A Pneumatic Novel Combined Soft Robotic Gripper with High Load Capacity and Large Grasping Range

Pneumatic soft grippers have been widely studied. However, the structures and material properties of existing pneumatic soft grippers limit their load capacity and manipulation range. In this article, inspired by sea lampreys, we present a pneumatic novel combined soft gripper to achieve a high load capacity and a large grasping range. This soft gripper consists of a cylindrical soft actuator and a detachable sucker. Three internal air chambers of the cylindrical soft actuator are inflated, which enables them to hold objects. Under vacuum pressure, the cylindrical soft actuator and the detachable sucker can both adsorb objects. A finite element model was constructed to simulate three inflation chambers for predicting the grasping range of the cylindrical soft actuator. The validity of the finite element model was established by an experiment. The mechanism of holding force and adsorption force were analyzed. Several groups of experiments were conducted to determine adsorption range, holding force, and adsorption force. In addition, practical applications further indicated that the novel combined soft gripper has a high load capacity (10.85 kg) at a low pressure (16 kPa) and a large grasping range (minimum diameter of the object: d = 6 mm), being able to lift a variety of objects with different weights, material properties, and shapes.

Assessment of the strength of the cabin mounting elements of the high-capacity wheeled chassis

The article deals with the issues of modeling the stress-strain state of the attachment points of the cab of a wheeled chassis of high load capacity. The main design loads are determined. Geometric and computational finite element models are constructed, taking into account the features of the metal structure. The technique of gluing elements of the grid model is applied. The contact interaction of the parts is taken into account. Based on the calculations performed, conclusions are drawn about the compliance of the developed structure with the strength requirements.

Structural analysis of freight car lever transmission with parallel shoe releasing devices taking into account the edge contact of the shoe and wheel

The article deals with the issues of modeling the stress-strain state of the attachment points of the cab of a wheeled chassis of high load capacity. The main design loads are determined. Geometric and computational finite element models are constructed, taking into account the features of the metal structure. The technique of gluing elements of the grid model is applied. The contact interaction of the parts is taken into account. Based on the calculations performed, conclusions are drawn about the compliance of the developed structure with the strength requirements.

Vibro piles performance prediction using result of CPT

Vibro piles belong to the group of full displacement piles with an expanded base, characterised by a very high load capacity, especially in non-cohesive soils. The problem is to adopt a reliable method for the determination of full load–settlement (Q–s) curve. A frequent difficulty is the determination of the load capacity limit based on the static load test because the course of the load–settlement curve is of a linear nature. This publication presents the empirical method. It allows direct prediction of a full axially loaded pile settlement curve based on the values of qc cone resistance obtained in cone penetration test (CPT). The advantage offered by this procedure is the accuracy of the obtained limit values in relation to the actual load-bearing capacity as compared to other methods based on soil parameters obtained in in situ testing. An additional advantage is the Q–s characteristics, which enable designing for intermediate values, allowing for the criterion of minimal or equal settlements. The shape of analytical curves was compared with static pile load test (SPLT) curves. This comparison showed large convergences between the analytical and measured curves.

Dendrimers as Non-Viral Vectors in Gene-Directed Enzyme Prodrug Therapy

Gene-directed enzyme prodrug therapy (GDEPT) has been intensively studied as a promising new strategy of prodrug delivery, with its main advantages being represented by an enhanced efficacy and a reduced off-target toxicity of the active drug. In recent years, numerous therapeutic systems based on GDEPT strategy have entered clinical trials. In order to deliver the desired gene at a specific site of action, this therapeutic approach uses vectors divided in two major categories, viral vectors and non-viral vectors, with the latter being represented by chemical delivery agents. There is considerable interest in the development of non-viral vectors due to their decreased immunogenicity, higher specificity, ease of synthesis and greater flexibility for subsequent modulations. Dendrimers used as delivery vehicles offer many advantages, such as: nanoscale size, precise molecular weight, increased solubility, high load capacity, high bioavailability and low immunogenicity. The aim of the present work was to provide a comprehensive overview of the recent advances regarding the use of dendrimers as non-viral carriers in the GDEPT therapy.

Variants of the layout of the main technological equipment on the base chassis of mobile transport and reloading rope complexes and their comparative analysis

Mobile ropeways formed by mobile transport and reloading rope complexes (terminal stations) on the basis of self-propelled wheeled chassis of high load capacity and cross-country ability are a promising type of transporting equipment for use in many branches of industrial production and maintenance – construction and mining industry, forestry and agriculture, elimination of the consequences of natural and man-made disasters, etc. The article develops a classification of self-propelled terminal stations based on such features as the location of the key element of the main technological equipment — the end tower of the rope system — on a wheeled chassis and the type of its fixation in the working position during the operation of the mobile ropeway. As promising variants of the structural design of mobile transport and technological rope complexes, options with an end, central and remote arrangement of the end tower; with hydraulic, rope, rope-hydraulic and rod types of fixing the end tower in the working position; with the installation of the end tower in the working position directly by a lifting hydraulic cylinder, using a folding rod and two-stage lifting are proposed. A brief description of the designs and the principle of operation of a large number of modifications of self-propelled terminal stations of various listed variants of the structural design of mobile rope complexes is given when preparing them for operation and during operation itself. A comparative analysis of the considered variants of mobile rope complexes is carried out on the basis of taking into account their main design and technical and economic characteristics, which made it possible to formulate both advantages and disadvantages of different design options.

Rugged and Compact Three-Axis Force/Torque Sensor for Wearable Robots

In the field of robotics, sensors are crucial in enabling the interaction between robots and their users. To ensure this interaction, sensors mainly measure the user’s strength, and based on this, wearable robots are controlled. In this paper, we propose a novel three-axis force/torque sensor for wearable robots that is compact and has a high load capacity. The bolt and nut combination of the proposed sensor is designed to measure high-load weights, and the simple structure of this combination allows the sensor to be compact and light. Additionally, to measure the three-axis force/torque, we design three capacitance-sensing cells. These cells are arranged in parallel to measure the difference in capacitance between the positive and negative electrodes. From the capacitance change measured by these sensing cells, force/torque information is converted through deep neural network calibration. The sensing point can also be confirmed using the geometric and kinematic relation of the sensor. The proposed sensor is manufactured through a simple and inexpensive process using cheap and simply structured components. The performance of the sensor, such as its repeatability and capacity, is evaluated using several experimental setups. In addition, the sensor is applied to a wearable robot to measure the force of an artificial muscle.