai ◽  
Zion Tsz Ho Tse ◽  
Hongliang Ren

Actuators with variable stiffness have vast potential in the field of compliant robotics. Morphological shape changes in the actuators are possible, while they retain their structural strength. They can shift between a rigid load-carrying state and a soft flexible state in a short transition period. This work presents a hydraulically actuated soft actuator fabricated by a fully 3D printing of shape memory polymer (SMP). The actuator shows a stiffness of 519 mN/mm at 20 ∘C and 45 mN/mm at 50 ∘C at the same pressure (0.2 MPa). This actuator demonstrates a high stiffness variation of 474 mN/mm (10 times the baseline stiffness) for a temperature change of 30 ∘C and a large variation (≈1150%) in average stiffness. A combined variation of both temperature (20–50 ∘C) and pressure (0–0.2 MPa) displays a stiffness variation of 501 mN/mm. The pressure variation (0–0.2 MPa) in the actuator also shows a large variation in the output force (1.46 N) at 50 ∘C compared to the output force variation (0.16 N) at 20 ∘C. The pressure variation is further utilized for bending the actuator. Varying the pressure (0–0.2 MPa) at 20 ∘C displayed no bending in the actuator. In contrast, the same variation of pressure at 50 ∘C displayed a bending angle of 80∘. A combined variation of both temperature (20–50 ∘C) and pressure (0–0.2 MPa) shows the ability to bend 80∘. At the same time, an additional weight (300 g) suspended to the actuator could increase its bending capability to 160∘. We demonstrated a soft robotic gripper varying its stiffness to carry objects (≈100 g) using two individual actuators.


2021 ◽  
pp. 1-18
Author(s):  
Mingyue Lu ◽  
Guangming Chen ◽  
Qingsong He ◽  
Weijia Zong ◽  
Zhiwei Yu ◽  
...  

Abstract Geckos can climb freely on various types of surfaces using their flexible and adhesive toes. Gecko-inspired robots are capable of climbing on different surface conditions and have shown many important applications. Nonetheless, due to poor flexibility of toes the movements of gecko-inspired robots are restricted to flat surfaces. To improve the flexibility, by utilizing design technique of soft actuator and incorporating the characteristics of a real gecko's toe, the design of new bionic soft toes is proposed. The abilities of this bionic toe are verified using modelling and two soft toes are manufactured. One is Type A toe having varied semi-circle cross-sections as the feature of real gecko toe and the other is Type B toe with a constant semi-circle cross-section. The bending behaviors of the bionic toes subjected to a range of hydraulic pressure are also experimentally studied. It demonstrated that both toes can perform similarly large bending angles for the adduction (attachment) and abduction (detachment) motions. In comparisons, Type B toe exhibits larger output force, which is ascribed to the fact that at proximal section of Type B corresponds to larger volume for bearing fluid. Both toes can not only provide sufficient adhesion, but can be quickly detached with low peeling forces. Finally, different curved surfaces are used to further justify the applicability of these bionic toes. In particular, the flexible toes developed also have the advantages of low cost, lightweight, and simple control, which is desirable for wall-climbing robots.


2015 ◽  
Vol 20 (1) ◽  
pp. 81-100 ◽  
Author(s):  
Eun Young Nae ◽  
Hyoung Koo Moon ◽  
Byoung Kwon Choi

Purpose – The purpose of this paper is to investigate the boundary conditions in the relationship between feedback-seeking behavior (FSB) and work performance. The authors hypothesized that the positive influence of employees’ FSB on their work performance is influenced by perceived quality of feedback. The authors also expected that employees’ trust in their supervisors moderated the interaction between their FSB and perceived feedback quality. Design/methodology/approach – Data were collected from 202 employees in South Korea. A hierarchical multiple regression analysis was performed to test the hypothesis. Findings – The results showed that while employees’ FSB was positively related to work performance, the influence was stronger for employees who perceived they were receiving high quality of feedback from supervisors. The authors also found that the moderating effect of feedback quality on the relationship between FSB and work performance was stronger when employees had high levels of trust in their supervisors. Practical implications – The findings suggest that if managers wish to encourage employees to achieve work goal and desirable performance levels by actively engaging in FSB, they should pay more attention to providing high quality of feedback and building trust with employees. Originality/value – This study contributes to expand the understanding of FSB-work performance relationship by verifying the boundary conditions, which suggests the importance of examining the moderating factors in the FSB mechanism.


2000 ◽  
Vol 122 (2) ◽  
pp. 213-218 ◽  
Author(s):  
Hung-Ming Tai ◽  
Cheng-Kuo Sung

This paper investigates the effects of belt flexural rigidity and belt tension on transmission error of a carriage-driving system. The beam model associated with both the clamped and moving boundary conditions at two ends is utilized to derive the governing equation of the belt. The belt flexural rigidity is obtained and verified by an experimental technique. In addition, a numerical method is proposed to determine the belt profile, transmission error and transmission stiffness. Results show that transmission error of a carriage-driving system increases when the carriage moves away from the driving pulley due to finite belt flexural rigidity. According to the analyses, application of appropriate tension on the belt can significantly reduce the error. Furthermore, the transmission stiffness for representing the entire rigidity between the carriage and pulley is investigated based on the proposed beam model. A three-dimensional plot that indicates the relationship among the transmission stiffness, belt tension and the position of the carriage is obtained. [S1050-0472(00)01102-8]


2019 ◽  
Vol 57 (8) ◽  
pp. 2010-2031 ◽  
Author(s):  
Kaidi Zhang ◽  
Xiao Jia ◽  
Jin Chen

PurposeThe emerging natures of big data – volume, velocity, variety, value and veracity – exert higher stress on employees and demand greater creativity from them, causing extreme difficulties in the talent management of organizations in the big data era. The purpose of this paper is to explore the effect of challenge stressors on creativity and the boundary conditions of the relationship.Design/methodology/approachMultisource data were collected including 593 followers and their 98 supervisors from organizations that are confronting a big data induced management revolution. Hierarchical regression analysis and bootstrapping analysis were used to test the mediation and moderation mechanism.FindingsThe results showed that job burnout mediated the negative relationship between challenge stressors and creativity and that this indirect effect was attenuated by an employee’s core self-evaluation (CSE) and servant leadership. In contrast, whether work engagement mediated the relationship between challenge stressors and creativity was contingent on the level of an employee’s CSE and servant leadership. Specifically, the mediating effect was significant only when an employee’s CSE or servant leadership was high.Originality/valueThe results contribute to our understanding of the relationship between challenge stressor and creativity in the big data era. Specifically, relying on the job demands–resources model, this study empirically opens the “black box” between challenge stressors and creativity by exploring two opposing intermediate mechanisms. In addition, this study reveals boundary conditions by investigating dispositional and contextual factors that can accentuate the positive effect while attenuating the negative effect of challenge stressors on employee creativity.


Micromachines ◽  
2019 ◽  
Vol 11 (1) ◽  
pp. 25
Author(s):  
Xiaodong Chen ◽  
Zilong Deng ◽  
Siya Hu ◽  
Jinhai Gao ◽  
Xingjun Gao

The existing symmetrical microgrippers have larger output displacements compared with the asymmetrical counterparts. However, the two jaws of a symmetrical microgripper are less unlikely to offer the same forces on the two sides of a grasped micro-object due to the manufacture and assembly errors. Therefore, this paper proposes a new asymmetric microgripper to obtain stable output force of the gripper. Compared with symmetrical microgrippers, asymmetrical microgrippers usually have smaller output displacements. In order to increase the output displacement, a compliant mechanism with four stage amplification is employed to design the asymmetric microgripper. Consequently, the proposed asymmetrical microgripper possesses the advantages of both the stable output force of the gripper and large displacement amplification. To begin with, the mechanical model of the microgripper is established in this paper. The relationship between the driving force and the output displacement of the microgripper is then derived, followed by the static characteristics’ analysis of the microgripper. Furthermore, finite element analysis (FEA) of the microgripper is also performed, and the mechanical structure of the microgripper is optimized based on the FEA simulations. Lastly, experimental tests are carried out, with a 5.28% difference from the FEA results and an 8.8% difference from the theoretical results. The results from theoretical calculation, FEA simulations, and experimental tests verify that the displacement amplification ratio and the maximum gripping displacement of the microgripper are up to 31.6 and 632 μm, respectively.


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