Design and analysis of three-axis cantilever type force sensor

Purpose The force sensing is used in robotic assembly tasks. The sensors developed are much advanced and costly. The force transducers are generally configured and deployed at the wrist of the robotic arm. The purpose of this paper is to describe the concept of an elastic transducer to make available cost-effective force sensor with simple construction and analysis. Design/methodology/approach The analytical formulation is developed herewith for one-, two- and three-axis elastic cantilever configuration. The force to be measured can be calculated analytically using derived strain expressions. The strains are estimated using proposed formulation, further crosschecked through FEA approach. The analytical method for strain estimation using moment equations is presented along with validation using finite element method (FEM) tool (ANSYS 15.0) with the case study. Findings The derivation of expressions for force components from strains is developed. The resulting formulation found to confirm the estimated strains from analytical methods closely to the FEM results. Theoretically, it is possible to find contact forces and angle of force on stationary force platform. It is found that the magnitude of estimated contact forces is within 1 per cent deviations. Research limitations/implications The mathematical modeling and FEA simulation of the three-axis force sensor under elastic (no deformation) conditions. Originality/value These sensors are ranging from simple crossbar structure to Stewart platform type. The subsequent development in this field pertains to performance enhancement such as accuracy and cross-sensitivity. The basic structure of the sensor has not changed drastically. The major problem, as discussed by many authors, is a complex interdependence of six components and intricate geometrical structure. Derivation of expressions for force components from strains is a breakthrough contribution by the authors. The analytical treatment for finding the strains is aimed in this paper.

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Vision-force guided precise robotic assembly for 2.5D components in a semistructured environment

Assembly Automation ◽

10.1108/aa-03-2020-0039 ◽

2021 ◽

Vol ahead-of-print (ahead-of-print) ◽

Author(s):

Boyoung Kim ◽

Minyong Choi ◽

Seung-Woo Son ◽

Deokwon Yun ◽

Sukjune Yoon

Keyword(s):

Computer Aided Design ◽

Degrees Of Freedom ◽

Printed Circuit Board ◽

Force Sensor ◽

Circuit Board ◽

Robotic Assembly ◽

Ccd Cameras ◽

Content Type ◽

3 Dimensional ◽

Aided Design

Purpose Many manufacturing sites require precision assembly. Particularly, similar to cell phones, assembly at the sub-mm scale is not easy, even for humans. In addition, the system should assemble each part with adequate force and avoid breaking the circuits with excessive force. The purpose of this study is to assemble high precision components with relatively reasonable vision devices compared to previous studies. Design/methodology/approach This paper presents a vision-force guided precise assembly system using a force sensor and two charge coupled device (CCD) cameras without an expensive 3-dimensional (3D) sensor or computer-aided design model. The system accurately estimates 6 degrees-of-freedom (DOF) poses from a 2D image in real time and assembles parts with the proper force. Findings In this experiment, three connectors are assembled on a printed circuit board. This system obtains high accuracy under 1 mm and 1 degree error, which shows that this system is effective. Originality/value This is a new method for sub-mm assembly using only two CCD cameras and one force sensor.

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Force and position deviations estimation for ultra-thin tube assembly

Assembly Automation ◽

10.1108/aa-11-2015-109 ◽

2016 ◽

Vol 36 (4) ◽

pp. 405-411 ◽

Cited By ~ 1

Author(s):

Chao Shao ◽

Xin Ye ◽

Zhijing Zhang ◽

Dengyu Zhou ◽

Yuhong Liu

Keyword(s):

Process Parameters ◽

Visual Information ◽

Force Sensor ◽

Contact Forces ◽

Assembly Process ◽

Content Type ◽

Multi Scale ◽

Thin Tube ◽

Mechanic Calculation ◽

Tube Assembly

Purpose Micro ultra-thin tubes have important implications in aerospace, nuclear energy and other fields. In microassembly process, these parts are characterized by following reasons: the small size can easily lead to damage when gripping, even for low intensity and the parts are mainly affected by the instability of light source, for vision-based systems, the visual information about ultra-thin tubes is difficult to gather and the contact state is hard to monitor. Design/methodology/approach The paper presents a new method to adjust the position deviations based on contact forces during microassembly processes. Specific research is such that the assembly model was established based both on mechanic calculation and numerical simulation; the assembly task was carried out on an in-house microassembly system with coaxial alignment function (MSCA), the contact statements were controlled based on force sensor feedback signals and the model of the relationship between contact force and assembly deviations was established. Through a comparative study, the results of experiment and simulation differ by less than 11 per cent, validating the accuracy and feasibility of the method. Findings The model of assembly force and position deviations of micro ultra-thin tubes based on MSCA has been built. Besides, the assembly force threshold, and the assembly process parameters have been obtained. Originality/value The assembly process parameters obtained from experiments can be applied in the precision assembly and provide theoretical guidance and technical support to the precision assembly of the multi-scale parts.

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The Future of Plasma-Based Surface Engineering Techniques in Tribology (Keynote)

World Tribology Congress III, Volume 2 ◽

10.1115/wtc2005-64180 ◽

2005 ◽

Cited By ~ 1

Author(s):

Allan Matthews ◽

Adrian Leyland

Keyword(s):

Surface Engineering ◽

Performance Enhancement ◽

Bulk Material ◽

Cost Savings ◽

Cost Effective ◽

Ceramic Coatings ◽

Performance Improvements ◽

Treatment Techniques ◽

Wide Range ◽

Macro Scale

Over the past twenty years or so, there have been major steps forward both in the understanding of tribological mechanisms and in the development of new coating and treatment techniques to better “engineer” surfaces to achieve reductions in wear and friction. Particularly in the coatings tribology field, improved techniques and theories which enable us to study and understand the mechanisms occurring at the “nano”, “micro” and “macro” scale have allowed considerable progress to be made in (for example) understanding contact mechanisms and the influence of “third bodies” [1–5]. Over the same period, we have seen the emergence of the discipline which we now call “Surface Engineering”, by which, ideally, a bulk material (the ‘substrate’) and a coating are combined in a way that provides a cost-effective performance enhancement of which neither would be capable without the presence of the other. It is probably fair to say that the emergence and recognition of Surface Engineering as a field in its own right has been driven largely by the availability of “plasma”-based coating and treatment processes, which can provide surface properties which were previously unachievable. In particular, plasma-assisted (PA) physical vapour deposition (PVD) techniques, allowing wear-resistant ceramic thin films such as titanium nitride (TiN) to be deposited on a wide range of industrial tooling, gave a step-change in industrial productivity and manufactured product quality, and caught the attention of engineers due to the remarkable cost savings and performance improvements obtained. Subsequently, so-called 2nd- and 3rd-generation ceramic coatings (with multilayered or nanocomposite structures) have recently been developed [6–9], to further extend tool performance — the objective typically being to increase coating hardness further, or extend hardness capabilities to higher temperatures.

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The cost-effectiveness of insulin analogs and regular insulin for diabetes control: a case study in Iran

International Journal of Health Care Quality Assurance ◽

10.1108/ijhcqa-02-2019-0042 ◽

2020 ◽

Vol 33 (4/5) ◽

pp. 323-331

Author(s):

Mohsen pakdaman ◽

Raheleh akbari ◽

Hamid reza Dehghan ◽

Asra Asgharzadeh ◽

Mahdieh Namayandeh

Keyword(s):

Cost Effectiveness ◽

Cost Effective ◽

Regular Insulin ◽

Diabetes Control ◽

Diabetic Patients ◽

Insulin Analogs ◽

Content Type ◽

Patients With Diabetes ◽

The Government ◽

The Cost

PurposeFor years, traditional techniques have been used for diabetes treatment. There are two major types of insulin: insulin analogs and regular insulin. Insulin analogs are similar to regular insulin and lead to changes in pharmacokinetic and pharmacodynamic properties. The purpose of the present research was to determine the cost-effectiveness of insulin analogs versus regular insulin for diabetes control in Yazd Diabetes Center in 2017.Design/methodology/approachIn this descriptive–analytical research, the cost-effectiveness index was used to compare insulin analogs and regular insulin (pen/vial) for treatment of diabetes. Data were analyzed in the TreeAge Software and a decision tree was constructed. A 10% discount rate was used for ICER sensitivity analysis. Cost-effectiveness was examined from a provider's perspective.FindingsQALY was calculated to be 0.2 for diabetic patients using insulin analogs and 0.05 for those using regular insulin. The average cost was $3.228 for analog users and $1.826 for regular insulin users. An ICER of $0.093506/QALY was obtained. The present findings suggest that insulin analogs are more cost-effective than regular insulin.Originality/valueThis study was conducted using a cost-effectiveness analysis to evaluate insulin analogs versus regular insulin in controlling diabetes. The results of study are helpful to the government to allocate more resources to apply the cost-effective method of the treatment and to protect patients with diabetes from the high cost of treatment.

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Simulation Verification of the Contact Parameter Influence on the Forces’ Course of Cereal Grain Impact against a Stiff Surface

Applied Sciences ◽

10.3390/app11020466 ◽

2021 ◽

Vol 11 (2) ◽

pp. 466

Author(s):

Włodzimierz Kęska ◽

Jacek Marcinkiewicz ◽

Łukasz Gierz ◽

Żaneta Staszak ◽

Jarosław Selech ◽

...

Keyword(s):

Dynamic Properties ◽

Decisive Role ◽

Force Sensor ◽

Contact Forces ◽

Correct Selection ◽

Contact Parameter ◽

Cereal Grain ◽

Wide Range ◽

The Impact ◽

Selection Of

The continuous development of computer technology has made it applicable in many scientific fields, including research into a wide range of processes in agricultural machines. It allows the simulation of very complex physical phenomena, including grain motion. A recently discovered discrete element method (DEM) is used for this purpose. It involves direct integration of equations of grain system motion under the action of various forces, the most important of which are contact forces. The method’s accuracy depends mainly on precisely developed mathematical models of contacts. The creation of such models requires empirical validation, an experiment that investigates the course of contact forces at the moment of the impact of the grains. To achieve this, specialised test stations equipped with force and speed sensors were developed. The correct selection of testing equipment and interpretation of results play a decisive role in this type of research. This paper focuses on the evaluation of the force sensor dynamic properties’ influence on the measurement accuracy of the course of the plant grain impact forces against a stiff surface. The issue was examined using the computer simulation method. A proprietary computer software with the main calculation module and data input procedures, which presents results in a graphic form, was used for calculations. From the simulation, graphs of the contact force and force signal from the sensor were obtained. This helped to clearly indicate the essence of the correct selection of parameters used in the tests of sensors, which should be characterised by high resonance frequency.

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Job crafting, workplace civility and work outcomes: the mediating role of work engagement

Global Knowledge Memory and Communication ◽

10.1108/gkmc-09-2020-0140 ◽

2020 ◽

Vol ahead-of-print (ahead-of-print) ◽

Author(s):

Anuj Gupta ◽

Pankaj Singh

Keyword(s):

Life Satisfaction ◽

Work Engagement ◽

Cost Effective ◽

Job Crafting ◽

Intention To Quit ◽

Work Outcomes ◽

Equation Modeling ◽

Content Type ◽

General Life Satisfaction ◽

Workplace Civility

Purpose The antecedents and consequences of work engagement have been extensively discussed and analyzed in the previous literature; however, identifying cost-effective measures that can sustain work engagement to boost work outcomes has received sparse attention in the Indian information technology (IT) context. This study aims to provide new insights concerning the associations of job crafting and workplace civility with work engagement and its corresponding outcomes, such as change perception, general life satisfaction and intention to quit. Design/methodology/approach Hypotheses were tested using structural equation modeling on data obtained from 369 software developers in India using questionnaire surveys. Findings Results confirmed that work engagement partially mediated the association of job crafting and workplace civility with the perception of change and general life satisfaction. The negative associations of job crafting and workplace civility with the intention to quit were also partially mediated by work engagement. The findings can be used to inform human resources strategies to boost work engagement and subsequent work outcomes. Research limitations/implications The results of this empirical work will offer insights to managers who are looking for cost-effective interventions and behaviors aimed at increasing work engagement and, consequently, achieving effective work outcomes. Originality/value This study contributes by empirically testing the application of novel employee-driven practices in improving work engagement and work outcomes, particularly in the context of IT companies in India.

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Human skill integrated motion planning of assembly manipulation for 6R industrial robot

Industrial Robot the international journal of robotics research and application ◽

10.1108/ir-09-2018-0189 ◽

2019 ◽

Vol 46 (1) ◽

pp. 171-180

Author(s):

Yi Liu ◽

Ming Cong ◽

Hang Dong ◽

Dong Liu

Keyword(s):

Deep Learning ◽

Motion Planning ◽

Industrial Robot ◽

Robotic Assembly ◽

3D Vision ◽

Content Type ◽

Human Skill ◽

Depth Images ◽

Positioning Method ◽

Assembly Technology

Purpose The purpose of this paper is to propose a new method based on three-dimensional (3D) vision technologies and human skill integrated deep learning to solve assembly positioning task such as peg-in-hole. Design/methodology/approach Hybrid camera configuration was used to provide the global and local views. Eye-in-hand mode guided the peg to be in contact with the hole plate using 3D vision in global view. When the peg was in contact with the workpiece surface, eye-to-hand mode provided the local view to accomplish peg-hole positioning based on trained CNN. Findings The results of assembly positioning experiments proved that the proposed method successfully distinguished the target hole from the other same size holes according to the CNN. The robot planned the motion according to the depth images and human skill guide line. The final positioning precision was good enough for the robot to carry out force controlled assembly. Practical implications The developed framework can have an important impact on robotic assembly positioning process, which combine with the existing force-guidance assembly technology as to build a whole set of autonomous assembly technology. Originality/value This paper proposed a new approach to the robotic assembly positioning based on 3D visual technologies and human skill integrated deep learning. Dual cameras swapping mode was used to provide visual feedback for the entire assembly motion planning process. The proposed workpiece positioning method provided an effective disturbance rejection, autonomous motion planning and increased overall performance with depth images feedback. The proposed peg-hole positioning method with human skill integrated provided the capability of target perceptual aliasing avoiding and successive motion decision for the robotic assembly manipulation.

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Monstrous, crablike hypertrophy of the cerebellar vermis and its relationship with Lhermitte—Duclos disease

Journal of Neurosurgery ◽

10.3171/jns.1996.85.1.0157 ◽

1996 ◽

Vol 85 (1) ◽

pp. 157-162 ◽

Cited By ~ 8

Author(s):

Guillermo A. de León ◽

John A. Grant ◽

Crystal F. Darling

Keyword(s):

Surgical Resection ◽

Basic Structure ◽

Cerebellar Vermis ◽

Biological Behavior ◽

Content Type ◽

Neuroepithelial Cells ◽

Poorly Differentiated ◽

New Interpretation ◽

Fine Print

✓ The case of an infant with a peculiar tumorous malformation of the cerebellum is described. The tumor apparently developed as an exophytic, hypertrophic sprout of the inferior vermis. It had a monstrous appearance resembling a crab, with a metameric body and multiple pairs of limbs attached to the folia of both cerebellar hemispheres. Histologically, the lesion was formed by poorly differentiated neuroepithelial cells without any evidence of organization into nuclei, cortex, or fascicles. Clinically, the tumor behaved in an indolent manner and did not regrow after subtotal surgical resection. Because of its gross appearance and its biological behavior, this unusual hamartoblastomatous growth is readily distinguished from medulloblastoma. The morphology of the cerebellum in Lhermitte—Duclos disease is reviewed, and a new interpretation of its basic structure is proposed. This and other known types of cerebellar hypertrophy are different from the malformation in the present case.

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A revised FMEA application to the quality control management

International Journal of Quality & Reliability Management ◽

10.1108/ijqrm-02-2013-0028 ◽

2014 ◽

Vol 31 (7) ◽

pp. 788-810 ◽

Cited By ~ 22

Author(s):

Claudia Paciarotti ◽

Giovanni Mazzuto ◽

Davide D’Ettorre

Keyword(s):

Quality Control ◽

Failure Modes ◽

Cost Effective ◽

Weight Functions ◽

Time Saving ◽

Content Type ◽

Complete Procedure ◽

Medium Enterprise ◽

Control Management ◽

Critical Situations

Purpose – The purpose of this paper is to propose a cost-effective, time-saving and easy-to-use failure modes and effects analysis (FMEA) system applied on the quality control of supplied products. The traditional FMEA has been modified and adapted to fit the quality control features and requirements. The paper introduces a new and revised FMEA approach, where the “failure concept” has been modified with “defect concept.” Design/methodology/approach – The typical FMEA parameters have been modified, and a non-linear scale has been introduced to better evaluate the FMEA parameters. In addition, two weight functions have been introduced in the risk priority number (RPN) calculus in order to consider different critical situations previously ignored and the RPN is assigned to several similar products in order to reduce the problem of complexity. Findings – A complete procedure is provided in order to assist managers in deciding on the critical suppliers, the creation of homogeneous families overcome the complexity of single product code approach, in RPN definition the relative importance of factors is evaluated. Originality/value – This different approach facilitates the quality control managers acting as a structured and “friendly” decision support system: the quality control manager can easily evaluate the critical situations and simulate different scenarios of corrective actions in order to choose the best one. This FMEA technique is a dynamic tool and the performed process is an iterative one. The method has been applied in a small medium enterprise producing hydro massage bathtub, shower, spas and that commercializes bathroom furniture. The firm application has been carried out involving a cross-functional and multidisciplinary team.

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