Finite element model-simulation-based characterization of a magnetostrictive gyrosensor

2010 ◽  
Vol 107 (9) ◽  
pp. 09E705 ◽  
Author(s):  
U. Marschner ◽  
F. Graham ◽  
C. Mudivarthi ◽  
J.-H. Yoo ◽  
H. Neubert ◽  
...  
Keyword(s):  
Finite Element ◽  
Finite Element Model ◽  
Model Simulation ◽  
Element Model ◽  
Simulation Based ◽  
Finite Element Model Simulation

Design and characterization of a hybrid soft gripper with active palm pose control

2020 ◽  
Vol 39 (14) ◽  
pp. 1668-1685 ◽  
Author(s):  
Vignesh Subramaniam ◽  
Snehal Jain ◽  
Jai Agarwal ◽  
Pablo Valdivia y Alvarado
Keyword(s):  
Finite Element ◽  
Finite Element Model ◽  
Composite Structure ◽  
Element Model ◽  
Open Loop ◽  
Aspect Ratios ◽  
Maximum Payload ◽  
Wide Range ◽  
Pose Control

The design and characterization of a soft gripper with an active palm to control grasp postures is presented herein. The gripper structure is a hybrid of soft and stiff components to facilitate integration with traditional arm manipulators. Three fingers and a palm constitute the gripper, all of which are vacuum actuated. Internal wedges are used to tailor the deformation of a soft outer reinforced skin as vacuum collapses the composite structure. A computational finite-element model is proposed to predict finger kinematics. Thanks to its active palm, the gripper is capable of grasping a wide range of part geometries and compliances while achieving a maximum payload of 30 N. The gripper natural softness enables robust open-loop grasping even when components are not properly aligned. Furthermore, the grasp pose of objects with various aspect ratios and compliances can be robustly maintained during manipulation at linear accelerations of up to 15 m/s2 and angular accelerations of up to 5.23 rad/s2.

Finite element model for the characterization of deleterious phases by eddy current technique

2012 ◽  
Vol 39 (1-4) ◽  
pp. 305-310 ◽  
Author(s):  
Maria C.L. Areiza ◽  
Rodrigo Sacramento ◽  
Joao M.A Rebello ◽  
Rubem L. Sommer ◽  
Diego Gonzalez
Keyword(s):  
Finite Element ◽  
Finite Element Model ◽  
Eddy Current ◽  
Element Model ◽  
Current Technique
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