Micromachines,
Год журнала:
2023,
Номер
14(12), С. 2150 - 2150
Опубликована: Ноя. 24, 2023
Currently,
the
driving
motor
used
in
a
dexterous
prosthetic
hand
is
limited
by
principle,
and
it
has
characteristics
of
complex
structure,
slow
response,
low
positioning
accuracy,
excessive
volume.
There
are
special
requirements
terms
quality
quality,
traditional
drives
have
greatly
affected
progress
robots.
A
(ultrasonic
motor)
been
developed
over
more
than
30
years.
It
advantages
small
size,
mass,
simple
accurate
positioning,
high
power
density,
fast
response
time,
which
enough
to
improve
mechanism
performance
with
connecting
rod.
In
this
paper,
structural
will
be
analyzed,
modal
analysis,
harmonic
transient
analysis
simulation
longitudinal
vibration
linear
stator
rod
carried
out
order
provide
preliminary
preparation
for
feasible
design
manufacture
size
ultrasonic
driver
structure
Biomimetics,
Год журнала:
2024,
Номер
9(10), С. 600 - 600
Опубликована: Окт. 4, 2024
Origami,
the
art
of
paper
folding,
has
long
fascinated
researchers
and
designers
in
its
potential
to
replicate
tap
complexity
nature.
In
this
paper,
we
pursue
crossing
origami
engineering
structures
biology,
realm
biologically-inspired
categorized
by
two
biggest
taxonomy
kingdoms
DNA
origami.
Given
diversity
life
forms
that
Earth
comprises,
an
analysis
biomimetic
designs
resemble
intricate
patterns
functionalities
occurring
Our
research
begins
setting
out
a
taxonomic
framework
for
classification
based
on
biologically
important
kingdoms.
From
each
these,
explore
inspired
morphological
features,
behaviors,
ecological
adaptations
organisms.
We
also
discuss
implications
realms
such
as
sustainability,
biomaterials
development,
bioinspired
robotics.
Thus,
parlaying
principles
found
nature’s
design
playbook
through
becomes
fertile
ground
interdisciplinary
collaboration
creativity.
Through
approach,
aim
inspire
readers,
researchers,
embark
journey
discovery
which
boundaries
between
art,
science,
nature
are
blurred,
providing
foundation
innovation
thrive.
Bioinspiration & Biomimetics,
Год журнала:
2024,
Номер
19(3), С. 036009 - 036009
Опубликована: Март 11, 2024
Abstract
Bioinspired
and
biomimetic
soft
grippers
are
rapidly
growing
fields.
They
represent
an
advancement
in
robotics
as
they
emulate
the
adaptability
flexibility
of
biological
end
effectors.
A
prominent
example
a
gripping
mechanism
found
nature
is
octopus
tentacle,
enabling
animal
to
attach
rough
irregular
surfaces.
Inspired
by
structure
morphology
tentacles,
this
study
introduces
novel
design,
fabrication,
characterization
method
dielectric
elastomer
suction
cups.
To
grasp
objects,
developed
cups
perform
out-of-plane
deflections
mechanism.
Their
attachment
resembles
that
their
counterparts,
do
not
require
pre-stretch
over
rigid
frame
or
any
external
hydraulic
pneumatic
support
form
hold
dome
The
realized
artificial
demonstrate
capability
generating
negative
pressure
up
1.3
kPa
air
grasping
lifting
objects
with
maximum
58
g
weight
under
actuation
voltage
6
kV.
also
have
sensing
capabilities
determine
whether
was
successful
without
need
objects.
Bioinspiration & Biomimetics,
Год журнала:
2024,
Номер
19(3), С. 036021 - 036021
Опубликована: Апрель 17, 2024
To
improve
the
adaptability
of
soft
robots
to
environment
and
achieve
reliable
attachment
on
various
surfaces
such
as
smooth
rough,
this
study
draws
inspiration
from
collaborative
strategy
insects,
cats,
other
biological
claw
hooks
foot
pads,
designs
an
actuator
with
a
bionic
hook-suction
cup
hybrid
structure.
The
rigid
biomimetic
pop-up
hook
linkage
mechanism
is
combined
flexible
suction
'foot
pad'
synergistic
adhesion
effect
between
locking
through
deformation
control
pneumatic
actuator.
A
based
principle
cat
movement
was
designed,
footpads
analysed.
An
artificial
muscle-spring-reinforced
(SRFPA)
developed
kinematic
model
SRFPA
established
analysed
using
Abaqus.
Finally,
prototype
fabricated.
mechanical
performances
entire
were
characterised,
performance
rough
tested.
results
indicate
that
proposed
structure
effective
for
types
surface
adhesion,
object
grasping,
robot
walking.
This
provides
new
insights
design
highly
adaptable
devices.
International Journal of Advanced Robotic Systems,
Год журнала:
2025,
Номер
22(2)
Опубликована: Март 1, 2025
This
study
aims
to
create
a
motion
manipulate
paper
without
creating
folds
using
high-speed
vision,
replicate
the
human
handling
of
flexible
objects
with
multi-fingered
robot
hand.
By
leveraging
physical
properties
paper,
we
propose
strategy
that
allows
be
tensioned
in
any
direction.
elucidating
state
transitions
shape
during
dynamic
manipulation,
achieved
bending
creases.
Two
operation
patterns
were
proposed:
one
two
hands
from
both
sides
and
other
utilizing
inertia
rapidly
swinging
down
arm
Additionally,
by
clarifying
appear
method
for
dynamically
folds.
task
was
completed
image
processing
vision
respond
deformation
operation.
The
experimental
results
show
that,
visual
feedback
monitor
can
determine
appropriate
timing
action
switches,
allowing
same
executed
on
papers
different
sizes.
Robotics,
Год журнала:
2024,
Номер
13(9), С. 128 - 128
Опубликована: Авг. 27, 2024
Our
study
presents
a
novel
design
for
cable-driven
robotic
arm,
emphasizing
low
cost,
inertia
movement,
and
long-term
cable
durability.
The
arm
shares
similar
specifications
with
the
UR5
featuring
total
of
six
degrees
freedom
(DOF)
distributed
in
1:1:1:3
ratio
at
base,
shoulder,
elbow,
wrist,
respectively.
three
DOF
wrist
joints
are
driven
by
system,
heavy
motors
relocated
from
end-effector
to
shoulder
base.
This
repositioning
results
lighter
cable-actuated
(weighing
0.8
kg),
which
enhances
safety
during
human
interaction
reduces
torque
requirements
elbow
motors.
Consequently,
overall
cost
weight
reduced,
achieving
payload-to-body
5:8.4
kg.
To
ensure
good
positional
repeatability,
joints,
influence
longer
moment
arms,
designed
direct-drive
structure.
evaluate
design’s
performance,
tests
were
conducted
on
loading
capability,
durability,
position
manipulation.
demonstrated
that
could
manipulate
5
kg
payload
repeatability
error
less
than
0.1
mm.
Additionally,
tightener
was
introduced,
served
dual
functions:
conveniently
tightening
reducing
high-stress
concentration
near
locking
end
minimize
loosening.
When
subjected
an
initial
tension
100
kg,
this
retained
approximately
80%
load
after
10
years
room
temperature
24
°C.
Journal of the Brazilian Society of Mechanical Sciences and Engineering,
Год журнала:
2024,
Номер
46(6)
Опубликована: Май 23, 2024
Abstract
Fin
ray
soft
robotic
fingers
are
inspired
by
the
structure
and
movement
of
fish
fins,
enabling
flexible
adaptive
grasping
capabilities.
Addressing
challenges
resource
efficiency
in
terms
reduced
energy
consumption
material
expense,
this
work
focuses
on
further
optimizing
inherently
low-energy
fin-ray
towards
lightweight
design.
Soft
grippers
used
frequently
dynamically
changing
environments
have
become
inevitable
handling
tasks
for
delicate
objects.
However,
these
generally
show
limited
performance
payload-carrying
capacity
high-force
application
scenarios.
To
address
limitations,
topology
optimization
technique
is
here
to
obtain
both
gripping
capabilities
high
factor
safety
(FOS)
fingers.
The
various
structures
optimized
analyzed:
rectangular,
trapezoidal,
straight
struts,
inclined
struts
angles
+
45°,
−
45°.
topologically
has
15.2%
less
mass
compared
considered
finger’s
average
mass.
deflection
coefficient
(
C
d
)
calculated
select
best
based
scenario,
its
value
should
be
minimum.
strut
finger
with
thickness
t
=
2
mm
shows
wrapping
all
0.1574.
finger’
0.1896
at
volume
fraction
0.1.
Even
though
slightly
higher,
FOS
1.71
times
higher.
An
experimental
setup
developed
validate
simulation
results
help
a
UR3e
arm
an
AXIA80
force
sensor.
demonstration
gripper
performed
objects:
coffee
cup
wooden
block.
