scholarly journals The design of a force feedback soft gripper for tomato harvesting

2021 ◽  
Vol 52 (1) ◽  
Author(s):  
Asiwan Kultongkham ◽  
Supakit Kumnon ◽  
Tawan Thintawornkul ◽  
Teeranoot Chanthasopeephan
Keyword(s):  
Artificial Intelligence ◽  
Finite Element Method ◽  
Finite Element ◽  
Silicone Rubber ◽  
Force Feedback ◽  
Robotic Systems ◽  
Excessive Force ◽  
The Finite Element Method ◽  
Air Chamber ◽  
Smart Farming

In smart farming, both artificial intelligence and robotic systems are applied in order to improve efficiency. In agriculture, for jobs such as seeding, monitoring, and harvesting, robots are widely used. When using robots to harvest fruit and vegetables, it is essential not to apply excessive force, as it may damage the harvest. In this paper, a soft robotic three-fingered gripper is presented. It was designed and analysed using the finite element method. Each finger is made of silicone rubber. The shape of the finger is designed so that it is capable of handling spherical shaped objects, such as tomatoes or oranges. When holding a tomato, the fingers apply the contact force. The fingers are actuated pneumatically and the force applied is also controlled by a micro controller. The pressure inside the air chamber of the finger is in the range of 0- 95 kPa. Force sensors are attached to the end of each finger to provide force feedback. Then, the holding force is adjusted and applied to the surface of the tomato. The gripper can successfully grasp tomatoes with a force less than the bio-yield of the tomatoes 2.57 N.

scholarly journals MODELING THE OPERATION OF A GALVANIC BATH WITH ELECTRIC HEATERS AND OPTIMIZING ITS DESIGN BASED ON NUMERICAL SIMULATION

2021 ◽  
Vol 3 ◽  
pp. 330-335
Author(s):  
Alexander Samarkin ◽  
Sergey Dmitriev ◽  
Alexander Dementyev ◽  
Evgeniya Evgenyeva ◽  
Elena Samarkina
Keyword(s):  
Numerical Simulation ◽  
Finite Element Method ◽  
Finite Element ◽  
Control System ◽  
Automatic Control ◽  
The Finite Element Method ◽  
Reagent Solution ◽  
Stable Temperature ◽  
Air Chamber ◽  
Modeling Systems

A model of the processes in a galvanic bath during heating is based on the finite element method. The processes of heating the air chamber and directly the reagent solution are simulated. Based on the constructed model, an automatic control system for heating elements is being developed, which provides a sufficient heating rate, a stable temperature and protects the heating elements from burnout. An application program has been created that allows performing the calculations without studying complex modeling systems. 

Simulation of tuning graphene plasmonic behaviors by ferroelectric domains for self-driven infrared photodetector applications

Nanoscale ◽  
2019 ◽  
Vol 11 (43) ◽  
pp. 20868-20875 ◽  
Author(s):  
Junxiong Guo ◽  
Yu Liu ◽  
Yuan Lin ◽  
Yu Tian ◽  
Jinxing Zhang ◽  
...  
Keyword(s):  
Finite Element Method ◽  
Finite Element ◽  
Interfacial Effect ◽  
Infrared Photodetector ◽  
The Finite Element Method ◽  
Ferroelectric Domains ◽  
Element Method

We propose a graphene plasmonic infrared photodetector tuned by ferroelectric domains and investigate the interfacial effect using the finite element method.

Comparison of Conventional and Pontic Fixed Partial Dentures Over Implants Using the Finite Element Method: Three-Dimensional Analysis of Cortical and Medullary Bone Stress

2020 ◽  
Vol 46 (3) ◽  
pp. 175-181
Author(s):  
Marcelo Bighetti Toniollo ◽  
Mikaelly dos Santos Sá ◽  
Fernanda Pereira Silva ◽  
Giselle Rodrigues Reis ◽  
Ana Paula Macedo ◽  
...  
Keyword(s):  
Finite Element Method ◽  
Finite Element ◽  
Three Dimensional ◽  
The Finite Element Method ◽  
Medullary Bone ◽  
Principal Stresses ◽  
Bone Stress ◽  
Bone Damage ◽  
Rehabilitation System ◽  
Minimum Requirements

Rehabilitation with implant prostheses in posterior areas requires the maximum number of possible implants due to the greater masticatory load of the region. However, the necessary minimum requirements are not always present in full. This project analyzed the minimum principal stresses (TMiP, representative of the compressive stress) to the friable structures, specifically the vestibular face of the cortical bone and the vestibular and internal/lingual face of the medullary bone. The experimental groups were as follows: the regular splinted group (GR), with a conventional infrastructure on 3 regular-length Morse taper implants (4 × 11 mm); and the regular pontic group (GP), with a pontic infrastructure on 2 regular-length Morse taper implants (4 × 11 mm). The results showed that the TMiP of the cortical and medullary bones were greater for the GP in regions surrounding the implants (especially in the cervical and apical areas of the same region) but they did not reach bone damage levels, at least under the loads applied in this study. It was concluded that greater stress observed in the GP demonstrates greater fragility with this modality of rehabilitation; this should draw the professional's attention to possible biomechanical implications. Whenever possible, professionals should give preference to use of a greater number of implants in the rehabilitation system, with a focus on preserving the supporting tissue with the generation of less intense stresses.

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