Surface and Shape Deposition Manufacturing for the Fabrication of a Curved Surface Gripper

2015 ◽  
Vol 7 (2) ◽  
Author(s):  
Srinivasan A. Suresh ◽  
David L. Christensen ◽  
Elliot W. Hawkes ◽  
Mark Cutkosky
Keyword(s):  
Thin Films ◽  
Laser Cutting ◽  
Biological Systems ◽  
Robotic Systems ◽  
Curved Surfaces ◽  
Structural Elements ◽  
Hard Materials ◽  
Subtractive Manufacturing ◽  
Multiple Materials ◽  
Shape Deposition Manufacturing

Biological systems such as the gecko are complex, involving a wide variety of materials and length scales. Bio-inspired robotic systems seek to emulate this complexity, leading to manufacturing challenges. A new design for a membrane-based gripper for curved surfaces requires the inclusion of microscale features, macroscale structural elements, electrically patterned thin films, and both soft and hard materials. Surface and shape deposition manufacturing (S2DM) is introduced as a process that can create parts with multiple materials, as well as integrated thin films and microtextures. It combines SDM techniques, laser cutting and patterning, and a new texturing technique, surface microsculpting. The process allows for precise registration of sequential additive/subtractive manufacturing steps. S2DM is demonstrated with the manufacture of a gripper that picks up common objects using a gecko-inspired adhesive. The process can be extended to other integrated robotic components that benefit from the integration of textures, thin films, and multiple materials.

Rubber-Assisted Hot Embossing for Structuring Thin Polymer Film Polymeric Films

2006 ◽  
Author(s):  
Pratapkumar Nagarajan ◽  
Donggang Yao
Keyword(s):  
Thin Films ◽  
Film Thickness ◽  
Polymer Film ◽  
Hot Embossing ◽  
Polymeric Films ◽  
Thin Polymer Film ◽  
Thin Polymer Films ◽  
Process Variables ◽  
Hard Materials ◽  
Thin Polymer

Precision structured polymer thin films with microstructures comparable to or greater than the film thickness are highly desired in many applications. Such micro-patterned thin films, however, are difficult to fabricate using the standard hot embossing technology where both halves of the mold are made of hard materials. This study investigated a rubber-assisted embossing process for structuring thin polymer films. The advantages of the rubber backup instead of a hard support include but are not limited to 1) simplifying the embossing tool, 2) protecting the embossing master, 3) facilitating embossing pressure buildup, and 4) accommodating conformal forming of microscale shell patterns. Several design and process variables including rubber hardness, embossing temperature, embossing pressure and holding time were carefully studied. Thin polystyrene films in a thickness of 25 μm were accurately patterned with microgrooves of characteristic dimensions on the order of 100 μm.

Laser induced chemical vapor deposition of optical thin films on curved surfaces

1998 ◽  
Vol 332 (1-2) ◽  
pp. 10-15 ◽  
Author(s):  
S. Tamir ◽  
S. Berger ◽  
K. Rabinovitch ◽  
M. Gilo ◽  
R. Dahan
Keyword(s):  
Thin Films ◽  
Chemical Vapor Deposition ◽  
Vapor Deposition ◽  
Chemical Vapor ◽  
Curved Surfaces

scholarly journals A bioinspired stretchable membrane-based compliance sensor

2020 ◽  
Vol 117 (21) ◽  
pp. 11314-11320 ◽  
Author(s):  
Levent Beker ◽  
Naoji Matsuhisa ◽  
Insang You ◽  
Sarah Rachel Arussy Ruth ◽  
Simiao Niu ◽  
...  
Keyword(s):  
Form Factor ◽  
Human Skin ◽  
High Sensitivity ◽  
Robotic Systems ◽  
Handheld Devices ◽  
Complex Nature ◽  
Tunable Sensors ◽  
Multiple Materials ◽  
Sensor Configuration ◽  
Small Form Factor

Compliance sensation is a unique feature of the human skin that electronic devices could not mimic via compact and thin form-factor devices. Due to the complex nature of the sensing mechanism, up to now, only high-precision or bulky handheld devices have been used to measure compliance of materials. This also prevents the development of electronic skin that is fully capable of mimicking human skin. Here, we developed a thin sensor that consists of a strain sensor coupled to a pressure sensor and is capable of identifying compliance of touched materials. The sensor can be easily integrated into robotic systems due to its small form factor. Results showed that the sensor is capable of classifying compliance of materials with high sensitivity allowing materials with various compliance to be identified. We integrated the sensor to a robotic finger to demonstrate the capability of the sensor for robotics. Further, the arrayed sensor configuration allows a compliance mapping which can enable humanlike sensations to robotic systems when grasping objects composed of multiple materials of varying compliance. These highly tunable sensors enable robotic systems to handle more advanced and complicated tasks such as classifying touched materials.

Smart Material Composites for Discrete Stiffness Materials

2018 ◽  
Author(s):  
Emily A. Allen ◽  
Lee D. Taylor ◽  
John P. Swensen
Keyword(s):  
Melting Point ◽  
Smart Materials ◽  
Biological Systems ◽  
Initial Step ◽  
Robotic Systems ◽  
Beam Structure ◽  
New Class ◽  
Different Temperatures ◽  
Materials Used ◽  
Local Stiffness

This paper presents an initial step towards a new class of soft robotics materials, where localized, geometric patterning of smart materials can exhibit discrete levels of stiffness through the combinations of smart materials used. This work is inspired by a variety of biological systems where actuation is accomplished by modulating the local stiffness in conjunction with muscle contractions. Whereas most biological systems use hydrostatic mechanisms to achieve stiffness variability, and many robotic systems have mimicked this mechanism, this work aims to use smart materials to achieve this stiffness variability. Here we present the compositing of the low melting point Field’s metal, shape memory alloy Nitinol, and a low melting point thermoplastic Polycaprolactone (PCL), composited in simple beam structure within silicone rubber. The comparison in bending stiffnesses at different temperatures, which reside between the activation temperatures of the composited smart materials demonstrates the ability to achieve discrete levels of stiffnesses within the soft robotic tissue.

scholarly journals How Geometry Controls the Tearing of Adhesive Thin Films on Curved Surfaces

2011 ◽  
Vol 107 (16) ◽  
Author(s):  
Olga Kruglova ◽  
Fabian Brau ◽  
Didier Villers ◽  
Pascal Damman
Keyword(s):  
Thin Films ◽  
Curved Surfaces

Technological aspects of the formation, reproducibility and compliance of the parameters of film converters

2020 ◽  
pp. 71-75
Author(s):  
D.G. Mustafaeva ◽  
Keyword(s):  
Thin Films ◽  
Materials Science ◽  
Dissimilar Materials ◽  
Structural Elements ◽  
Technological Factors ◽  
Operating Modes ◽  
Microelectronic Technology ◽  
Semiconductor Compounds ◽  
Static And Dynamic Loads ◽  
Analysis And Study

The analysis and study of materials science and technological factors in the creation of film converters are carried out, the requirements for materials, their properties, and the technology of forming the converter elements are determined. It is shown that taking into account material science and technological factors ensures that the parameters of the film transducer match the required ones, resistance to external infiuencing factors, obtaining films of the initial composition, and stability of the production technology. The choice of material parameters is made taking into account the operating modes and conditions, static and dynamic loads acting on the elements of the converter, the properties of the starting materials and film elements. When joining dissimilar materials, the coefficients of linear expansion are taken into account. In the process of creating film converters, the initial materials, structural elements are processed in various technological environments and, are subjected to thermal effects, the specified structures and parameters of the film converter are formed, and at the same time, the imperfections in the initial materials and converter elements are amplified, which directly or indirectly affect the output parameters of the film converter. In the manufacture of film elements of the transducer, the choice of the method for producing thin films is determined by the purpose of the film, the compatibility of the method with other technological operations of microelectronic technology. The reproducibility of the electrophysical properties of thin films takes place during their deposition with a controlled composition, which is essential for the production of films based on semiconductor compounds and for the formation of the sensitive elements of the transducer. The analysis and study of methods for obtaining films showed that the energy efficiency of the process of ion sputtering of materials and the production of thin films of a given composition, technological fiexibility, the ability to control the thickness of the films by changing the current value, the deposition time and the pressure at which it is carried out are the most optimal.

On the Wear Assessment of Multilayer Nanocrystalline Diamond Coated Implants of the Temporomandibular Joint

2003 ◽  
Vol 791 ◽  
Author(s):  
Malesela J. Papo ◽  
Shane A. Catledge ◽  
Camilo Machado ◽  
Somaieh Kashef ◽  
Alan E. Eberhardt ◽  
...  
Keyword(s):  
Thin Films ◽  
Temporomandibular Joint ◽  
High Stress ◽  
Nanocrystalline Diamond ◽  
Curved Surfaces ◽  
Clinical Use ◽  
Mandibular Movement ◽  
Film Adhesion ◽  
Wear Damage ◽  
Wear Tests

ABSTRACTWe deposited multilayer Nanocrystalline Diamond (NCD) thin films on Ti-6Al-4V substrates that were machined to imitate the shapes of the condyle and fossa of the temporomandibular joint (TMJ). We performed low stress wear assessment experiments on condyle/fossa pairs mounted in a custom-built mandibular movement simulator (MMS) for 5 x 105 loaded cycles at 1.2 Hz, which is equivalent to 4.4 years of clinical use. Analysis of wear surfaces on the control and the NCD-coated pairs indicated that no film delamination occurred on the NCD-coated condyle/fossa couple and that wear damage was extensive on the uncoated condyle/fossa pair. The high stress wear tests performed using the Ortho-POD machine at loads of 80 and 165 N showed that loss of film on the condyle specimens occurred after 3300 and 341 cycles, respectively. A subsequent evaluation of the influence of condyle curvature on wear by articulating a multilayer condyle/disk pair at a load of 50 N and 250 000 cycles at 1.2 Hz, showed that film delamination on the condyle occurred after 12500 cycles and no loss of film was observed on the disk after 250 000 cycles of articulation. Our results show that the observed lower film lifetimes on the condyles at high stresses are not related to intrinsic stresses in the film but probably due to lower film adhesion on the curved surfaces of the condyle.

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