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Journal articles on the topic 'Inchworm'

Author: Grafiati

Published: 4 June 2021

Last updated: 12 February 2022

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1

Chiang, Y. H., S. L. Tsai, S. R. Tee, et al. "Inchworm bipedal nanowalker." Nanoscale 10, no. 19 (2018): 9199–211. http://dx.doi.org/10.1039/c7nr09724g.

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2

Wells, William. "An inchworm unwinds." Genome Biology 1 (2000): spotlight—20000526–02. http://dx.doi.org/10.1186/gb-spotlight-20000526-02.

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3

Kloub, Hussam. "Initially Clamped Piezoelectric Inchworm Linear Motor Design Based on Force Amplification Mechanisms for Miniaturized and Large Force Actuation Applications." Proceedings 64, no. 1 (2020): 12. http://dx.doi.org/10.3390/iecat2020-08517.

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In this paper, a novel monolithic structural design of a piezoelectric (PZT) inchworm motor utilizing three force amplification mode (FAM) mechanisms is presented as an approach to overcome the design challenges of common PZT inchworm motors. A mechanical system model based on Simulink software was developed for a proposed inchworm motor design. The dynamic response of the motor was simulated at the moment of releasing the pre-stressed mechanism. The results showed a backlash response due to the mass acceleration of the mechanisms.

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4

Huang, Hu, Lu Fu, Hong Wei Zhao, and Cheng Li Shi. "Finite Element Simulations of an Inchworm Type Piezo-Driven Rotary Actuator." Advanced Materials Research 945-949 (June 2014): 1396–99. http://dx.doi.org/10.4028/www.scientific.net/amr.945-949.1396.

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The inchworm-driven actuator is an important type of piezo-driven actuators, which has high loading capacity, large motion range and high motion accuracy but involves complex structures, control and motion processes. In this paper, an inchworm type piezo-driven rotary actuator was introduced. Static and modal analyses of key units of the rotary actuator such as the clamping unit and the driving unit were carried out by finite element simulations to ensure that key units of the rotary actuator have enough strength and good dynamic characteristics. These simulation results will be helpful to imp

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5

Yao, Jianjun, Shuang Gao, Guilin Jiang, Thomas L. Hill, Han Yu, and Dong Shao. "Screw theory based motion analysis for an inchworm-like climbing robot." Robotica 33, no. 08 (2014): 1704–17. http://dx.doi.org/10.1017/s0263574714001003.

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SUMMARYTo obtain better performance on unstructured environments, such as in agriculture, forestry, and high-altitude operations, more and more researchers and engineers incline to study classes of biologically inspired robots. Since the natural inchworm can move well in various types of terrain, inchworm-like robots can exhibit excellent mobility. This paper describes a novel inchworm-type robot with simple structure developed for the application for climbing on trees or poles with a certain range of diameters. Modularization is adopted in the robot configuration. The robot is a serial mechan

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6

Liu, Qingyou, Yonghua Chen, Tao Ren, and Ying Wei. "Optimized inchworm motion planning for a novel in-pipe robot." Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science 228, no. 7 (2013): 1248–58. http://dx.doi.org/10.1177/0954406213502409.

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Modern society is fueled by very comprehensive grids of gas and liquid supply pipelines. The frequent inspection and maintenance of such pipeline grids is not a trivial task. It has been demonstrated that such task is best performed by using in-pipe robots. In this paper, a novel inchworm robot design and its optimized motion planning are presented. The proposed design uses a helical drive for both gripping and locomotion of the robot. The extension and retraction between inchworm segments are facilitated by conic springs as they can store strain energy. The proposed inchworm robot can also be

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7

Liu, Guojun, Yanyan Zhang, Jianfang Liu, et al. "An Unconventional Inchworm Actuator Based on PZT/ERFs Control Technology." Applied Bionics and Biomechanics 2016 (2016): 1–9. http://dx.doi.org/10.1155/2016/2804543.

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An unconventional inchworm actuator for precision positioning based on piezoelectric (PZT) actuation and electrorheological fluids (ERFs) control technology is presented. The actuator consists of actuation unit (PZT stack pump), fluid control unit (ERFs valve), and execution unit (hydraulic actuator). In view of smaller deformation of PZT stack, a new structure is designed for actuation unit, which integrates the advantages of two modes (namely, diaphragm type and piston type) of the volume changing of pump chamber. In order to improve the static shear yield strength of ERFs, a composite ERFs

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8

Roy, Rupam Gupta, and Dibyendu Ghoshal. "Grey Wolf Optimization-Based Second Order Sliding Mode Control for Inchworm Robot." Robotica 38, no. 9 (2019): 1539–57. http://dx.doi.org/10.1017/s0263574719001620.

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SUMMARYThe flexible motion of the inchworm makes the locomotion mechanism as the prominent one than other limbless animals. Recently, the application of engineering greatly assists the inchworm locomotion to be applicable in the robotic mechanism. Due to the outstanding robustness, sliding mode control (SMC) has been validated as a robust control strategy for diverse types of systems. Even though the SMC techniques have made numerous achievements in several fields, some systems cannot be comfortably accepted as the general SMC approaches. Accordingly, this paper develops the Grey Wolf-Second o

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9

Ishikura, Michihisa, Kazuhito Wakana, Eijiro Takeuchi, Masashi Konyo, and Satoshi Tadokoro. "Design and Running Performance Evaluation of Inchworm Drive with Frictional Anisotropy for Active Scope Camera." Journal of Robotics and Mechatronics 24, no. 3 (2012): 517–30. http://dx.doi.org/10.20965/jrm.2012.p0517.

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This paper reports upon the design and evaluation of an inchworm drive based on frictional anisotropy for an Active Scope Camera (ASC), which is a snake-like rescue robot used in disaster-affected areas. The conventional ASC is mounted on a ciliary vibration drive and can search under rubble. It has been found, however, that there are some situations in which the vibration drive performs weakly, such as on soft or rough road surfaces. In this paper, the authors propose an inchworm drive with an ASC. The inchworm drive developed in this research shows a running performance that resolves some of

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10

Ohnishi, Kazumasa, Mikio Umeda, Minoru Kurosawa, and Sadayuki Ueha. "Rotary inchworm-type piezoelectric actuator." IEEJ Transactions on Industry Applications 110, no. 1 (1990): 51–58. http://dx.doi.org/10.1541/ieejias.110.51.

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11

Kim, Jaehwan, Hyang-Ki Kim, and Seung-Bok Choi. "A hybrid inchworm linear motor." Mechatronics 12, no. 4 (2002): 525–42. http://dx.doi.org/10.1016/s0957-4158(01)00016-2.

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12

Konishi, Satoshi, Masaki Munechika, Takuhiko Sawai, and Kenji Yoshifuji. "Electrostatic Controlled Linear Inchworm Actuator." IEEJ Transactions on Sensors and Micromachines 122, no. 12 (2002): 560–66. http://dx.doi.org/10.1541/ieejsmas.122.560.

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13

Plaut, Raymond H. "Mathematical model of inchworm locomotion." International Journal of Non-Linear Mechanics 76 (November 2015): 56–63. http://dx.doi.org/10.1016/j.ijnonlinmec.2015.05.007.

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14

Shi, Zhenyun, Jie Pan, Jiawen Tian, Hao Huang, Yongrui Jiang, and Song Zeng. "An Inchworm-inspired Crawling Robot." Journal of Bionic Engineering 16, no. 4 (2019): 582–92. http://dx.doi.org/10.1007/s42235-019-0047-y.

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15

Ohnishi, Kazumasa, Mikio Umkeda, Minoru Kurosawa, and Sadayuki Ueha. "Rotary inchworm-type piezoelectric actuator." Electrical Engineering in Japan 110, no. 3 (1990): 107–14. http://dx.doi.org/10.1002/eej.4391100310.

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16

Yatsurugi, Manabu, and Ohmi Fuchiwaki. "Development of a 3-DOF Mobile Positioning Mechanism with 6 Contact Points." Key Engineering Materials 516 (June 2012): 136–41. http://dx.doi.org/10.4028/www.scientific.net/kem.516.136.

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In this paper, we describe the design, development and experimental results of a 3-DOF precise inchworm mechanism with six contact points. During the last ten years, we have developed an omnidirectional and holonomic inchworm mechanism to provide flexible, compact, and precise microscopic processing. In a previous mechanism, four piezoelectric actuators connected a pair of U-shaped electromagnets arranged to cross each other so that the mechanism can move precisely in any direction. However, positioning repeatability was made difficult by an inclination of the U-shaped electromagnets. Therefor

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17

Fang, Delei, Jianzhong Shang, Zirong Luo, Pengzhi Lv, and Guoheng Wu. "Development of a novel self-locking mechanism for continuous propulsion inchworm in-pipe robot." Advances in Mechanical Engineering 10, no. 1 (2018): 168781401774940. http://dx.doi.org/10.1177/1687814017749402.

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In-pipe robots are usually used to carry many kinds of equipment to operate in the pipeline. In this article, a novel self-locking mechanism for continuous propulsion inchworm in-pipe robot is proposed. The constant power and continuous locomotion principle is obtained by upgrading the traditional pipeline robot. The structure of the inchworm in-pipe robot is designed including self-locking mechanism and telescopic mechanism. The operating principle of self-locking mechanism is analyzed for parameter design and performance evaluation. A new type of hydraulic cylinder series circuit is introduc

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18

Wang, Kundong, Zhiwu Wang, and Chuanguo Li. "A Novel Pump for Inchworm-like Robotic Colonoscope." Abstracts of the international conference on advanced mechatronics : toward evolutionary fusion of IT and mechatronics : ICAM 2010.5 (2010): 787–92. http://dx.doi.org/10.1299/jsmeicam.2010.5.787.

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19

Sugita, Saori, Kazunori Ogami, Guarnieri Michele, Shigeo Hirose, and Kensuke Takita. "A Study on the Mechanism and Locomotion Strategy for New Snake-Like Robot Active Cord Mechanism – Slime model 1 ACM-S1." Journal of Robotics and Mechatronics 20, no. 2 (2008): 302–10. http://dx.doi.org/10.20965/jrm.2008.p0302.

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This paper presents ACM-S1 (Active Cord Mechanism - Slime model 1), a snake-like robot. Conventional snake-like robots have difficulty negotiation uneven ground. In this paper, we propose “a bending and expanding joint unit” which has three degrees of freedom (3DOF) in inchworm/angleworm-like motion and has been developed to solve this problem. The ACM-S1 we developed is composed of a series of these joint units. Experiments conducted to evaluate ACM-S1's performance demonstrate the effectiveness of inchworm motion over uneven ground and of angleworm motion over flat, smooth ground.

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20

Torii, Akihiro, Mitsuhiro Nishio, Yuki Itatsu, Kae Doki, and Akiteru Ueda. "A 3-DOF Friction-Free Planar Motor Using Piezoelectric Elements." Key Engineering Materials 523-524 (November 2012): 739–44. http://dx.doi.org/10.4028/www.scientific.net/kem.523-524.739.

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A friction-free planar motor, which is composed of piezoelectric elements (piezos), is proposed. The motor is based on the principle of an inchworm using levitation mechanisms. The vertical vibration of the piezo generates the levitation force of the motor. The horizontal deformation of the piezo causes the thrust force of the motor. These piezos realizes three degree-of-freedom motion on a flat surface. We measure the displacement in the vertical and horizontal direction of the levitation mechanism. The feasibility of the inchworm using levitation mechanisms is described.

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21

Liu, Guo Jun, Jian Fang Liu, Jian Qiao Li, Zhi Gang Yang, and Jia Zhu. "An Inchworm Bionic Stepping Actuator Based on PZT/ER Hybrid Dive and Control." Applied Mechanics and Materials 461 (November 2013): 330–41. http://dx.doi.org/10.4028/www.scientific.net/amm.461.330.

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An unconventional inchworm stepping actuator based on bionics is presented, which consists of driving unit (PZT stack pump), fluid control unit (ER fluids valve), actuating mechanism (precision hydraulic cylinder). As a new type of precision force/ displacement driving and positioning system, it inherits the advantages of conventional inchworm actuators, and also has its own remarkable characteristics, such as that stepping displacement can be adjusted precisely through varying the working voltage and frequency, etc. The driving unit is actuated jointly by double PZT stacks; Multi-channel para

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22

Torii, Akihiro, Tomohiro Yamada, Ryosuke Kamiya, Akiteru Ueda, and Kae Doki. "An Inchworm-type Multi-DOF Stage." IEEJ Transactions on Electronics, Information and Systems 133, no. 4 (2013): 849–55. http://dx.doi.org/10.1541/ieejeiss.133.849.

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23

Murray, Joan. "What to Do with an Inchworm." Hudson Review 49, no. 4 (1997): 627. http://dx.doi.org/10.2307/3851899.

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24

MA Li, 马立, 肖金涛 XIAO Jin-tao, 周莎莎 ZHOU Sha-sha, and 孙立宁 SUN Li-ning. "Linear lever-type piezoelectric inchworm actuator." Optics and Precision Engineering 23, no. 1 (2015): 184–90. http://dx.doi.org/10.3788/ope.20152301.0184.

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25

HU Jun-feng, 胡俊峰, and 杨展宏 YANG Zhan-hong. "A novel inchworm linear micro actuator." Optics and Precision Engineering 26, no. 1 (2018): 122–31. http://dx.doi.org/10.3788/ope.20182601.0122.

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26

Lobontiu, N., M. Goldfarb, and E. Garcia. "A piezoelectric-driven inchworm locomotion device." Mechanism and Machine Theory 36, no. 4 (2001): 425–43. http://dx.doi.org/10.1016/s0094-114x(00)00056-2.

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27

Khan, Muhammad Bilal, Thirawat Chuthong, Cao Danh Do, et al. "iCrawl: An Inchworm-Inspired Crawling Robot." IEEE Access 8 (2020): 200655–68. http://dx.doi.org/10.1109/access.2020.3035871.

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28

Ciudad, A., J. M. Sancho, and A. M. Lacasta. "Dynamics of an inchworm nano-walker." Physica A: Statistical Mechanics and its Applications 371, no. 1 (2006): 25–28. http://dx.doi.org/10.1016/j.physa.2006.04.099.

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29

deBoer, M. P., D. L. Luck, W. R. Ashurst, et al. "High-Performance Surface-Micromachined Inchworm Actuator." Journal of Microelectromechanical Systems 13, no. 1 (2004): 63–74. http://dx.doi.org/10.1109/jmems.2003.823236.

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30

Gamus, Benny, Lior Salem, Amir D. Gat, and Yizhar Or. "Understanding Inchworm Crawling for Soft-Robotics." IEEE Robotics and Automation Letters 5, no. 2 (2020): 1397–404. http://dx.doi.org/10.1109/lra.2020.2966407.

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31

Fodor, Peter B. "Nipple reconstruction using the inchworm flap." Plastic and Reconstructive Surgery 91, no. 2 (1993): 385. http://dx.doi.org/10.1097/00006534-199302000-00047.

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32

Salisbury, S. P., D. F. Waechter, R. B. Mrad, S. E. Prasad, R. G. Blacow, and B. Yan. "Design considerations for complementary inchworm actuators." IEEE/ASME Transactions on Mechatronics 11, no. 3 (2006): 265–72. http://dx.doi.org/10.1109/tmech.2006.875565.

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33

Salleh, Khairul, Hiroaki Seki, Yoshitsugu Kamiya, and Masatoshi Hikizu. "Inchworm robot grippers for clothes manipulation." Artificial Life and Robotics 12, no. 1-2 (2008): 142–47. http://dx.doi.org/10.1007/s10015-007-0456-6.

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34

Bexell, M., A. L. Tiensuu, J. Å. Schweitz, J. Söderkvist, and S. Johansson. "Characterization of an inchworm prototype motor." Sensors and Actuators A: Physical 43, no. 1-3 (1994): 322–29. http://dx.doi.org/10.1016/0924-4247(93)00700-e.

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35

Arévalo, Noelia, Ramiro Méndez, and Jerónimo Barrera. "“Inchworm sign” in urinary bladder cancer." Abdominal Radiology 43, no. 12 (2018): 3509–10. http://dx.doi.org/10.1007/s00261-018-1614-0.

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36

Puckett, C. L., M. J. Concannon, G. H. Croll, and C. F. Welsh. "Nipple reconstruction using the ?inchworm? flap." Aesthetic Plastic Surgery 16, no. 2 (1992): 117–22. http://dx.doi.org/10.1007/bf00450602.

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37

Zhao, Bo, Ri Fang, and Weijia Shi. "Modeling of Motion Characteristics and Performance Analysis of an Ultra-Precision Piezoelectric Inchworm Motor." Materials 13, no. 18 (2020): 3976. http://dx.doi.org/10.3390/ma13183976.

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Ultra-precision piezoelectric inchworm motor (PIM) is widely used in the optical equipment, microelectronics semiconductor industry and precision manufacturing for motion and positioning, but the multi-physics field simulation model for estimating PIM performance and assisting motor design is rarely studied. The simulation model in this paper aimed to provide researchers with direct and convenient PIM performance evaluation to assist the motor design and development. According to the existing advanced inchworm motor products, a multi-physics field coupling model involving solid mechanics and e

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38

Kim, Yong Woo, Soo Chang Choi, Jeong Woo Park, Yoong Ho Jung, and Deug Woo Lee. "The Characteristics of Variable Speed Inchworm Stage Using Lever Mechanism by Different Materials." Journal of Nanoscience and Nanotechnology 8, no. 11 (2008): 5696–701. http://dx.doi.org/10.1166/jnn.2008.249.

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Currently, piezoelectric actuators which have attractive features such as high output force, high positioning resolution, high stiffness and quick response have been used in many ultra precision stages. But their positioning ranges are very small. This very limited displacement severely restricts the actuator's immediate implementation for long-range positioning. This paper shows a variable speed inchworm type stage with hinge structures as lever mechanism for nanometer resolution with large dynamic range and studies on characteristics of it. The inchworm stage has hinge structure levers which

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39

Volker, Hacker, Natascha Bauer, and Matthias Keller. "Übung des Monats – Der Handwalk." physiopraxis 17, no. 11/12 (2019): 40–41. http://dx.doi.org/10.1055/a-1010-0224.

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Der Handwalk (engl.: Inchworm) zählt zu den sogenannten Movement Preps. Durch die Komplexität seines Anforderungsprofils kann man ihn dem Warm-up, dem Beweglichkeitstraining sowie den aktivierenden Übungen zuordnen.

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40

Li, Ze Jun, Tao Cui, Hong Wei Zhao, and Jian Ping Li. "Quasi-Static Contact Analysis of an Inchworm-Type Piezoelectric-Driven Rotary Actuator via Finite Element Method." Applied Mechanics and Materials 551 (May 2014): 115–20. http://dx.doi.org/10.4028/www.scientific.net/amm.551.115.

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Measurement results of the output stepping rotary angle of a piezoelectric-driven rotary actuator by means of inchworm motion have been compared with results obtained from three-dimensional Finite Element Analysis (FEA). Comparison results showed a good quantitative agreement, and confirmed the validity and accuracy of the finite element method in the design and analysis of the inchworm-type rotary actuators. In addition, the effect of the gap between the stator and rotor on the working performance of the actuator was investigated by using FEA. With the increase of the gap, both the stepping r

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41

Chen, I.-Ming, Song Huat Yeo, and Yan Gao. "Locomotive gait generation for inchworm-like robots using finite state approach." Robotica 19, no. 5 (2001): 535–42. http://dx.doi.org/10.1017/s0263574700003271.

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The gait of a multi-segment inchworm robot is a series of actuator actions that will change the shape of the robot to generate a net motion. In this paper, we model the multi-segment inchworm robot as a finite state automaton. Gait generation is posed as a search problem on the graph described by the automaton with prescribed state transitions. The state transitions are defined based on the kinematics of robot locomotion. The auxiliary actuator concept is introduced. Single-stride and multi-stride gait generations are discussed. Single-stride gaits exhibit fault-tolerant and real-time computat

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42

Wickstrom, Megan H., and Lindsay M. Jurczak. "Inch by Inch, We Measure." Teaching Children Mathematics 22, no. 8 (2016): 468–75. http://dx.doi.org/10.5951/teacchilmath.22.8.0468.

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43

LI, Ruiming. "Serial-parallel Inchworm Mechanism with Scalable Platforms." Journal of Mechanical Engineering 52, no. 23 (2016): 94. http://dx.doi.org/10.3901/jme.2016.23.094.

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44

Hirano, Shinya, Zhi-Wei Luo, and Atsuo Kato. "Development of An Inchworm-type Searching Robot." Journal of the Robotics Society of Japan 24, no. 7 (2006): 838–44. http://dx.doi.org/10.7210/jrsj.24.838.

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45

Park, Hyun-Jun, Sang-Hyuck Leem, and Byung-Kyu Kim. "Inchworm-Like Robotic Colonoscope UsingLegs for Clamping." Transactions of the Korean Society of Mechanical Engineers A 34, no. 6 (2010): 789–95. http://dx.doi.org/10.3795/ksme-a.2010.34.6.789.

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46

Yoshida, Taichi, Akira Tachiki, Ryuji Nomura, and Yuichi Okuda. "Inchworm Driving of 4He Crystals in Superfluid." Journal of the Physical Society of Japan 86, no. 7 (2017): 074603. http://dx.doi.org/10.7566/jpsj.86.074603.

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47

Shutov, M. V., D. L. Howard, E. E. Sandoz, J. M. Sirota, R. L. Smith, and S. D. Collins. "Electrostatic inchworm microsystem with long range translation." Sensors and Actuators A: Physical 114, no. 2-3 (2004): 379–86. http://dx.doi.org/10.1016/j.sna.2003.12.022.

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48

Ueno, Shohei, Kenjiro Takemura, Shinichi Yokota, and Kazuya Edamura. "Micro inchworm robot using electro-conjugate fluid." Sensors and Actuators A: Physical 216 (September 2014): 36–42. http://dx.doi.org/10.1016/j.sna.2014.04.032.

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49

Tenzer, P. E., and R. Ben Mrad. "On amplification in inchworm™ precision positioners." Mechatronics 14, no. 5 (2004): 515–31. http://dx.doi.org/10.1016/j.mechatronics.2003.10.004.

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50

Zhang, Weiwei, Lifang Li, Shengyuan Jiang, Jie Ji, and Zongquan Deng. "Inchworm Drilling System for Planetary Subsurface Exploration." IEEE/ASME Transactions on Mechatronics 25, no. 2 (2020): 837–47. http://dx.doi.org/10.1109/tmech.2019.2962500.

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