Disposable Robotic Finger Driven Pneumatically by Flat Tubes and a Hollow Link Mechanism

2020 ◽  
Vol 32 (5) ◽  
pp. 958-976
Author(s):  
Junya Tanaka ◽  
Nobuto Matsuhira ◽  
◽  
Keyword(s):  
Bearing Capacity ◽  
Thermal Processing ◽  
Robot Hand ◽  
Load Bearing Capacity ◽  
Object Shape ◽  
Joint Structure ◽  
Link Mechanism ◽  
Flat Tubes ◽  
Deformation Force ◽  
The Cost

We propose a robotic finger with an exoskeleton-type structure that bends and extends by the deformation force of flat tubes. Our objective is to realize a disposable robot hand for gripping unsanitary objects. To reduce the cost of disposing of the robotic finger, a commercially available cable carrier chain was used for the exoskeleton component, and the flat tubes used in the pneumatic actuator were prepared by thermal processing of a commercially available tube. The driving joint of the robotic finger consists of a hollow link mechanism and two flat tubes, which are respectively arranged inside the hollow link mechanism and at the joint boundary. The proposed joint structure achieves both smooth drivability and good load-bearing capacity. The developed robotic finger weighs approximately 85 g and generates a fingertip force of approximately 4 N when a pressure of 0.25 MPa is applied. Because the developed robotic finger is pneumatically driven, it conforms to the object shape and is compliant to external force. Verification of the mechanism demonstrated that the developed robotic finger is useful because it was able to grasp six types of assumed objects.

scholarly journals Numerical Modelling Of The Strengthening Process Of Steel-Concrete Composite Beams

2015 ◽  
Vol 19 (4) ◽  
pp. 99-110 ◽  
Author(s):  
Piotr Szewczyk ◽  
Maciej Szumigała
Keyword(s):  
Numerical Modelling ◽  
Bearing Capacity ◽  
Composite Beam ◽  
Steel Plate ◽  
Composite Beams ◽  
Steel Beam ◽  
Load Bearing Capacity ◽  
Load Bearing ◽  
Main Assumption ◽  
The Cost

Abstract This paper presents the numerical modelling of strengthening a steel-concrete composite beam. The main assumption is that the strengthening is not the effect of the state of a failure of a structure, but it resulted from the need to increase the load-bearing capacity and stiffness of the structure (for example: due to a change in the use of the object). The expected solution is strengthening without the necessity to completely unload the structures (to reduce the scope of works, the cost of modernization and to shorten the time). The problem is presented on the example of a composite beam which was strengthened through welding a steel plate to the lower flange of the steel beam. The paper describes how energy parameters are used to evaluate the efficiency of structures’ strengthening and proposes an appropriate solution.

Increased load bearing capacity of mechanically joined FRP/metal joints using a pin structured auxiliary joining element

2020 ◽  
Vol 62 (1) ◽  
pp. 55-60
Author(s):  
Per Heyser ◽  
Vadim Sartisson ◽  
Gerson Meschut ◽  
Marcel Droß ◽  
Klaus Dröder
Keyword(s):  
Bearing Capacity ◽  
Load Bearing Capacity ◽  
Load Bearing

Load-Bearing Capacity of Direct Inlay-Retained Fibre-reinforced Composite Fixed Partial Dentures with Different Cross-Sectional Pontic Design

2017 ◽  
Vol 68 (1) ◽  
pp. 94-100
Author(s):  
Oana Tanculescu ◽  
Adrian Doloca ◽  
Raluca Maria Vieriu ◽  
Florentina Mocanu ◽  
Gabriela Ifteni ◽  
...  
Keyword(s):  
Bearing Capacity ◽  
Fracture Pattern ◽  
Load Bearing Capacity ◽  
Cross Sectional ◽  
Load Bearing ◽  
Reinforced Composite ◽  
Polyethylene Fibre

The load-bearing capacity and fracture pattern of direct inlay-retained FRC FDPs with two different cross-sectional designs of the ponticwere tested. The aim of the study was to evaluate a new fibre disposition. Two types of composites, Filtek Bulk Fill Posterior Restorative and Filtek Z250 (3M/ESPE, St. Paul, MN, USA), and one braided polyethylene fibre, Construct (Kerr, USA) were used. The results of the study suggested that the new tested disposition of the fibres prevented in some extend the delamination of the composite on buccal and facial sides of the pontic and increased the load-bearing capacity of the bridges.

scholarly journals The energy absorption behavior of novel composite sandwich structures reinforced with trapezoidal latticed webs

2021 ◽  
Vol 60 (1) ◽  
pp. 503-518
Author(s):  
Juan Han ◽  
Lu Zhu ◽  
Hai Fang ◽  
Jian Wang ◽  
Peng Wu
Keyword(s):  
Bearing Capacity ◽  
Energy Absorption ◽  
Sandwich Structure ◽  
Ultimate Load ◽  
Sandwich Structures ◽  
Elastic Displacement ◽  
Load Bearing Capacity ◽  
Load Bearing ◽  
Composite Sandwich ◽  
Composite Sandwich Structures

Abstract This article proposed an innovative composite sandwich structure reinforced with trapezoidal latticed webs with angles of 45°, 60° and 75°. Four specimens were conducted according to quasi-static compression methods to investigate the compressive behavior of the novel composite structures. The experimental results indicated that the specimen with 45° trapezoidal latticed webs showed the most excellent energy absorption ability, which was about 2.5 times of the structures with vertical latticed webs. Compared to the traditional composite sandwich structure, the elastic displacement and ultimate load-bearing capacity of the specimen with 45° trapezoidal latticed webs were increased by 624.1 and 439.8%, respectively. Numerical analysis of the composite sandwich structures was carried out by using a nonlinear explicit finite element (FE) software ANSYS/LS-DYNA. The influence of the thickness of face sheets, lattice webs and foam density on the elastic ultimate load-bearing capacity, the elastic displacement and initial stiffness was analyzed. This innovative composite bumper device for bridge pier protection against ship collision was simulated to verify its performance. The results showed that the peak impact force of the composite anti-collision device with 45° trapezoidal latticed webs would be reduced by 17.3%, and the time duration will be prolonged by about 31.1%.

scholarly journals Constructing a biomimetic robust bi-layered hydrophilic lubrication coating on surface of silicone elastomer

Friction ◽  
2021 ◽  
Author(s):  
Luyao Gao ◽  
Xiaoduo Zhao ◽  
Shuanhong Ma ◽  
Zhengfeng Ma ◽  
Meirong Cai ◽  
...  
Keyword(s):  
Bearing Capacity ◽  
Composite Layer ◽  
High Load ◽  
Silicone Elastomer ◽  
Aqueous Lubrication ◽  
Low Friction ◽  
Load Bearing Capacity ◽  
Load Bearing ◽  
Lubrication Performance ◽  
Wide Range

AbstractSilicone elastomers-based materials have been extensively involved in the field of biomedical devices, while their use is extremely restricted due to the poor surface lubricity and inherent hydrophobicity. This paper describes a novel strategy for generating a robust layered soft matter lubrication coating on the surface of the polydimethylsiloxane (PDMS) silicone elastomer, by entangling thick polyzwitterionic polyelectrolyte brush of poly (sulfobetaine methacrylate) (PSBMA) into the sub-surface of the initiator-embedded stiff hydrogel coating layer of P(AAm-co-AA-co-HEMA-Br)/Fe, to achieve a unified low friction and high load-bearing properties. Meanwhile, the stiff hydrogel layer with controllable thickness is covalently anchored on the surface of PDMS by adding iron powder to provide catalytic sites through surface catalytically initiated radical polymerization (SCIRP) method and provides high load-bearing capacity, while the topmost brush/hydrogel composite layer is highly effective for aqueous lubrication. Their synergy effects are capable of attaining low friction coefficient (COFs) under wide range of loaded condition in water environment with steel ball as sliding pair. Furthermore, the influence of mechanical modulus of the stiff hydrogel layer on the lubrication performance of layered coating is investigated, for which the COF is the lowest only when the modulus of the stiff hydrogel layer well matches the PDMS substrate. Surprisingly, the COF of the modified PDMS could remain low friction (COF < 0.05) stably after encountering 50,000 sliding cycles under 10 N load. Finally, the surface wear characterizations prove the robustness of the layered lubricating coating. This work provides a new route for engineering lubricious silicon elastomer with low friction, high load-bearing capacity, and considerable durability.

scholarly journals A Modified Pressure–Sinkage Model for Studying the Effect of a Hard Layer in Sandy Loam Soil

2021 ◽  
Vol 11 (12) ◽  
pp. 5499
Author(s):  
Nihal D. Salman ◽  
György Pillinger ◽  
Muammel M. Hanon ◽  
Péter Kiss
Keyword(s):  
Bearing Capacity ◽  
Sandy Loam ◽  
Sandy Loam Soil ◽  
High Fidelity ◽  
Load Bearing Capacity ◽  
Soil Thickness ◽  
Load Bearing ◽  
Hard Layer ◽  
Loam Soil ◽  
New Perspective

The applicability of the typical pressure–sinkage models used to characterize the soil’s bearing properties is limited to homogeneous soils (infinite thickness) that have no hard layer. At a given depth, a hard layer can have a considerable impact on the soil’s load-bearing capacity. It is thus necessary to alter the pressure–sinkage equation by taking this condition into account when assessing the load-bearing capacity. The present paper aims to determine a simple, high-fidelity model, in terms of soil characterization, that can account for the hard layer affection. To assess hard layer affection in this paper, a plate sinkage test (bevameter) was conducted on sandy loam soil. To this end, the soil was prepared by considering three bulk densities and two soil thickness levels at 7–9% moisture content levels. According to the results, this paper put forth a new perspective and related equations for characterizing bearing performance. The sinkage modulus (k) is an intrinsic soil parameter that has a determined unit of N/cm2 and is significant for managing the bearing performance. The results showed that the new modulus sinkage model incorporates the main factor of the rigid layer effect involving high fidelity that the conventional models have failed to account for.

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