A novel coupled gesture-changeable under-actuated robotic finger with linkage and gear-rack mechanism

2010 ◽  
Author(s):  
Tianyu Luo ◽  
Wenzeng Zhang ◽  
Hongbing Liu
Keyword(s):  
Gear Rack ◽  
Rack Mechanism

Design and implementation of a variable stiffness actuator based on flexible gear rack mechanism

Robotica ◽  
2017 ◽  
Vol 36 (3) ◽  
pp. 448-462 ◽  
Author(s):  
Wei Wang ◽  
Xiaoyue Fu ◽  
Yangmin Li ◽  
Chao Yun
Keyword(s):  
Joint Stiffness ◽  
Variable Stiffness ◽  
Power Cost ◽  
Linear Elastic ◽  
Mechanics Model ◽  
Angular Deflection ◽  
Rotational Joint ◽  
Gear Rack ◽  
Rack Mechanism ◽  
Flexible Gear

SUMMARYVariable stiffness can improve the capability of human–robot interacting. Based on the mechanism of a flexible rack and gear, a rotational joint actuator named vsaFGR is proposed to regulate the joint stiffness. The flexible gear rack can be regarded as a combination of a non-linear elastic element and a linear adjusting mechanism, providing benefits of compactness. The joint stiffness is in the range of 217–3527 N.m/rad, and it is inversely proportional to the 4th-order of the gear displacement, and nearly independent from the joint angular deflection, providing benefits of quick stiffness regulation in a short displacement of 20 mm. The gear displacement with respect to the flexible gear rack is perpendicular to the joint loading force, so the power required for stiffness regulating is as low as 14.4 W, providing benefits of energy saving. The working principles of vsaFGR are elaborated, followed by presentation on the mechanics model and the prototype. The high compactness, great stiffness range and low power cost of vsaFGR are proved by simulations and experiments.

Design of Variable Stiffness Actuator Based on Modified Gear–Rack Mechanism

2016 ◽  
Vol 8 (6) ◽  
Author(s):  
Wei Wang ◽  
Xiaoyue Fu ◽  
Yangmin Li ◽  
Chao Yun
Keyword(s):  
Mechanical Design ◽  
Joint Stiffness ◽  
Elastic Beam ◽  
Variable Stiffness ◽  
Uncertain Environments ◽  
Mechanics Model ◽  
Speed Reducer ◽  
Stiffness Profile ◽  
Gear Rack ◽  
Rack Mechanism

Variable stiffness actuators (VSAs) can improve the robot's performance during interactions with human and uncertain environments. Based on the modified gear–rack mechanism, a VSA with a third-power stiffness profile is designed. The proposed mechanism, used to vary the joint stiffness, is placed between the output end and the joint speed reducer. Both the elastic element and the regulating mechanism are combined into the modified gear–rack (MGR), which is modeled as an elastic beam clamped at the middle position. Two pairs of spur gears are engaged with the rack and considered as the variable acting positions of supporting forces. The joint stiffness is inversely proportional to the third power of the gear displacement, independent from the joint position and the joint deflection angle. The gear displacement is perpendicular to the loading torque, so the power consumed by the stiffness-regulating action is low (14.4 W). The working principle and the mechanics model are illustrated, and then, the mechanical design is presented. The validity of the VSA is proved by simulations and experiments.

Super under‐actuated multi‐fingered mechanical hand with modular self‐adaptive gear‐rack mechanism

2009 ◽  
Vol 36 (3) ◽  
pp. 255-262 ◽  
Author(s):  
Wenzeng Zhang ◽  
Demeng Che ◽  
Hongbin Liu ◽  
Xiande Ma ◽  
Qiang Chen ◽  
...  
Keyword(s):  
Mechanical Hand ◽  
Gear Rack ◽  
Rack Mechanism ◽  
Self Adaptive

Study on the Working Principle of a New Type of Power Transmission Mechanism for Gasoline Engine

2013 ◽  
Vol 744 ◽  
pp. 223-226
Author(s):  
Xing Quan Guan ◽  
Qiu Ping Lu ◽  
Wei Dong Liu
Keyword(s):  
Gasoline Engine ◽  
Power Transmission ◽  
Transmission Efficiency ◽  
Mechanical Transmission ◽  
Reciprocating Motion ◽  
Gear Mesh ◽  
New Type ◽  
Working Principle ◽  
Gear Rack ◽  
Rack Mechanism

This paper presents a new heat-work device, which chooses the gear-rack mechanism to realize the reciprocating motion of cylinder, and that applies swing rod rotation to transmit thermal energy, it changes the use of traditional engine crank-link mechanism and improves the mechanical transmission efficiency effectively. Using incomplete gear mesh, the length of displacement can change in the exhaust stroke, so that the combustion exhaust gas can discharge more. The premix gas is completed ahead of schedule two stroke earlier than traditional gasoline engine in the auxiliary cylinder, and mixture gas burn more thoroughly. To combine swing rod with overrunning clutch install on the output straight shaft, it can replace the crankshaft for output power.

Study on Mechanical Automation with Design of Rapid Milk Detector Based on Freezing Point

2013 ◽  
Vol 703 ◽  
pp. 282-286
Author(s):  
Ren Cai Zhang ◽  
Xiang Yu ◽  
Xing Ju Liu ◽  
Jin Hai Zhai ◽  
Zhen Wu Ning
Keyword(s):  
Integrated Circuit ◽  
Temperature Sensor ◽  
High Efficiency ◽  
Freezing Point ◽  
Electronic Control ◽  
Freezing Point Depression ◽  
Electronic Control System ◽  
Freezing Curve ◽  
Rack Mechanism

An efficient automated milk detector based on freezing point depression is designed. This detector shares characters of high efficiency and good stability with accuracy and automation. Its main parts include temperature sensor of IC (Integrated Circuit), pinion-rack mechanism and crank-rocker mechanism and electronic control system. Monitoring in-situ change of milk freezing curve and developing efficiency of sampling can be available by means of pinion-rack mechanism and IC temperature sensor mechatronics design. As a result, adulterating status of milk can be discriminated in a rapid and accurate and automated way. The detector may be employed to detect liquid foods other than milk as well.

Finite Element Analysis on Rack and Pinion of Roadheader

2013 ◽  
Vol 791-793 ◽  
pp. 718-721
Author(s):  
Man Man Xu ◽  
Yu Li ◽  
Sai Nan Xie ◽  
Qing Hua Chen
Keyword(s):  
Finite Element Analysis ◽  
Finite Element ◽  
Spur Gear ◽  
Stress And Strain ◽  
Analysis Method ◽  
Element Analysis ◽  
The Road ◽  
The Finite Element Analysis ◽  
Gear Rack ◽  
Stress And Strain Distribution

To analyse the road-header rack and pinion by using the finite element analysis software COSMOS/WORKS. Compared to the traditional analytic calculation and numerical analysis method, it is more intuitively get 28 ° pressure angle spur gear rack meshing stress and strain distribution, which can rack and pinion improvements designed to provide scientific reference.

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