Mechanical performance analysis and experimental study of soft-bodied bird-billed pneumatic gripper

Purpose Flexible mechanical gripper has better safety and adaptability than a rigid mechanical hand. At present, there are few soft grippers for small objects on a millimeter scale. Therefore, the purpose of this paper is to design a soft pneumatic gripper for grasping millimeter-scale small and fragile objects such as jewelry and electronic components. Design/methodology/approach By simulating the clamping action of the bird’s mouth and combining the high flexibility of the soft material, the bird’s beak soft pneumatic gripper is designed. First, the internal cavity of the gripping end of the gripper is determined by bending deformation calculation, and the brief manufacturing process of the gripper is outlined. Then, the single finger of the soft gripper is modeled mechanically, and the relationship between air pressure and bending deformation of the single finger is obtained. Finally, the experimental platform of the soft mechanical gripper is built, and the gripping performance of silicone rubber material is tested by comparison test, bending deformation test, stability test, adaptability test and gripping accuracy test. Findings The designed gripper has the advantages of simple structure, convenient operation, easy grasping of different small objects of millimeter-scale and good adaptability. It can grasp the precise dispensing needle with a minimum diameter of 0.19 mm, and its accuracy meets daily use. Originality/value A new type of soft pneumatic, the mechanical gripper is proposed and manufactured. According to the shape of the bird’s beak and the calculation of bending performance, a hollow finger gripper with better bending performance is designed. Various test results show that the gripper has a significant clamping effect on millimeter small objects, which supplements the research field of millimeter small object gripper.

Fabrication, modeling, and characterization of soft twisting electrothermal actuators with directly printed oblique heater

Soft electrothermal actuators have drawn extensive attention in recent years for their promising applications in biomimetic and biomedical areas. Most soft electrothermal actuators reported so far demonstrated uniform bending deformation, due to the deposition based fabrication of the conductive heater layer from nanomaterial-based solutions, which generally provides uniform heating capacity and uniform bending deformation. In this paper, a soft electrothermal actuator that can provide twisting deformation was designed and fabricated. A metallic microfilament heater of the soft twisting actuator was directly printed using electrohydrodynamic (EHD) printing, and embedded between two structural layers, a polyimide (PI) film and a polydimethylsiloxane (PDMS) layer, with distinct thermal expansion properties. Assisted by the direct patterning capabilities of EHD printing, a skewed heater pattern was designed and printed. This skewed heater pattern not only produces a skewed parallelogram-shaped temperature field, but also changes the stiffness anisotropy of the actuator, leading to twisting deformation with coupled bending. A theoretical kinematic model was built for the twisting actuator to describe its twisting deformation under different actuation effects. Based on that model, influence of design parameters on the twisting angle and motion trajectory of the twisting actuator were studied and validated by experiments. Finite element analysis (FEA) was utilized for the thermal and deformation analysis of the actuator. The fabricated twisting actuator was characterized on its heating and twisting performance at different supply voltages. Using three twisting actuators, a soft gripper was designed and fabricated to implement pick-and-place operations of delicate objects.

Novel ionic bioartificial muscles based on ionically crosslinked multi-walled carbon nanotubes-mediated bacterial cellulose membranes and PEDOT:PSS electrodes

High-performance bioartificial muscles with low-cost, large bending deformation, low actuation voltage, and fast response time have drawn extensive attention as the development of human-friendly electronics in recent years. Here, we report a high-performance ionic bioartificial muscle based on the bacterial cellulose (BC)/ionic liquid (IL)/multi-walled carbon nanotubes (MWCNT) nanocomposite membrane and PEDOT:PSS electrode. The developed ionic actuator exhibits excellent electro-chemo-mechanical properties, which are ascribed to its high ionic conductivity, large specific capacitance, and ionically crosslinked structure resulting from the strong ionic interaction and physical crosslinking among BC, IL, and MWCNT. In particular, the proposed BC-IL-MWCNT (0.10 wt%) nanocomposite exhibited significant increments of Young's modulus up to 75% and specific capacitance up to 77%, leading to 2.5 times larger bending deformation than that of the BC-IL actuator. More interestingly, bioinspired applications containing artificial soft robotic finger and grapple robot were successfully demonstrated based on high-performance BC-IL-MWCNT actuator with excellent sensitivity and controllability. Thus, the newly proposed BC-IL-MWCNT bioartificial muscle will offer a viable pathway for developing next-generation artificial muscles, soft robotics, wearable electronic products, flexible tactile devices, and biomedical instruments.

The Impact of Nano-Crystal Hydroxyapatites on the Regeneration of Bone Defects

Calcium hydroxyapatite is a widely used material for replacing bone defects. However, the effectiveness of nano-crystalline calcium hydroxyapatite produced from eggshells in the replacement of bone defects has not been investigated yet. The study aimed to evaluate the effectiveness of using nano-crystalline calcium hydroxyapatite made from eggshell for the healing of bone defect of the femur in rats. Forty-eight (n=48) rats underwent a surgical procedure to simulate femoral defect. The animals were sub-divided into 4 groups (each with n=12) depending on the methods of bone defect replacement: I control group (CG) (without bone defect replacement); II intervention group (the bone defect was replaced by PRP (PRP); III intervention group (the bone defect was replaced by nano-crystalline hydroxyapatite obtained from eggshell) (HA) and IV interventional group (the bone defect was replaced by a combination of hydroxyapatite and PRP) (HA+PRP). The degree of effectiveness of studied methods was assessed using radiological (on the 14th day), histological (on the 61st day), and biomechanical analysis (on the 61st day). According to radiographic data, the CG group had the lowest level of bone regeneration after 14 days (4.2 ±1.7%). In the HA + PRP group, the level of bone regeneration was 22.1±7.1 %, which was higher in comparison with the rates of consolidation of bone defects in the HA group (20.7± 9.3) (p = 0.023). According to the histo-morphometry data, the rates of bone tissue regeneration in the PRP group (19.8 ±4.2%) were higher in comparison with the CG group (12.7 ± 7.3%), (p>0.05). In the HA+PRP group, bone regeneration rates (48.9±9.4 %) were significantly higher (p=0.001) than in the HA group (35.1±9.8%). According to the results of biomechanical assessment under the maximum stress (121.0722), the maximum bending deformation of the contralateral bone without defect was 0.028746, which was higher than the indicators of the HA+PRP group, where at the maximum stress (90.67979) the bending deformation was 0.024953 (p>0.05). Compared to CG, PRP, and HA, biomechanical bone strength was significantly higher in the HA + PRP group (p≤0.01). At the maximum stress (51.81391), the maximum bending strain in the CG group was 0.03869, which was lower than in the PRP group, where the maximum stress and bending strain were 59.45824 and 0.055171, respectively (p>0.05). However, the bone strength of the HA group was statistically significantly higher compared to the CG and PRP groups (p<0.01). The results demonstrated the effectiveness of the use of nanocrystalline calcium hydroxyapatite obtained from eggshell in the healing of a bone defect. The best results were observed in the group of the combined use of nano-crystalline calcium hydroxyapatite and PRP.

Research on Three-point Bending Mechanical Performance of Square Tube Structure Filled with Foam Aluminum

In this paper, the quasi-static three-point bending experiments are carried out to study the deformation behavior of square tube and square tube filled with foam aluminum. The difference of bending deformation mode, loading characteristics and energy absorption efficiency between tube and foam aluminum filled tube is compared. And the influence of adhesive between the foam aluminum core and the tube wall on the bending deformation of square tube filled with foam aluminum is analyzed. Based on the bending super beam element model of tube structure, the relationship between the moment and rotation of square tube filled with foam aluminum under transverse static loading is analyzed. And the formula for calculating the moment and rotation angle of square tube filled with foam aluminum at three-point bending is obtained. In order to compare the simulation results, theoretical calculation results and experimental results of quasi-static bending, the three-point bending deformation of square tube and filled with foam aluminum under quasi-static and impact loading is simulated by finite element method. The results show that the filling of foam aluminum can improve the bearing capacity and energy absorption performance of the square tube structure. Under the bending load, the deformation degree of the bearing section is greatly reduced, which increases the bearing capacity of the structure and increases the stability of its bending resistance.

Critical load for buckling of solid wood elements with a high slenderness ratio determined based on elastica theory

Buckling tests were conducted using slender specimens of western hemlock. In the tests, the slenderness ratio was varied from 132 to 418 in which elastic buckling was induced, and the values of the critical load for buckling were obtained. When the deflection of the specimen was calculated from the loading-line displacement based on elastica theory, the value of deflection/load initially decreased because the compressive deformation was more dominant than the bending deformation. In contrast, when the load increased, the bending deformation became dominant, and the deflection/load-deflection relation exhibited linearity. These tendencies indicated that the transition from compression to bending was induced around the minimum value of the deflection/load. Therefore, it was recommended to determine the critical load for buckling using the load at the minimum value of the deflection/load where the deflection was calculated from the loading-line displacement.