scholarly journals Theoretical Thermal-Mechanical Modelling and Experimental Validation of a Three-Dimensional (3D) Electrothermal Microgripper with Three Fingers

Micromachines ◽  
2021 ◽  
Vol 12 (12) ◽  
pp. 1512
Author(s):  
Guoning Si ◽  
Liangying Sun ◽  
Zhuo Zhang ◽  
Xuping Zhang
Keyword(s):  
Degrees Of Freedom ◽  
Experimental Validation ◽  
Three Dimensional ◽  
Experimental Tests ◽  
Rectilinear Motion ◽  
The Novel ◽  
Mechanical Modeling ◽  
Polyimide Films ◽  
Electrothermal Actuator ◽  
Different Types

This paper presents the theoretical thermal-mechanical modeling and parameter analyses of a novel three-dimensional (3D) electrothermal microgripper with three fingers. Each finger of the microgripper is composed of a bi-directional Z-shaped electrothermal actuator and a 3D U-shaped electrothermal actuator. The bi-directional Z-shaped electrothermal actuator provides the rectilinear motion in two directions. The novel 3D U-shaped electrothermal actuator offers motion with two degrees of freedom (DOFs) in the plane perpendicular to the movement of the Z-shaped actuator. As a result, each finger possesses 3D mobilities with three DOFs. Each beam of the actuators is heated externally with polyimide films. In this work, the static theoretical thermal-mechanical model of the 3D U-shaped electrothermal actuator is established. Finite-element analyses and experimental tests are conducted to verify and validate the model. With this model, parameter analyses are carried out to provide insight and guidance on further improving the 3D U-shaped actuator. Furthermore, a group of micro-manipulation experiments are conducted to demonstrate the flexibility and versality of the 3D microgripper on manipulate different types of small/micro-objects.

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.

Numerical and experimental performance estimation for a ExoFing - 2 DOFs finger exoskeleton

Robotica ◽  
2021 ◽  
pp. 1-13
Author(s):  
G Carbone ◽  
M Ceccarelli ◽  
C. E. Capalbo ◽  
G Caroleo ◽  
C Morales-Cruz
Keyword(s):  
Degrees Of Freedom ◽  
Experimental Validation ◽  
Index Finger ◽  
Kinematic Model ◽  
Experimental Tests ◽  
Performance Estimation ◽  
Experimental Performance ◽  
Finger Motion ◽  
User Friendly ◽  
Operation Characteristics

Abstract This paper presents a numerical and experimental validation of ExoFing, a two-degrees-of-freedom finger mechanism exoskeleton. The main functionalities of this device are investigated by focusing on its kinematic model and by computing its main operation characteristics via numerical simulations. Experimental tests are designed and carried out for validating both the engineering feasibility and effectiveness of the ExoFing system aiming at achieving a human index finger motion assistance with cost-oriented and user-friendly features.

scholarly journals A new meta-module design for efficient reconfiguration of modular robots

2021 ◽  
Author(s):  
Irene Parada ◽  
Vera Sacristán ◽  
Rodrigo I. Silveira
Keyword(s):  
Degrees Of Freedom ◽  
Three Dimensional ◽  
Central Point ◽  
The Other ◽  
Three Dimensions ◽  
Modular Robots ◽  
The Novel ◽  
Modular Robot ◽  
Module Design ◽  
Rotational Degrees Of Freedom

AbstractWe propose a new meta-module design for two important classes of modular robots. The new meta-modules are three-dimensional, robust and compact, improving on the previously proposed ones. One of them applies to so-called edge-hinged modular robot units, such as M-TRAN, SuperBot, SMORES, UBot, PolyBot and CKBot, while the other one applies to so-called central-point-hinged modular robot units, which include Molecubes and Roombots. The new meta-modules use the rotational degrees of freedom of these two types of robot units in order to expand and contract, as to double or halve their length in each of the two directions of its three dimensions, therefore simulating the capabilities of Crystalline and Telecube robots. Furthermore, in the edge-hinged case we prove that the novel meta-module can also perform the scrunch, relax and transfer moves that are necessary in any tunneling-based reconfiguration algorithm for expanding/contracting modular robots such as Crystalline and Telecube. This implies that the use of meta-meta-modules is unnecessary, and that currently existing efficient reconfiguration algorithms can be applied to a much larger set of modular robots than initially intended. We also prove that the size of the new meta-modules is optimal and cannot be further reduced.

scholarly journals Numerical Analysis of Thermal Behaviour of DC Fuse

Energies ◽  
2020 ◽  
Vol 13 (14) ◽  
pp. 3736
Author(s):  
Adrian Plesca
Keyword(s):  
Thermal Behaviour ◽  
Thermal Model ◽  
Three Dimensional ◽  
Experimental Tests ◽  
Three Dimensional Model ◽  
Simulation Data ◽  
Different Types ◽  
Short Circuits ◽  
Good Concordance ◽  
Electrical Apparatus

One of the very well-known protections for electrical apparatus against overloads or short circuits is the fuse. It can be used to protect both AC or DC electrical installations and it has also proven its effectiveness in the protection of different loads. This paper describes a three-dimensional model of a DC fuse with two different types of fuselink notches: circular and rhombic. The obtained 3D thermal model can be used to investigate the thermal behaviour of DC fuses in both steady-state and transient conditions at different values of overloads or short circuits. With the aim to validate the proposed 3D thermal model, a series of experimental tests have been achieved. The thermal simulated values are in good concordance with the experimental results (a relative error less than ±6% has been obtained between experimental and simulation data).

scholarly journals Mixed Position and Twist Space Synthesis of 3R Chains

Robotics ◽  
2022 ◽  
Vol 11 (1) ◽  
pp. 13
Author(s):  
Neda Hassanzadeh ◽  
Alba Perez-Gracia
Keyword(s):  
Degrees Of Freedom ◽  
Traditional Approach ◽  
Three Dimensional ◽  
Dimensional Subspace ◽  
End Effector ◽  
Serial Chain ◽  
Higher Dimensional ◽  
Different Types ◽  
A Chain ◽  
Definition Of

Mixed-position kinematic synthesis is used to not only reach a certain number of precision positions, but also impose certain instantaneous motion conditions at those positions. In the traditional approach, one end-effector twist is defined at each precision position in order to achieve better guidance of the end-effector along a desired trajectory. For one-degree-of-freedom linkages, that suffices to fully specify the trajectory locally. However, for systems with a higher number of degrees of freedom, such as robotic systems, it is possible to specify a complete higher-dimensional subspace of potential twists at particular positions. In this work, we focus on the 3R serial chain. We study the three-dimensional subspaces of twists that can be defined and set the mixed-position equations to synthesize the chain. The number and type of twist systems that a chain can generate depend on the topology of the chain; we find that the spatial 3R chain can generate seven different fully defined twist systems. Finally, examples of synthesis with several fully defined and partially defined twist spaces are presented. We show that it is possible to synthesize 3R chains for feasible subspaces of different types. This allows a complete definition of potential motions at particular positions, which could be used for the design of precise interaction with contact surfaces.

The Application of ANSYS Multipoint Constraint on the Combination Modeling of SOLID-SHELL

2012 ◽  
Vol 588-589 ◽  
pp. 226-229
Author(s):  
Bao Qin Zhang ◽  
Jian Xia He ◽  
Yun Fang Qiao
Keyword(s):  
Degrees Of Freedom ◽  
Three Dimensional ◽  
Shell Element ◽  
Engineering Practice ◽  
Solid Shell ◽  
Element Modeling ◽  
Constraint Equations ◽  
Solid Element ◽  
Different Types

The problem of the modeling connection of different units is encountered in engineering practice. Its reasonable proposals are that the modeling is discrete into the respective discrete three-dimensional solid elements for calculation. But different types of units’ degrees of freedom are not discontinuity，it will lead to significant deviation of calculated results and the actual. In the paper, the methods and characteristics of SOLID-SHELL unit with the application of ANSYS constraint equations method and the MPC law are discussed, and compared the shell - solid element with the whole solid element modeling combined the results, it draw a conclusion that MPC law is advantage in modeling of three-dimensional solid element and shell element.

Response and Stability of a Self-Sustained Two-Degrees-of-Freedom System With Nonlinear Damping

1969 ◽  
Vol 91 (4) ◽  
pp. 1047-1050
Author(s):  
T. C. Huang
Keyword(s):  
Degrees Of Freedom ◽  
Three Dimensional ◽  
Nonlinear Damping ◽  
Response Surfaces ◽  
The Novel ◽  
Van Der Pol ◽  
Two Degrees Of Freedom ◽  
First Order ◽  
Stability Classification

A self-sustained two-degrees-of-freedom system with nonlinear damping is investigated. The analysis, which involves the application of the van der Pol method and the Andronow and Witt method, leads to the equation of response and stability classification. The novel feature of this analysis is that the form of the resulting equation is such that the classification of singularities of first-order differential equations can be applied. Three-dimensional response surfaces and stability regions for harmonic oscillations are presented.

Ultrastructural Investigations of the Contractile Filaments of Amoebae

1974 ◽  
Vol 32 ◽  
pp. 188-189
Author(s):  
P.L. Moore
Keyword(s):  
Cytoplasmic Streaming ◽  
Three Dimensional ◽  
Freeze Fracture ◽  
Amoeboid Movement ◽  
Different Types ◽  
Chemical Conditions ◽  
Complete Interpretation

Previous freeze fracture results on the intact giant, amoeba Chaos carolinensis indicated the presence of a fibrillar arrangement of filaments within the cytoplasm. A complete interpretation of the three dimensional ultrastructure of these structures, and their possible role in amoeboid movement was not possible, since comparable results could not be obtained with conventional fixation of intact amoebae. Progress in interpreting the freeze fracture images of amoebae required a more thorough understanding of the different types of filaments present in amoebae, and of the ways in which they could be organized while remaining functional.The recent development of a calcium sensitive, demembranated, amoeboid model of Chaos carolinensis has made it possible to achieve a better understanding of such functional arrangements of amoeboid filaments. In these models the motility of demembranated cytoplasm can be controlled in vitro, and the chemical conditions necessary for contractility, and cytoplasmic streaming can be investigated. It is clear from these studies that “fibrils” exist in amoeboid models, and that they are capable of contracting along their length under conditions similar to those which cause contraction in vertebrate muscles.

A Study on Utilization of Three-Dimensional Sensor Lip Image for Developing a Pronunciation Recognition System

2019 ◽  
Vol 63 (5) ◽  
pp. 50402-1-50402-9 ◽  
Author(s):  
Ing-Jr Ding ◽  
Chong-Min Ruan
Keyword(s):  
Principal Component Analysis ◽  
Automatic Speech Recognition ◽  
Feature Fusion ◽  
Three Dimensional ◽  
Principal Component ◽  
Recognition System ◽  
Geometrical Characteristics ◽  
3D Geometry ◽  
Different Types ◽  
The Disabled

Abstract The acoustic-based automatic speech recognition (ASR) technique has been a matured technique and widely seen to be used in numerous applications. However, acoustic-based ASR will not maintain a standard performance for the disabled group with an abnormal face, that is atypical eye or mouth geometrical characteristics. For governing this problem, this article develops a three-dimensional (3D) sensor lip image based pronunciation recognition system where the 3D sensor is efficiently used to acquire the action variations of the lip shapes of the pronunciation action from a speaker. In this work, two different types of 3D lip features for pronunciation recognition are presented, 3D-(x, y, z) coordinate lip feature and 3D geometry lip feature parameters. For the 3D-(x, y, z) coordinate lip feature design, 18 location points, each of which has 3D-sized coordinates, around the outer and inner lips are properly defined. In the design of 3D geometry lip features, eight types of features considering the geometrical space characteristics of the inner lip are developed. In addition, feature fusion to combine both 3D-(x, y, z) coordinate and 3D geometry lip features is further considered. The presented 3D sensor lip image based feature evaluated the performance and effectiveness using the principal component analysis based classification calculation approach. Experimental results on pronunciation recognition of two different datasets, Mandarin syllables and Mandarin phrases, demonstrate the competitive performance of the presented 3D sensor lip image based pronunciation recognition system.

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