Modal Simulation and Testing of a Micro-Manipulator

2004 ◽  
Vol 127 (3) ◽  
pp. 515-519 ◽  
Author(s):  
Yongjun Lai ◽  
Marek Kujath ◽  
Ted Hubbard
Keyword(s):  
Numerical Simulations ◽  
Degrees Of Freedom ◽  
Compliant Mechanism ◽  
Dynamic Properties ◽  
Experimental Results ◽  
Mass Model ◽  
Thermal Actuators ◽  
Micro Manipulator ◽  
Six Dof

A micro-machined manipulator with three kinematic degrees-of-freedom (DOF): x, y, and φ is presented. The manipulator is driven by three thermal actuators. A six DOF discrete spring-mass model of the compliant mechanism is developed which manifests the dynamic properties of the device. Numerical simulations are compared with experimental results.

Miniature Continuum Manipulator with 3-DOF Force Sensing for Retinal Microsurgery

2021 ◽  
pp. 1-34
Author(s):  
Tianci Zhang ◽  
Zhongyuan Ping ◽  
Siyang Zuo
Keyword(s):  
Degrees Of Freedom ◽  
Compliant Mechanism ◽  
Force Sensor ◽  
Experimental Results ◽  
Surgical Instruments ◽  
Force Sensing ◽  
Clinical Value ◽  
Artificial Eye ◽  
Force Sensitivity ◽  
Continuum Manipulator

Abstract Retinal microsurgery requires the precise manipulation of delicate tissue in the interior of the eye. Smart surgical instruments with dexterous tip and force sensing capabilities can permit surgeons to perform more flexible surgical procedures and obtain imperceptible force information, thereby improving the safety and efficiency of microsurgery. In this study, we present an intraocular continuum manipulator with three degrees of freedom (DOF) force sensing capabilities. A contact-aided compliant mechanism based on cutting superelastic Nitinol tubes is used to provide high dexterity. It enables two rotational DOFs at the distal end of the manipulator. Fiber Bragg grating (FBG) fibers are used to provide high-resolution force measurements. Moreover, a novel Nitinol flexure was designed to achieve high axial force sensitivity. The experimental results show that the maximum bending angle of the dexterous tip is more than ±45° for each DOF with high repeatability. In addition, the experimental results demonstrate that the proposed force sensor can provide sub-millinewton resolution. Conclusion: The manipulator has also been validated with an artificial eye model, demonstrating the potential clinical value of the manipulator for retinal microsurgery.

Modeling and prototype experiment of a six-DOF parallel micro-manipulator with nano-scale accuracy

2014 ◽  
Vol 229 (14) ◽  
pp. 2611-2625
Author(s):  
Yi Dong ◽  
Feng Gao ◽  
Yi Yue
Keyword(s):  
Degrees Of Freedom ◽  
Experimental Result ◽  
Element Analysis ◽  
Six Degrees Of Freedom ◽  
Compliant Structure ◽  
Nano Scale ◽  
Stiffness Model ◽  
Micro Manipulator ◽  
Six Dof ◽  
The Relationship

This paper presents a high-accurate micro-manipulator featured with monolithic compliant structure, orthogonally arranged parallel mechanism and piezoelectric (PZT) actuation. 6-SPS mechanism is employed to provide six degrees of freedom (DOF), including three linear translations and three rotations. The kinematics and stiffness of the micro-manipulator is studied first in this paper. Then, the relationship between PZT nominal displacement and the end pose is derived. Aiming at achieving trajectories with nano-scale accuracy, a two-step strategy is proposed. Finite element analysis (FEA) is conducted to verify the kinematics and stiffness model. Finally, in order to demonstrate the performance of the micro-manipulator, experiments of typical trajectories are carried out. The experimental result shows that the proposed micro-manipulator is capable of achieving trajectories with nano-scale accuracy.

scholarly journals Study on the impulsive pressure of tank oscillating by force towards multiple degrees of freedom

2018 ◽  
Vol 180 ◽  
pp. 02034
Author(s):  
Shigeyuki Hibi
Keyword(s):  
Numerical Simulations ◽  
Degrees Of Freedom ◽  
Experimental Results ◽  
Nonlinear Phenomena ◽  
Multiple Degrees Of Freedom ◽  
Impulsive Loads ◽  
Impulsive Pressure ◽  
Specific Phase ◽  
Fft Analysis ◽  
Phase Differences

Impulsive loads should be excited under nonlinear phenomena with free surface fluctuating severely such as sloshing and slamming. Estimating impulsive loads properly are important to recent numerical simulations. But it is still difficult to rely on the results of simulations perfectly because of the nonlinearity of the phenomena. In order to develop the algorithm of numerical simulations experimental results of nonlinear phenomena are needed. In this study an apparatus which can oscillate a tank by force was introduced in order to investigate impulsive pressure on the wall of the tank. This apparatus can oscillate it simultaneously towards 3 degrees of freedom with each phase differences. The impulsive pressure under the various combinations of oscillation direction was examined and the specific phase differences to appear the largest peak values of pressure were identified. Experimental results were verified through FFT analysis and statistical methods.

scholarly journals A Decoupled 6-DOF Compliant Parallel Mechanism with Optimized Dynamic Characteristics Using Cellular Structure

Machines ◽  
2021 ◽  
Vol 9 (1) ◽  
pp. 5
Author(s):  
Minh Tuan Pham ◽  
Song Huat Yeo ◽  
Tat Joo Teo ◽  
Pan Wang ◽  
Mui Ling Sharon Nai
Keyword(s):  
Parallel Mechanism ◽  
Cellular Structure ◽  
Degrees Of Freedom ◽  
Dynamic Properties ◽  
Dynamic Performance ◽  
Three Dimensional ◽  
Optimization Method ◽  
End Effector ◽  
Compliant Parallel Mechanism ◽  
Six Dof

This paper presents a novel six degrees-of-freedom (DOF) compliant parallel mechanism (CPM) with decoupled output motions, large workspace of ≥6 mm for translations and ≥12° for rotations, optimized stiffness, and dynamic properties. The working range and the motion decoupling capability of the six-DOF CPM are experimentally verified, and the mechanical properties are shown to be predictable. The proposed CPM is synthesized by applying the beam-based structural optimization method together with the criteria for achieving motion decoupling capability. In order to improve the dynamic behaviors for the CPM, cellular structure is used to design its end effector. The obtained results show that the dynamic performance of the CPM with cellular end effector is significantly enhanced with the increase of 33% of the first resonance frequency as compared to the initial design. Performances of the three-dimensional (3D)-printed prototype are experimentally evaluated in terms of mechanical characteristics and decoupled motions. The obtained results show that the actual stiffness and dynamic properties agree with the predictions with the highest deviation of ~10.5%. The motion decoupling capability of the CPM is also demonstrated since almost input energy (>99.5%) generates the desired output motions while the energy causes parasitic motions is only minor (<0.5%).

scholarly journals Design, Fabrication, and Testing of a Novel 3D 3-Fingered Electrothermal Microgripper with Multiple Degrees of Freedom

Micromachines ◽  
2021 ◽  
Vol 12 (4) ◽  
pp. 444
Author(s):  
Guoning Si ◽  
Liangying Sun ◽  
Zhuo Zhang ◽  
Xuping Zhang
Keyword(s):  
Degrees Of Freedom ◽  
Dynamic Properties ◽  
Three Dimensional ◽  
Polyimide Film ◽  
Zebrafish Embryos ◽  
Multiple Degrees Of Freedom ◽  
Electrothermal Actuator ◽  
3D Space ◽  
Pick And Place

This paper presents the design, fabrication, and testing of a novel three-dimensional (3D) three-fingered electrothermal microgripper with multiple degrees of freedom (multi DOFs). Each finger of the microgripper is composed of a V-shaped electrothermal actuator providing one DOF, and a 3D U-shaped electrothermal actuator offering two DOFs in the plane perpendicular to the movement of the V-shaped actuator. As a result, each finger possesses 3D mobilities with three DOFs. Each beam of the actuators is heated externally with the polyimide film. The durability of the polyimide film is tested under different voltages. The static and dynamic properties of the finger are also tested. Experiments show that not only can the microgripper pick and place microobjects, such as micro balls and even highly deformable zebrafish embryos, but can also rotate them in 3D space.

scholarly journals Analysis of the transmission loss of double-leaf panels with an equivalent spring–mass model for studs

2020 ◽  
Vol 37 ◽  
pp. 126-133
Author(s):  
Yuan-Wei Li ◽  
Chao-Nan Wang
Keyword(s):  
Distribution Curve ◽  
Transmission Loss ◽  
Sound Transmission ◽  
Experimental Results ◽  
Sound Insulation ◽  
Sound Transmission Loss ◽  
Mass Model ◽  
Steel Stud ◽  
Panel Thickness ◽  
Stiffness Distribution

Abstract The purpose of this study was to investigate the sound insulation of double-leaf panels. In practice, double-leaf panels require a stud between two surface panels. To simplify the analysis, a stud was modeled as a spring and mass. Studies have indicated that the stiffness of the equivalent spring is not a constant and varies with the frequency of sound. Therefore, a frequency-dependent stiffness curve was used to model the effect of the stud to analyze the sound insulation of a double-leaf panel. First, the sound transmission loss of a panel reported by Halliwell was used to fit the results of this study to determine the stiffness of the distribution curve. With this stiffness distribution of steel stud, some previous proposed panels are also analyzed and are compared to the experimental results in the literature. The agreement is good. Finally, the effects of parameters, such as the thickness and density of the panel, thickness of the stud and spacing of the stud, on the sound insulation of double-leaf panels were analyzed.

scholarly journals Designing of Drive Systems in the Aspect of the Desired Spectrum of Operation

Energies ◽  
2021 ◽  
Vol 14 (9) ◽  
pp. 2562
Author(s):  
Tomasz Dzitkowski ◽  
Andrzej Dymarek ◽  
Jerzy Margielewicz ◽  
Damian Gąska ◽  
Lukasz Orzech ◽  
...  
Keyword(s):  
Degrees Of Freedom ◽  
Dynamic Properties ◽  
Dynamic Parameters ◽  
Synthesis Algorithm ◽  
Moments Of Inertia ◽  
Driving System ◽  
Six Degrees Of Freedom ◽  
Resonance Frequencies ◽  
Drive Systems ◽  
Power Component

A method for selecting dynamic parameters and structures of drive systems using the synthesis algorithm is presented. The dynamic parameters of the system with six degrees of freedom, consisting of a power component (motor) and a two-speed gearbox, were determined, based on a formalized methodology. The required gearbox is to work in specific resonance zones, i.e., meet the required dynamic properties such as the required resonance frequencies. In the result of the tests, a series of parameters of the drive system, defining the required dynamic properties such as the resonance and anti-resonance frequencies were recorded. Mass moments of inertia of the wheels and elastic components, contained in the required structure of the driving system, were determined for the selected parameters obtained during the synthesis.

Steady-State and Dynamic Properties of the Floating-Ring Journal Bearing

1968 ◽  
Vol 90 (1) ◽  
pp. 243-253 ◽  
Author(s):  
F. K. Orcutt ◽  
C. W. Ng
Keyword(s):  
Steady State ◽  
Journal Bearing ◽  
Dynamic Properties ◽  
Calculated Data ◽  
Experimental Results ◽  
Supply Pressure ◽  
Pressure Parameter

Calculated data on steady-state and dynamic properties of the plain cylindrical floating-ring bearing with pressurized lubricant supply are given. The data are for a bearing with L/D of 1, and values of the ratio of inner to outer film clearances of 0.7 and 1.3. One value of dimensionless supply pressure parameter is covered. Experimental results are presented which verify the calculated results and which supplement them, particularly with respect to stability characteristics of the bearing.

scholarly journals Mathematical modelling of the overflowing cylinder experiment

2003 ◽  
Vol 474 ◽  
pp. 275-298 ◽  
Author(s):  
P. D. HOWELL ◽  
C. J. W. BREWARD
Keyword(s):  
Free Surface ◽  
Surfactant Concentration ◽  
Dynamic Properties ◽  
Vertical Cylinder ◽  
Surfactant Solution ◽  
Surface Concentration ◽  
Experimental Results ◽  
Surface Velocity ◽  
Experimental Apparatus ◽  
Finite Distance

The overflowing cylinder (OFC) is an experimental apparatus designed to generate a controlled straining flow at a free surface, whose dynamic properties may then be investigated. Surfactant solution is pumped up slowly through a vertical cylinder. On reaching the top, the liquid forms a flat free surface which expands radially before over flowing down the side of the cylinder. The velocity, surface tension and surfactant concentration on the expanding free surface are measured using a variety of non-invasive techniques.A mathematical model for the OFC has been previously derived by Breward et al. (2001) and shown to give satisfactory agreement with experimental results. However, a puzzling indeterminacy in the model renders it unable to predict one scalar parameter (e.g. the surfactant concentration at the centre of the cylinder), which must be therefore be taken from the experiments.In this paper we analyse the OFC model asymptotically and numerically. We show that solutions typically develop one of two possible singularities. In the first, the surface concentration of surfactant reaches zero a finite distance from the cylinder axis, while the surface velocity tends to infinity there. In the second, the surfactant concentration is exponentially large and a stagnation point forms just inside the rim of the cylinder. We propose a criterion for selecting the free parameter, based on the elimination of both singularities, and show that it leads to good agreement with experimental results.

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