Biomechanical Characterization of Hook-Climber Stems for Soft Robotic Applications

2020 ◽  
pp. 97-103
Author(s):  
Isabella Fiorello ◽  
Alessio Mondini ◽  
Barbara Mazzolai
Keyword(s):  
Robotic Applications

Controllable, High Force Amplification Using Elastic Cable Capstans

2012 ◽  
Author(s):  
Gray C. Thomas ◽  
Clayton C. Gimenez ◽  
Erica D. Chin ◽  
Andrew P. Carmedelle ◽  
Aaron M. Hoover
Keyword(s):  
Dynamic Performance ◽  
Experimental Results ◽  
Rotating Drum ◽  
Experimental Characterization ◽  
Experimental Apparatus ◽  
Linear Force ◽  
Low Torque ◽  
Robotic Applications

This paper presents the design and experimental characterization of a continuously variable linear force amplifier based on the theory of capstans. In contrast to traditional capstan amplifiers, the design presented here uses an elastic cable, enabling a control actuator to not only continuously clutch output to a rotating drum but also passively declutch by releasing tension. Our experimental results demonstrate successful declutching at all force amplification ratios up to the limit of our experimental apparatus, 21 — significantly higher than previously published values. A system of distributed capstan amplifiers driven by a central torque source with cable engagement switched by lightweight, low torque actuators has potential to reduce the mass of distal actuators and enable more dynamic performance in robotic applications.

scholarly journals Compact and Powerful: A Vacuum Powered Soft Textile-Based Clutch

2019 ◽  
Author(s):  
Ali Sadeghi ◽  
Alessio Mondini ◽  
Barbara Mazzolai
Keyword(s):  
Variable Stiffness ◽  
Soft Materials ◽  
Linear Displacement ◽  
Proper Solution ◽  
Compact Structure ◽  
Sliding Motion ◽  
Direct Fabrication ◽  
The One ◽  
Robotic Applications

In this paper, we present the design, manufacturing and characterization of a soft textile-based clutch (TBC) that switches between locking and unlocking of its linear displacement by exploiting vacuum stimulation. The applied vacuum locks the relative sliding motion between two elaborated textile webbings covered by an elastic silicone rubber bag. Based on different fabrication techniques, such as silicone casting on textile, melt embossing for direct fabrication of miniature patterns on textile and sewing, we developed three groups of TBC samples based on friction and interlocking principles and we compared their performance in blocking configuration. The clutch with interlocking mechanism presented the highest withstanding force (150 N) respect to the one (54 N) recorded for the friction-based clutch. The simple and compact structure of the proposed clutch, together with the intrinsic adaptability of fabric with other clothing and soft materials, make it a proper solution for applications in soft wearable robotics and generally as locking and variable stiffness solution for soft robotic applications.

Dynamic Response Modeling of Piezoelectric Ultrasonic Motors

2005 ◽  
Author(s):  
James B. Dabney ◽  
Thomas L. Harman ◽  
Charanya Aswatharanayan ◽  
Mary Randolph-Gips ◽  
Fathi H. Ghorbel ◽  
...  
Keyword(s):  
Dynamic Response ◽  
Algebraic Curve ◽  
Dynamic Models ◽  
Experimental Characterization ◽  
Computationally Efficient ◽  
Ultrasonic Motors ◽  
Response Modeling ◽  
Robotic Applications ◽  
Descriptive Models

Piezoelectric ultrasonic motors (PUMs) fill a unique niche in mechatronic actuators. The motors are lightweight, simple, and reliable, containing a single moving part that provides the function of motor, transmission, and brake. They are ideal for a variety of robotic applications as well as commercial and medical applications. In order to exploit PUMs fully, computationally efficient models of dynamic response, capturing all important dynamics, are needed. This paper describes the experimental characterization of the dynamic response of a typical commercial PUM (Shinsei USR-30) using an inertial load and evaluation of three classes of dynamic models: second-order predictive (physics-based) models, algebraic (curve fitting) descriptive models, and neural network approximation.

Comprehensive Characterization of Large Piezoresistive Variation of Ni-PDMS Composites

2011 ◽  
Vol 110-116 ◽  
pp. 1336-1344 ◽  
Author(s):  
Giancarlo Canavese ◽  
Mariangela Lombardi ◽  
Stefano Stassi ◽  
Candido F. Pirri
Keyword(s):  
Conductive Filler ◽  
Tactile Sensor ◽  
Quantum Tunnelling ◽  
Elastomeric Matrix ◽  
Cost Efficient ◽  
Robotic Applications ◽  
Metal Polymer ◽  
Comprehensive Characterization ◽  
Composite Samples

This work presents a comprehensive investigation of the piezoresistive response of a metal-polymer composite for robotic tactile sensor application. Composite samples, based on nickel nanostructured conductive filler in a polydimetihylsiloxane (PDMS) insulating elastomeric matrix, were prepared changing several process parameters like thickness, composition of the polymer and nickel filler content. A variation of electric resistance up to nine orders of magnitude under applied uniaxial load was measured in the fabricated samples. Cost efficient materials, simplicity of the process, large sensibility, and harsh environment compatibility make this quantum tunnelling composite adapted to be integrated as sensing coating in space robotic applications.

scholarly journals A Vacuum Powered Soft Textile-Based Clutch

Actuators ◽  
2019 ◽  
Vol 8 (2) ◽  
pp. 47 ◽  
Author(s):  
Ali Sadeghi ◽  
Alessio Mondini ◽  
Barbara Mazzolai
Keyword(s):  
Silicone Rubber ◽  
Variable Stiffness ◽  
Soft Materials ◽  
Linear Displacement ◽  
Compact Structure ◽  
Wearable Robotics ◽  
Sliding Motion ◽  
Direct Fabrication ◽  
Robotic Applications

We present the design, manufacturing, and characterization of a soft textile-based clutch (TBC) that uses vacuum stimulation to switch between locking and unlocking its linear displacement. The vacuum locks the relative sliding motion between two elaborated textile webbings with an elastic silicone rubber bag. Various fabrication techniques, such as silicone casting on textiles and melt embossing for direct fabrication of miniature patterns on textile and sewing, were used to develop three groups of TBC samples based on friction and interlocking principles. Their performance was compared in a blocking configuration. The clutch with an interlocking mechanism presented the highest withstanding force (150 N) compared to that (54 N) recorded for the friction-based clutch. The simple and compact structure of the proposed clutch, together with the intrinsic adaptability of fabric with other clothing and soft materials, make it an appropriate solution for applications in soft wearable robotics and generally as a locking and variable stiffness solution for soft robotic applications.

Design, Manufacturing, and Characterization of a Pneumatically-Actuated Soft Hand

2018 ◽  
Author(s):  
Longchao Zhao ◽  
Satyandra K. Gupta
Keyword(s):  
Rigid Body ◽  
Molding Process ◽  
Robotic Hands ◽  
Body Model ◽  
Rigid Body Model ◽  
Finger Motion ◽  
The Cost ◽  
Robotic Applications

Soft robotic hands can be used to manipulate delicate parts. The use of under-actuated fingers can significantly reduce the number of actuators and the complexity of the hand structure. This in turn can lower the cost of realizing robotic hands. This paper presents a new design for a multi-fingered soft hand for robotic applications. We adapt the fusible core molding process to realize complex inner cavities needed in pneumatically-actuated fingers. We also introduce a method for predicting the finger motion using pseudo-rigid-body model. We demonstrate that the soft hand can achieve the desired shapes and apply the required forces in tasks such as handling, grasping, pinching, clipping, and fastening.

scholarly journals Characterization of smart materials requirements for actuation in the robotic applications

2019 ◽  
Vol 1386 ◽  
pp. 012073
Author(s):  
J L Ramirez ◽  
A Rubiano ◽  
J G Cogollo
Keyword(s):  
Smart Materials ◽  
Robotic Applications

scholarly journals Physical Ergonomic Improvement and Safe Design of an Assembly Workstation through Collaborative Robotics

Safety ◽  
2021 ◽  
Vol 7 (1) ◽  
pp. 14
Author(s):  
Ana Colim ◽  
Carlos Faria ◽  
João Cunha ◽  
João Oliveira ◽  
Nuno Sousa ◽  
...  
Keyword(s):  
Working Conditions ◽  
Digital Transformation ◽  
Initial Condition ◽  
Manual Assembly ◽  
Collaborative Robotics ◽  
Furniture Manufacturing ◽  
Definition Of ◽  
Robotic Applications

One of the key interesting features of collaborative robotic applications is the potential to lighten the worker workload and potentiate better working conditions. Moreover, developing robotics applications that meets ergonomic criteria is not always a straightforward endeavor. We propose a framework to guide the safe design and conceptualization of ergonomic-driven collaborative robotics workstations. A multi-disciplinary approach involving robotics and ergonomics and human factors shaped this methodology that leads future engineers through the digital transformation of a manual assembly (with repetitive and hazardous operations) to a hybrid workstation, focusing on the physical ergonomic improvement. The framework follows four main steps, (i) the characterization of the initial condition, (ii) the risk assessment, (iii) the definition of requirements for a safe design, and (iv) the conceptualization of the hybrid workstation with all the normative implications it entails. We applied this methodology to a case study in an assembly workstation of a furniture manufacturing company. Results show that the methodology adopted sets an adequate foundation to accelerate the design and development of new human-centered collaborative robotic workstations.

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