Soft Robotic Honeycomb-Velcro Jamming Gripper Design
Actuators,
Год журнала:
2024,
Номер
13(9), С. 359 - 359
Опубликована: Сен. 16, 2024
In
this
paper,
using
a
honeycomb-velcro
structure
to
generate
novel
jamming
gripper
is
explored.
Each
finger
of
the
consists
multi-layers
with
honeycomb
sandwich
acting
as
core
wrapped
by
fabric
sheet
and
sealed
latex
membrane.
This
can
transit
between
unjammed
(flexible)
jammed
(rigid)
states
thanks
vacuum
pressure.
Various
materials
structure,
fabric,
reinforcements
are
investigated
seek
optimal
combinations
for
making
fingers.
Then,
such
fingers
deployed
in
experiments
evaluate
stiffness
surface
friction
different
loads
terms
or
without
vacuum.
Vacuum
pressure
boosts
all
compared
without-vacuum
case.
Attached
gripper,
shows
good
performance
diverse
manipulation
food,
metal
component,
toy,
can,
bottle.
Furthermore,
variable-stiffness
under
be
utilized
perform
assembly
installation
operations
pushing
bolt
into
an
aligned
hole.
Язык: Английский
A Decoupling Module Based on a Geometrical-Balance Mechanism for Mitigating Cable Length Variation in Cable-Driven Applications
Machines,
Год журнала:
2024,
Номер
12(11), С. 755 - 755
Опубликована: Окт. 25, 2024
Cable-driven
mechanisms
are
increasingly
popular
in
applications
requiring
low-inertia
operation.
However,
issues
like
cable
loosening,
which
leads
to
reduced
durability
and
stability
with
long-term
use,
have
not
been
fully
addressed
previous
studies.
This
paper
presents
a
novel
design
for
decoupling
mechanism
based
on
the
geometrical-balance
principle.
The
incorporates
three
pulleys—main,
minor,
guiding—mounted
parallelogram
structure.
passes
over
these
pulleys
an
elbow
pulley
constant
tension,
maintained
through
balance
between
pulleys’
radii
cable’s
thickness
radius.
A
theoretical
model
was
developed
estimate
deviations
tension
within
this
design,
considering
general
geometric
parameters
friction
coefficients.
In
experimental
setup,
main
had
radius
of
15
mm,
while
guiding,
7
1
mm
Dyneema
used.
results
demonstrated
that
consistent
length
minimal
deviation
as
two
links
rotated
from
small
large
angles.
Furthermore,
strong
correlation
estimates
validation
confirmed
remained
stable
at
both
ends
when
integrated
into
original
system.
research
improves
cable-driven
offering
compact,
accurate
solution
adaptable
wide
range
applications,
including
robotics,
machinery,
other
devices.
Язык: Английский
Identification of Intrinsic Friction and Torque Ripple for a Robotic Joint with Integrated Torque Sensors with Application to Wheel-Bearing Characterization
Sensors,
Год журнала:
2024,
Номер
24(23), С. 7465 - 7465
Опубликована: Ноя. 22, 2024
Although
integrated
joint
torque
sensors
in
robots
dispel
the
need
for
external
force/torque
at
wrist
to
measure
interactions,
an
inherent
challenge
is
that
they
also
robot’s
intrinsic
dynamics.
This
especially
problematic
delicate
robot
manipulation
tasks,
where
interaction
forces
may
be
comparable
Therefore,
dynamics
must
first
experimentally
estimated
under
no-load
conditions,
when
measurement
only
consists
of
torques
due
transmission
actuator,
before
interactions
measured.
In
this
work,
we
propose
approach
identifying
and
predicting
using
linear
regression
with
non-linear
radial
basis
functions.
Then,
validate
on
a
wheel-bearing
turning
task,
which
its
friction
quality,
thus
accurately
The
results
showed
bearing
measured
by
7
sensor
was
within
RMS
error
11%
sensor.
much
lower
than
our
proposed
model
compensating
arm.
Язык: Английский