scholarly journals Design of Soft Grippers with Modular Actuated Embedded Constraints

Robotics ◽  
2020 ◽  
Vol 9 (4) ◽  
pp. 105
Author(s):  
Gabriele Maria Achilli ◽  
Maria Cristina Valigi ◽  
Gionata Salvietti ◽  
Monica Malvezzi
Keyword(s):  
Finite Element Method ◽  
Flat Surface ◽  
Thermoplastic Polyurethane ◽  
Fem Analysis ◽  
Robotic Hand ◽  
Main Design ◽  
Grasping And Manipulation ◽  
Static Simulation

Underactuated, modular and compliant hands and grippers are interesting solutions in grasping and manipulation tasks due to their robustness, versatility, and adaptability to uncertainties. However, this type of robotic hand does not usually have enough dexterity in grasping. The implementation of some specific features that can be represented as “embedded constraints” allows to reduce uncertainty and to exploit the role of the environment during the grasp. An example that has these characteristics is the Soft ScoopGripper a gripper that has a rigid flat surface in addition to a pair of modular fingers. In this paper, we propose an upgraded version of the Soft ScoopGripper, developed starting from the limits shown by the starting device. The new design exploits a modular structure to increase the adaptability to the shape of the objects that have to be grasped. In the proposed device the embedded constraint is no rigid neither unactuated and is composed of an alternation of rigid and soft modules, which increase versatility. Moreover, the use of soft material such as thermoplastic polyurethane (TPU) reduces the risk of damage to the object being grasped. In the paper, the main design choices have been exploited and a finite element method (FEM) analysis through static simulation supports a characterization of the proposed solution. A complete prototype and some preliminary tests have been presented.

Force Characterization of a Rotary Motion Electrostatic Actuator Based on Finite Element Method (FEM) Analysis

2015 ◽  
Vol 761 ◽  
pp. 233-237
Author(s):  
Mariam Md Ghazaly ◽  
Tan Aik Choon ◽  
Che Amran Aliza ◽  
Sato Kaiji
Keyword(s):  
Finite Element Method ◽  
Finite Element ◽  
Thrust Force ◽  
Fem Analysis ◽  
Rotary Motion ◽  
Electrostatic Actuator ◽  
Electrostatic Actuators ◽  
3D Software ◽  
Element Method

Two types of rotary motion electrostatic actuators were designed and analyzed using Finite Element Method (FEM) analysis. This paper discussed the comparisons and detailed thrust force analysis of the two actuators. Both designs have similar specifications; i.e the number of rotor’s teeth to stator’s teeth ratio, radius and thickness of rotor, and gap between stator and rotor. Two structures were designed & evaluated; (a) Side-Driven Electrostatic Actuator and (b) Bottom-Driven Electrostatic Actuator. The paper focuses on comparing & analyzing the generated electrostatic thrust force for both designs when the electrostatic actuator’s parameters are varied. Ansys Maxwell 3D software is used to design and analyze the generated thrust force of the two rotary motion electrostatic actuators. The FEM analyses have been carried out by (i) varying the actuator size; (ii), varying the actuator thickness and (iii) varying the actuator teeth ratio. The FEM analysis shows that the Bottom-Drive Electrostatic Actuator exhibit greater thrust force, 4931.80μN compared to the Side-Drive Electrostatic Actuator, 240.96μN; when the actuator’s radius is 700μm, thickness is 50μm, gap between the stator and rotor is 2μm and the teeth ratio is 16:12.

Digital x-ray mapping of nanometer-size supported bimetallic catalysts

1988 ◽  
Vol 46 ◽  
pp. 530-531
Author(s):  
L. T. Germinario
Keyword(s):  
Background Radiation ◽  
Metal Cluster ◽  
Single Element ◽  
Beam Diameter ◽  
X Rays ◽  
X Ray ◽  
Major Interest ◽  
Induced Changes

Understanding the role of metal cluster composition in determining catalytic selectivity and activity is of major interest in heterogeneous catalysis. The electron microscope is well established as a powerful tool for ultrastructural and compositional characterization of support and catalyst. Because the spatial resolution of x-ray microanalysis is defined by the smallest beam diameter into which the required number of electrons can be focused, the dedicated STEM with FEG is the instrument of choice. The main sources of errors in energy dispersive x-ray analysis (EDS) are: (1) beam-induced changes in specimen composition, (2) specimen drift, (3) instrumental factors which produce background radiation, and (4) basic statistical limitations which result in the detection of a finite number of x-ray photons. Digital beam techniques have been described for supported single-element metal clusters with spatial resolutions of about 10 nm. However, the detection of spurious characteristic x-rays away from catalyst particles produced images requiring several image processing steps.

Consideraciones en torno a la reducción solipsista

1970 ◽  
Vol 11 ◽  
Author(s):  
Natalia Carolina Petrillo

ResumenEn el presente trabajo se intentará mostrar que la fenomenología no conduce a una postura solipsista. Para ello, se caracterizará en qué consiste el solipsismo. Luego, se intentará refutar a lo que se ha de llamar “solipsismo metafísico” y “solipsismo gnoseológico”, con el objetivo principal de poner de manifiesto el fundamento de motivación para la salida de la ficción solipsista.Palabras claves:Phenomenology – solipsim – empatía - HusserlAbstractWith the aim of showing that phenomenology does not lead in solipsism, I will first attempt a characterization of it. Then, I will attempt a refutation of the so-called “metaphysical” and “epistemological” solipsisms. Finally, the nature and role of Husserl´s solipsistic fiction is examined, and the grounds that motivate the overcoming of this standpoint are disclosed.key wordsFenomenología – solipsismo - empathy – Husserl

ART STUDIOS – A WAY TO DEVELOPE CHILDREN’S IMAGINATION

2020 ◽  
Vol 11 (1) ◽  
pp. 144-148
Author(s):  
Liuba Zlatkova ◽  
Keyword(s):  
Fairy Tale ◽  
Psychological Effects ◽  
Complete Product ◽  
The Arts ◽  
The Creation ◽  
Role Of Parents

The report describes the steps for creating a musical tale by children in the art studios of „Art Workshop“, Shumen. These studios are led by students volunteers related to the arts from pedagogical department of Shumen University, and are realized in time for optional activities in the school where the child studies. The stages of creating a complete product with the help of different arts are traced – from the birth of the idea; the creation of a fairy tale plot by the children; the characterization of the fairy-tale characters; dressing them in movement, song and speech; creating sets and costumes and creating a finished product to present on stage. The role of parents as a link and a necessary helper for children and leaders is also considered, as well as the positive psychological effects that this cooperation creates.

THE ROLE OF FINITE ELEMENT METHOD IN CIVIL ENGINEERING

2018 ◽  
Vol 5 (02) ◽  
Author(s):  
Er. Hardik Dhull
Keyword(s):  
Finite Element Method ◽  
Finite Element ◽  
Approximate Solution ◽  
Analytical Method ◽  
Civil Engineering ◽  
The Finite Element Method ◽  
Engineering Problems ◽  
Building Components ◽  
Element Method

The finite element method is a numerical method that is used to find solution of mathematical and engineering problems. It basically deals with partial differential equations. It is very complex for civil engineers to study various structures by using analytical method,so they prefer finite element methods over the analytical methods. As it is an approximate solution, therefore several limitationsare associated in the applicationsin civil engineering due to misinterpretationof analyst. Hence, the main aim of the paper is to study the finite element method in details along with the benefits and limitations of using this method in analysis of building components like beams, frames, trusses, slabs etc.

Conceptual Analysis Rebooted

2017 ◽  
Author(s):  
Edouard Machery
Keyword(s):  
Experimental Method ◽  
Conceptual Analysis ◽  
Philosophical Tradition ◽  
Traditional Use ◽  
Philosophical Significance ◽  
Conceptual Engineering ◽  
Method Of Cases

Chapter 7 proposes a new, naturalistic characterization of conceptual analysis, defends its philosophical significance, and shows that usual concerns with conceptual analysis do not apply to this revamped version. So understood, conceptual analysis encompasses both a descriptive project and a normative project, similar to explication or to conceptual engineering. Chapter 7 also defends the philosophical significance of this novel form of conceptual analysis and its continuity with the role of conceptual analysis in the philosophical tradition. Furthermore, naturalized conceptual analysis often requires empirical tools to be pursued successfully, and an experimental method of cases 2.0 should often replace the traditional use of cases in philosophy.

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