Relevant bibliographies by topics / Mechanical end effector

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  1. Journal articles
  2. Dissertations / Theses
  3. Books
  4. Book chapters
  5. Conference papers

Academic literature on the topic 'Mechanical end effector'

Author: Grafiati
Published: 4 June 2021
Last updated: 10 February 2022

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Journal articles on the topic "Mechanical end effector"

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Goldenberg, A. A., and D. L. Lawrence. "End Effector Path Generation." Journal of Dynamic Systems, Measurement, and Control 108, no. 2 (June 1, 1986): 158–62. http://dx.doi.org/10.1115/1.3143761.

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The path followed by a robotic manipulator is often defined by a sequence of Cartesian knots, i.e., position and orientation (location) of the end effector and the corresponding linear and angular velocity (speed) at each knot. The path location and speed in the interval between knots are not specified. Typically the control of robots is performed in terms of joint coordinates. Often, the joint coordinates corresponding to the path knots are splined together using lower degree polynomials. The actual path and speed followed by the end effector can be obtained by performing forward (direct) kinematics—a pointwise transformation. To obtain a good approximation of the actual path, many points must be used. In this paper an efficient first order approximation of the actual path using third order (cubic) interpolating polynomials is presented. The technique eliminates the need for repeatedly using the forward kinematics. The technique is illustrated by means of numerical examples.
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Kazerooni, H. "A Practical Robotic End-Effector for Grasping Postal Sacks." Journal of Dynamic Systems, Measurement, and Control 126, no. 1 (March 1, 2004): 154–61. http://dx.doi.org/10.1115/1.1649981.

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This article describes a new class of end-effectors that can be used with robotic and material handling devices for grabbing and holding deformable objects with undefined shapes such as sacks and bags. These end-effectors can grab and hold filled sacks from any point on the sack and regardless of the sack orientation and position. The first prototype end-effector, designed for the U.S. Postal Service, has two rollers. The rollers are pushed toward each other by the force of a spring. When the rollers are powered to spin, the inward spinning of the rollers causes the sack material to be dragged in between the rollers due to the friction between the surfaces of the rollers and the sack material. The spring pushes the rollers toward each other with sufficient force to hold the sack material in place between the rollers. The end-effector described here has been evaluated and proven to be exceedingly effective in grabbing and holding postal sacks. This article describes the underlying principles of the design, grasp conditions and control of the end-effector.
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Koren, Yoram, and Moshe Shoham. "End-Effector Guidance of Robot Arms." CIRP Annals 36, no. 1 (1987): 289–92. http://dx.doi.org/10.1016/s0007-8506(07)62606-7.

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Hu, Yida, Dazhai Li, Yang Yang, and Xuguang Sun. "Integration of microsensor for microsurgery robot’s end-effector." Frontiers of Mechanical Engineering in China 2, no. 2 (April 2007): 205–9. http://dx.doi.org/10.1007/s11465-007-0035-5.

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Song, Shin-Min, Chi Meng Lei, and Jiang Wang. "The End-Effector Angle and Manipulator Dexterous Workspaces." Journal of Mechanical Design 112, no. 3 (September 1, 1990): 278–88. http://dx.doi.org/10.1115/1.2912605.

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The end-effector angle is defined as the angle between the end-effector axial axis and the hand axis (an axis from the wrist center to the end-effector reference point). Most industrial manipulators posses a zero end-effector angle. This paper shows that the dexterity of a manipulator, which is indexed by the volume of dexterous workspace, is affected by the end-effector angle. Three 6-d.o.f., anthropomorphic manipulators and three types of dexterous workspace are used to study this influence. The results show that, for all three manipulators, the volume of a dexterous workspace in general increases along with the end-effector angle and it reaches maximum value when the end-effector angle is 90 deg. This influence is very obvious with the reachably dexterous workspace and the 180 deg spinnably dexterous workspace and is less obvious with the 360 deg spinnably dexterous workspace. These results somewhat confirm the fact that the majority of human hand prehensions used in daily life operations apply a nonzero end-effector angle.
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Wanichnukhrox, Nakrob, Thavida Maneewarn, and Szathys Songschon. "Mechanical Analysis of a Hybrid Approach for a Lower Limb Rehabilitation Robot." Applied Mechanics and Materials 789-790 (September 2015): 665–74. http://dx.doi.org/10.4028/www.scientific.net/amm.789-790.665.

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The design of lower limb rehabilitation robot can be categorized into two approaches: the end-effector and the exoskeleton. Both types of the robots have different advantages and disadvantages. The exoskeleton type is designed to mimic the kinematic structure of the human skeleton by controlling hip and knee joints but the end-effector type is driven at the footplate which allows patients to perform various gait training exercise. In this paper, the end-effector and exoskeleton device are compared based on dynamical analysis using Matlab's Simechanics simulation. The hybrid lower limb rehabilitation robot is also proposed based on the exoskeleton robot with the adjustable mechanical coupling interface between human and robot and the active footplate. The hybrid design combines the advantages of both the exoskeleton and the end-effector by allowing the mechanical coupling parameters and the active footplate controller to be adjustable at different stages of training. The proposed design can improve both joints misalignment and joint trajectory tracking problems in both existing approaches.
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Wang, Chunrong, Jing Zhao, and Erdong Xia. "Design and optimization of a novel rescue end-effector." Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science 233, no. 3 (February 28, 2018): 1032–44. http://dx.doi.org/10.1177/0954406218761506.

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This paper describes the design of a novel multi-functional rescue end-effector with tonging, shearing and grasping capabilities to meet the demands of urban catastrophe rescue applications. The tonging and shearing form and the grasping form of the end-effector are analysed. The two forms are determined using the transformations of their grasping mechanisms. Four objectives (to maximize shearing space, minimize mass, minimize the equivalent stress and minimize deformation) are proposed for selection of the optimal grasping mechanism structure. Additional objectives also involve the end-effector’s structural strength and kinematic characteristics. A nested optimization structure that is composed of the non-dominated sorting genetic algorithm II (NSGA-II) and finite element analysis is proposed to perform multi-domain and multi-objective optimization of the end-effector. To improve the optimization efficiency, a traditional synthesis technique and a sensitivity analysis are applied to reduce the outer and inner numbers of the design variables. Simulation results indicate that the values of the four target objectives are superior to those before optimization and two referenced objectives, and the end-effector mass in particular, can evidently be reduced.
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Liu, Dan, Xiaoming Liu, Pengyun Li, Xiaoqing Tang, Masaru Kojima, Qiang Huang, and Tatsuo Arai. "Magnetic Driven Two-Finger Micro-Hand with Soft Magnetic End-Effector for Force-Controlled Stable Manipulation in Microscale." Micromachines 12, no. 4 (April 7, 2021): 410. http://dx.doi.org/10.3390/mi12040410.

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In recent years, micromanipulators have provided the ability to interact with micro-objects in industrial and biomedical fields. However, traditional manipulators still encounter challenges in gaining the force feedback at the micro-scale. In this paper, we present a micronewton force-controlled two-finger microhand with a soft magnetic end-effector for stable grasping. In this system, a homemade electromagnet was used as the driving device to execute micro-objects manipulation. There were two soft end-effectors with diameters of 300 μm. One was a fixed end-effector that was only made of hydrogel, and the other one was a magnetic end-effector that contained a uniform mixture of polydimethylsiloxane (PDMS) and paramagnetic particles. The magnetic force on the soft magnetic end-effector was calibrated using an atomic force microscopy (AFM) probe. The performance tests demonstrated that the magnetically driven soft microhand had a grasping range of 0–260 μm, which allowed a clamping force with a resolution of 0.48 μN. The stable grasping capability of the magnetically driven soft microhand was validated by grasping different sized microbeads, transport under different velocities, and assembly of microbeads. The proposed system enables force-controlled manipulation, and we believe it has great potential in biological and industrial micromanipulation.
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Yuan, Peijiang, Ting Lai, Yong Li, Wei Han, Minqing Lin, Qiancheng Zhu, Yuanwei Liu, and Zhenyun Shi. "The attitude adjustment algorithm in drilling end-effector for aviation." Advances in Mechanical Engineering 8, no. 1 (January 28, 2016): 168781401662934. http://dx.doi.org/10.1177/1687814016629348.

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Rodriguez-Barroso, Alejandro, and Roque Saltaren. "Passive reconfigurable end effector for underwater simulation on humanoids." Mechanism and Machine Theory 163 (September 2021): 104387. http://dx.doi.org/10.1016/j.mechmachtheory.2021.104387.

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Dissertations / Theses on the topic "Mechanical end effector"

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Dean, David L. "Design of a robotic end-effector for automated bolting." Thesis, Massachusetts Institute of Technology, 1985. http://hdl.handle.net/1721.1/100065.

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Thesis (M.S.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 1985.
MICROFICHE COPY AVAILABLE IN ARCHIVES AND ENGINEERING
Bibliography: leaf 111.
by David L. Dean, Jr.
M.S.
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Rieger, Michael. "Research and development of a rescue robot end-effector." Master's thesis, University of Cape Town, 2013. http://hdl.handle.net/11427/5479.

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This report details the research, design, development and testing of an end-effector system for use on an Urban Search and Rescue (USAR) robot which is in development in the Robotics and Agents Research Laboratory (RARL) at the University of Cape Town (UCT). This is the 5th generation Mobile Robot Platform (MRP) that UCT has developed ... codenamed ‘Ratel’. USAR robots used to be mainly of the observation type, but new robots (including UCT’s Ratel MRP) are being developed to deal with inherently dynamic, complex and unpredictable disaster response situations, particularly related to object manipulation and gripping. In order to actively interact with the environment, a flexible and robust gripping system is vital. [an] end-effector solution ... was developed for the Ratel manipulator arm to fulfil these functions.
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Cannon, Bennion R. "Design and analysis of end-effector systems for scribing on silicon /." Diss., CLICK HERE for online access, 2003. http://contentdm.lib.byu.edu/ETD/image/etd259.pdf.

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Cannon, Bennion Rhead. "Design and Analysis of End-Effector Systems for Scribing on Silicon." BYU ScholarsArchive, 2003. https://scholarsarchive.byu.edu/etd/95.

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This thesis investigates end-effector systems used in a chemomechanical scribing process. Chemomechanical scribing is a method of patterning silicon to selectively deposit a monolayer of material on the surface of the silicon. This thesis details the development of a unique end-effector for chemomechanical scribing using a compliant mechanism solution. The end-effector is developed to scribe lines that have uniform geometry and produce less chipping on the surface of the silicon. The resulting scribing mechanism is passively controlled, has high lateral stiffness, and low axial stiffness. The mechanism is analyzed using the pseudo-rigid-body model and linear-elastic beam method to determine the axial stiffness, finite element methods to determine the lateral stiffness, and fatigue analysis to determine mechanism cycle life. This thesis also investigates the significance of mechanical factors on the chemomechanical scribing process using the compliant end-effector. The factors examined are scribing force, scribing speed, tip geometry, wafer orientation, and wetting liquid. The factors are analyzed using a two-step approach: first, an analysis of the influence of the mechanical factors on line characteristics and second, an analysis of the influence of line characteristics on line performance.
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Söderström, Nils. "Product development of an end-effector for a collaborative robot." Thesis, Blekinge Tekniska Högskola, Institutionen för maskinteknik, 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:bth-19636.

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With the ever-growing market of six-axis robots in the previous years, many different kinds of robots have been introduced into the market. A smaller group of so-called collaborative robots have during this time gotten increased popularity. One of the inconveniences with this type of smaller robot is the lack of internal pneumatic capabilities, which leads to external cables and tubing. This can cause problems with the cables attaching into unintended things and coming loose which could result in production stops, machine failure or other potential damage. Another part of this is that the external cabling hinders the robots sixth axis of rotation. The need for air pressure is to supply the common pneumatic grippers that the robots often use to gain pick-and-place capabilities. Cobotech Kalmar AB is a company based in Kalmar which specializes in robot integration with these collaborative robots. The purpose of this project is to together develop a product concept that can minimize the external cabling needed on the robot while still allow full rotation in the sixth axis. On top of this, the product should have plug-and-play capabilities to decrease the installation time of a robot unit. The method to develop the results is the participatory action research (PAR), with the five different steps that the method includes: problem approach, design/planning, acquiring data, analysis and reflection. The result of the thesis shows that it is possible to decrease the external air tubes and installation time of a collaborative robot. This can be achieved while not decreasing the robots range of motion. By developing an innovative end-effector for the robot the main problems caused by pneumatic grippers can be eliminated. The conclusion of this thesis is a concept product that has one air input and five outputs. This allows for the minimization of the external air tubes needed to only one. The product has a swivel function incorporated which allows full rotation of the robots sixth axis. This together with having the valves seated in the end-effector makes this conceptual product plug-and-play.
Med en ständigt växande marknad för sexaxliga robotar de senaste åren har många olika robotar introducerats till marknaden. Av dessa har mindre kollaborativa robotar vuxit i popularitet. Ett problem med många av dessa mindre robotar är att de inte har tryckluft inbyggt i armen som många av sina större bröder vilket leder till att tryckluftslangar måste dras externt på roboten istället. Detta kan leda tillatt kabeln fastnar och rycks loss vilket i sin tur kan leda till produktionsstopp, att maskiner skadas eller annan potentiell skada på antingen maskiner eller människor.Ett annat problem med att externt dra kabel är att den hindrar robotens sjätte rotationsaxel. Anledningen till att ha tryckluft på roboten är för att ha möjlighet att installera pneumatiska gripdon. Cobotech Kalmar AB är ett företag bosatt i Kalmar som specialiserar sig på att integrera kollaborativa robotar i olika tillverkande industrier. Syftet med detta projekt är att tillsammans utveckla ett produktkoncept som minimerar de externa kablarna på roboten och ser till att roboten får full rörlighet i sin sjätte rotationsaxel. Utöver detta ska produkten arbeta mot att ha plug-and-play kapacitet för att minska installationstiden ute hos kunden. Metoden som används för att få fram resultaten var deltagande aktionsforskning,som innehåller de följande fem stegen: problemformulering, design/planering, in-samling av data och reflektion. Resultatet av denna rapport visar att det är möjligt att minska externa luftslangar samt minska installationstid på kollaborativa robotar. Detta kan göras utan att minska robotens funktion. Genom att utveckla en innovativ end-effector till Universal robots produktutbud kan man eliminera de främsta problemen med pneumatiska gripdon. Projektet har resulterat i en nära färdig konceptuell produkt som innovativt använder magnetiska miniatyrventiler tillsammans med en svivelfunktion för att enbart ha en tryckluftkabel som input till produkten. Produktens swivelfunktion frigör robotens sjätte rotations-axel. Detta tillsammans med ventilerna som sitter i produkten gör att den får plug-and-play funktion.
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Stiber, Stephanie A. "Development of an End-effector Sensory Suite for a Rehabilitation Robot." Scholar Commons, 2006. http://scholarcommons.usf.edu/etd/3796.

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This research presents an approach in assisting the control and operation of a rehabilitation robot manipulator to execute simple grasping tasks for persons with severe disabilities. It outlines the development of an end-effector sensory suite that includes the BarrettHand end-effector, laser range finder, and a low cost camera. The approach taken in this research differs greatly from the currently available rehabilitation robot arms in that it requires minimal user instruction, it is easy to operate and more effective for persons severely disabled. A thorough study of the currently available systems; Manus, Raptor and Kares II arm, is also presented. In order to test the end-effector sensory suite, experiments were performed to find the centroid of an object of interest to direct the robot end-effector towards it with minimal error. Analyses of centroid location data to ensure accurate results are also presented. The long term goal of this research is to significantly enhance the ability of severely disabled persons to perform activities of daily living using wheelchair mounted robot arms. The sensory suite developed through this project is expected to be integrated into a seven-degree of freedom wheelchair mounted robot arm currently under development at the Rehabilitation Robots Laboratory at the University of South Florida.
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Robinson, Graham. "The mechanical design and evaluation of Amadeus #2 a dextrous continuum end-effector for marine intervention." Thesis, Heriot-Watt University, 2000. http://hdl.handle.net/10399/451.

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Procházka, Jakub. "Automatizace obsluhy výrobního stroje a řešení robotického odjehlení na externích pneumatických nástrojích." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2020. http://www.nusl.cz/ntk/nusl-417746.

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The task of this master thesis is to design a robotic workcell for an automation of the production machine operation followed by robotic deburring of the parts within external pneumatic tools. There is chosen the most suitable concept of the workplace layout of its included sub-components based on the input parameters. The first part is dedicated to design or select sub-components of the workcell as input magazine, robots, end effectors, deburring station etc. Afterwards, there is created a simulation model of the workcell in Process Simulate software for the verification of demanded cycle times and workcell functionality. The final design has to meet safety standards and technical and economical evaluation is permormed at the end of the thesis.
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McCrate, Mark P. "Modern Mechanical Automata." University of Cincinnati / OhioLINK, 2010. http://rave.ohiolink.edu/etdc/view?acc_num=ucin1291146053.

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Romatoski, Rebecca R. (Rebecca Rose). "Robust end effecter for the introduction to Robotics Laboratory robotic arms." Thesis, Massachusetts Institute of Technology, 2006. http://hdl.handle.net/1721.1/36707.

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Thesis (S.B.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2006.
In the MIT ci ss Introduction to Robotics, a two link robotic arm is used to learn about robots however, the arm is limited since its only function is movement. In order to create a more meaningful and useful experience for students in the class, an end effecter with position feedback is going to be design and created as a third link for the current arm. Once complete, it will add functionality to the robot, namely picking up objects, by providing students with hands-on experience accomplishing a fundamental human task with a robot. The end effecter is comprised of a gravity link with two finger grippers each having rotating compliant tips which will compress around the object selected for lifting. The gravity link will insure that the two fingers are always vertical and the rotation on the tips will allow the fingers to be in the correct orientation so they can grasp around an object and pick it up. This solution creates a more practical experience and provides increased learning tasks for students in Introduction to Robotics.
by Rebecca R. Romatoski.
S.B.
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Books on the topic "Mechanical end effector"

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Schneider, W. C. 29th Aerospace Mechanics Symposium: Proceedings of a symposium held at the South Shore Harbour Resort and Conference Center, League City, Texas and co-sponsored by NASA Johnson Space Center and Lockheed Missiles and Space Company, Inc, May 17-19, 1995. Houston, Texas: Lyndon B. Johnson Space Center, 1995.

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University of Pennsylvania. Dept. of Computer and Information Science., National Science Foundation (U.S.), United States. Office of Naval Research., and United States. National Aeronautics and Space Administration., eds. Grasping with mechanical intelligence. Philadelphia, Pa: University of Pennsylvania, School of Engineering and Applied Science, Dept. of Computer and Information Science, 1988.

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Kreit, John W. Respiratory Mechanics. Edited by John W. Kreit. Oxford University Press, 2017. http://dx.doi.org/10.1093/med/9780190670085.003.0001.

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Ventilation can occur only when the respiratory system expands above and then returns to its resting or equilibrium volume. This is just another way of saying that ventilation depends on our ability to breathe. Although breathing requires very little effort and even less thought, it’s nevertheless a fairly complex process. Respiratory Mechanics reviews the interaction between applied and opposing forces during spontaneous and mechanical ventilation. It discusses elastic recoil, viscous forces, compliance, resistance, and the equation of motion and the time constant of the respiratory system. It also describes how and why pleural, alveolar, lung transmural, intra-abdominal, and airway pressure change during spontaneous and mechanical ventilation, and the effect of applied positive end-expiratory pressure (PEEP).
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Henriksen, Niels E., and Flemming Y. Hansen. Theories of Molecular Reaction Dynamics. Oxford University Press, 2018. http://dx.doi.org/10.1093/oso/9780198805014.001.0001.

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This book deals with a central topic at the interface of chemistry and physics—the understanding of how the transformation of matter takes place at the atomic level. Building on the laws of physics, the book focuses on the theoretical framework for predicting the outcome of chemical reactions. The style is highly systematic with attention to basic concepts and clarity of presentation. Molecular reaction dynamics is about the detailed atomic-level description of chemical reactions. Based on quantum mechanics and statistical mechanics or, as an approximation, classical mechanics, the dynamics of uni- and bimolecular elementary reactions are described. The first part of the book is on gas-phase dynamics and it features a detailed presentation of reaction cross-sections and their relation to a quasi-classical as well as a quantum mechanical description of the reaction dynamics on a potential energy surface. Direct approaches to the calculation of the rate constant that bypasses the detailed state-to-state reaction cross-sections are presented, including transition-state theory, which plays an important role in practice. The second part gives a comprehensive discussion of basic theories of reaction dynamics in condensed phases, including Kramers and Grote–Hynes theory for dynamical solvent effects. Examples and end-of-chapter problems are included in order to illustrate the theory and its connection to chemical problems. The book has ten appendices with useful details, for example, on adiabatic and non-adiabatic electron-nuclear dynamics, statistical mechanics including the Boltzmann distribution, quantum mechanics, stochastic dynamics and various coordinate transformations including normal-mode and Jacobi coordinates.
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Tiwari, Sandip. Nanoscale Device Physics. Oxford University Press, 2017. http://dx.doi.org/10.1093/oso/9780198759874.001.0001.

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Nanoscale devices are distinguishable from the larger microscale devices in their specific dependence on physical phenomena and effects that are central to their operation. The size change manifests itself through changes in importance of the phenomena and effects that become dominant and the changes in scale of underlying energetics and response. Examples of these include classical effects such as single electron effects, quantum effects such as the states accessible as well as their properties; ensemble effects ranging from consequences of the laws of numbers to changes in properties arising from different magnitudes of the inter-actions, and others. These interactions, with the limits placed on size, make not just electronic, but also magnetic, optical and mechanical behavior interesting, important and useful. Connecting these properties to the behavior of devices is the focus of this textbook. Description of the book series: This collection of four textbooks in the Electroscience series span the undergraduate-to-graduate education in electrosciences for engineering and science students. It culminates in a comprehensive under-standing of nanoscale devices—electronic, magnetic, mechanical and optical in the 4th volume, and builds to it through volumes devoted to underlying semiconductor and solid-state physics with an emphasis on phenomena at surfaces and interfaces, energy interaction, and fluctuations; a volume devoted to the understanding of the variety of devices through classical microelectronic approach, and an engineering-focused understanding of principles of quantum, statistical and information mechanics. The goal is provide, with rigor and comprehensiveness, an exposure to the breadth of knowledge and interconnections therein in this subject area that derives equally from sciences and engineering. By completing this through four integrated texts, it circumvents what is taught ad hoc and incompletely in a larger number of courses, or not taught at all. A four course set makes it possible for the teaching curriculum to be more comprehensive in this and related advancing areas of technology. It ends at a very modern point, where researchers in the subject area would also find the discussion and details an important reference source.
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Kiss, Thomas, and Paolo Pelosi. Lung recruitment techniques in the ICU. Oxford University Press, 2016. http://dx.doi.org/10.1093/med/9780199600830.003.0120.

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Lung recruitment manoeuvres (RMs) have been suggested as a means of homogenizing the lung structure and distribution of the mechanical stress across the lungs. Such effects can be achieved provided enough pressure is applied for enough time at the airways, and maintained if adequate levels of positive end-expiratory pressure (PEEP) are used. When RMs effectively open atelectatic tissue, shear stress, and cyclic collapse/reopening are importantly reduced. The lung response to RMs is mainly determined by cause and severity of lung injury, and the position of the lungs with respect to the gravity gradient. RMs can be performed in several different ways, the most relevant RMs in terms of clinical applicability are sustained inflation manoeuvres, high pressure controlled ventilation, incremental PEEP, and intermittent sighs.
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Tiwari, Sandip. Electromechanics and its devices. Oxford University Press, 2017. http://dx.doi.org/10.1093/oso/9780198759874.003.0005.

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Electromechanics—coupling of mechanical forces with others—exhibits a continuum-to-discrete spectrum of properties. In this chapter, classical and newer analysis techniques are developed for devices ranging from inertial sensors to scanning probes to quantify limits and sensitivities. Mechanical response, energy storage, transduction and dynamic characteristics of various devices are analyzed. The Lagrangian approach is developed for multidomain analysis and to bring out nonlinearity. The approach is extended to nanoscale fluidic systems where nonlinearities, fluctuation effects and the classical-quantum boundary is quite central. This leads to the study of measurement limits using power spectrum and, correlations with slow and fast forces. After a diversion to acoustic waves and piezoelectric phenomena, nonlinearities are explored in depth: homogeneous and forced conditions of excitation, chaos, bifurcations and other consequences, Melnikov analysis and the classic phase portaiture. The chapter ends with comments on multiphysics such as of nanotube-based systems and electromechanobiological biomotor systems.
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Lee, Jae Myeong, and Michael R. Pinsky. Cardiovascular interactions in respiratory failure. Oxford University Press, 2016. http://dx.doi.org/10.1093/med/9780199600830.003.0087.

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Acute respiratory failure not only impairs gas exchange, but also stresses cardiovascular reserve by increasing the need for increased cardiac output (CO) to sustain O2 delivery in the face of hypoxaemia, increased O2 demand by the increased work of breathing and inefficient gas exchange, and increased right ventricular afterload due to lung collapse via hypoxic pulmonary vasoconstriction. Mechanical ventilation, though often reversing these processes by lung recruitment and improved arterial oxygenation, may also decrease CO by increasing right atrial pressure by either increasing intrathoracic pressure or lung over-distention by excess positive end-expiratory pressure or inadequate expiratory time causing acute cor pulmonale. Finally, spontaneous negative swings in intrathoracic pressure also increase venous return and impede left ventricular ejection thus increasing intrathoracic blood volume and often precipitating or worsening hydrostatic pulmonary oedema. Positive-pressure breathing has the opposite effects.
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Hedenstierna, Göran, and Hans Ulrich Rothen. Physiology of positive-pressure ventilation. Oxford University Press, 2016. http://dx.doi.org/10.1093/med/9780199600830.003.0088.

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During positive pressure ventilation the lung volume is reduced because of loss of respiratory muscle tone. This promotes airway closure that occurs in dependent lung regions. Gas absorption behind the closed airway results sooner or later in atelectasis depending on the inspired oxygen concentration. The elevated airway and alveolar pressures squeeze blood flow down the lung so that a ventilation/perfusion mismatch ensues with more ventilation going to the upper lung regions and more perfusion going to the lower, dependent lung. Positive pressure ventilation may impede the return of venous blood to the thorax and right heart. This raises venous pressure, causing an increase in systemic capillary pressure with increased capillary leakage and possible oedema formation in peripheral organs. Steps that can be taken to counter the negative effects of mechanical ventilation include an increase in lung volume by recruitment of collapsed lung and an appropriate positive end-expiratory pressure, to keep aerated lung open and to prevent cyclic airway closure. Maintaining normo- or hypervolaemia to make the pulmonary circulation less vulnerable to increased airway and alveolar pressures, and preserving or mimicking spontaneous breaths, in addition to the mechanical breaths, since they may improve matching of ventilation and blood flow, may increase venous return and decrease systemic organ oedema formation (however, risk of respiratory muscle fatigue, and even overexpansion of lung if uncontrolled).
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Kreit, John W. Cardiovascular–Pulmonary Interactions. Edited by John W. Kreit. Oxford University Press, 2017. http://dx.doi.org/10.1093/med/9780190670085.003.0003.

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Intramural pressures within a tube or circuit determine the rate and direction of flow, whereas the transmural pressure of an elastic structure determines its volume. In Chapter 1, we applied these principles when talking about the pressure needed to overcome viscous forces and elastic recoil during ventilation. In this chapter, we use them to explain changes in blood flow between two portions of the circulatory system and changes in the volume and size of the heart chambers. Cardio–Pulmonary Interactions provides an overview of essential cardiovascular physiology as well as an in-depth discussion of how and why changes in pleural, alveolar, lung transmural, and intra-abdominal pressure during spontaneous and mechanical ventilation can alter right and left ventricular preload, afterload, and stroke volume, cardiac output, and blood pressure. The chapter also reviews the beneficial and detrimental effects of positive end-expiratory pressure (PEEP) on cardiovascular function.
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Book chapters on the topic "Mechanical end effector"

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Singh, Rippudaman, Abhinandan Kapoor, Gaurav Sharma, Abhishek Kumar, A. Shankara, and K. A. Keshava Murthy. "A Modular End Effector for Sample Collection from Extraterrestrial Terrain." In Lecture Notes in Mechanical Engineering, 213–27. Singapore: Springer Singapore, 2020. http://dx.doi.org/10.1007/978-981-15-4477-4_15.

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Lim, H. Y., and Muhammad Aizzat Zakaria. "Trajectory Tracking Analysis of Planar End-Effector Upper Limb Rehabilitation Device." In Lecture Notes in Mechanical Engineering, 183–95. Singapore: Springer Singapore, 2018. http://dx.doi.org/10.1007/978-981-10-8788-2_18.

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Madhusudan Raju, E., L. Siva Rama Krishna, and Mohamed Abbas. "Control of End-Effector of a Multi-link Robot with Joint and Link Flexibility." In Lecture Notes in Mechanical Engineering, 611–23. Singapore: Springer Singapore, 2020. http://dx.doi.org/10.1007/978-981-15-1124-0_53.

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Guinot, J. C., and P. Bidaud. "Analysis of a Robot Wrist Device for Mechanical Decoupling of End-Effector Position and Orientation." In RoManSy 6, 68–77. Boston, MA: Springer US, 1987. http://dx.doi.org/10.1007/978-1-4684-6915-8_5.

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Barber, J. R. "End Effects." In Solid Mechanics and Its Applications, 77–89. Dordrecht: Springer Netherlands, 2009. http://dx.doi.org/10.1007/978-90-481-3809-8_6.

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Barber, J. R. "End Effects." In Solid Mechanics and Its Applications, 59–65. Dordrecht: Springer Netherlands, 1992. http://dx.doi.org/10.1007/978-94-011-2454-6_6.

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Belguith, Rami, Hassen Khlifi, Lotfi Sai, Maher Baili, Gilles Dessein, and Wassila Bouzid. "Effects of the Tool Bending on the Cutting Force in Ball End Milling." In Advances in Mechanical Engineering and Mechanics, 143–51. Cham: Springer International Publishing, 2019. http://dx.doi.org/10.1007/978-3-030-19781-0_18.

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Karp, B., and D. Durban. "Elastodynamic End Effects in Structural Mechanics." In CISM International Centre for Mechanical Sciences, 115–79. Vienna: Springer Vienna, 2013. http://dx.doi.org/10.1007/978-3-7091-1619-7_4.

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Mazurek, David F. "Effects of End Restraint on Eyebar Behavior in Bridges." In Experimental and Applied Mechanics, Volume 6, 301–8. New York, NY: Springer New York, 2011. http://dx.doi.org/10.1007/978-1-4614-0222-0_37.

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Shchurova, E. I., and P. G. Mazein. "Machining Accuracy Improving with the Use of Mobile Mechatronic Systems as Industrial Robot End Effectors." In Lecture Notes in Mechanical Engineering, 171–80. Cham: Springer International Publishing, 2019. http://dx.doi.org/10.1007/978-3-030-22063-1_19.

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Conference papers on the topic "Mechanical end effector"

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Cui, Z. W., Z. G. Sun, W. Z. Zhang, and Q. Chen. "Permanent Magnet Absorbed Repairing End Effector for Wall-climbing Robot." In 2015 International Conference on Electrical, Automation and Mechanical Engineering. Paris, France: Atlantis Press, 2015. http://dx.doi.org/10.2991/eame-15.2015.28.

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Davidson, Joseph R., and Changki Mo. "Mechanical Design and Initial Performance Testing of an Apple-Picking End-Effector." In ASME 2015 International Mechanical Engineering Congress and Exposition. American Society of Mechanical Engineers, 2015. http://dx.doi.org/10.1115/imece2015-50482.

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The fresh market apple industry currently relies on manual labor for all harvesting activities. The lack of mechanical harvesting technologies is a serious concern because of rising labor costs and increasingly uncertain labor availability. Researchers have been working for several decades to develop mechanical harvesters for tree fruit. The two fruit removal methods considered include mass mechanical harvesters and selective harvesting with robotics technology. Whereas mass mechanical harvesters have demonstrated unacceptable damage rates, robotic systems have been limited by insufficient speed and robustness. This paper describes the design and analysis of a novel underactuated end-effector fabricated for the robotic harvesting of tree fruit. The device has been optimized around a set of target tasks, the most critical being speed, low complexity, suitability for a highly variable field environment, and the replication of hand picking so as to minimize fruit damage. Development of the end-effector has been facilitated by a thorough study of the dynamic forces involved during the manual harvesting of apples. The end-effector produces a spherical power grasp with a normal force distribution and picking sequence replicating selected human patterns. An underactuated, tendon-driven device with compliant flexure joints has been adopted to improve system performance in the presence of position errors as well as enhance robustness to variable fruit size, shape, and orientation. The prototype end-effector also uses minimal sensors and incorporates open-loop control to reduce complexity and improve picking speed. This paper presents the theoretical analysis of the end-effector kinematics and discusses the selection of key geometric parameters. Experiments have been conducted to determine the normal forces developed during grasping of the apple. Results indicate that open-loop, feedforward control can be used to produce optimal normal force patterns.
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Meng Wang, Qin Zhang, and Karen M Lewis. "End-effector Performance Evaluation of a Hand-held Mechanical Bloom Thinning Device." In 2012 Dallas, Texas, July 29 - August 1, 2012. St. Joseph, MI: American Society of Agricultural and Biological Engineers, 2012. http://dx.doi.org/10.13031/2013.41863.

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Colinjivadi, Karthik S., Meghana Honnatti, J. B. Lee, Rockford Draper, Matthew Ellis, George Skidmore, and Gareth Hughes. "Polymer Grippers as End-Effectors for Biological Sample Manipulation." In ASME 2006 International Mechanical Engineering Congress and Exposition. ASMEDC, 2006. http://dx.doi.org/10.1115/imece2006-14207.

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We report the development of completely releasable SU-8 based polymer microgripper and the manipulation of normal rat kidney (NRK) cells suspended in phosphate buffered saline (PBS) solution using a generic biological sample manipulator, which incorporates such a polymer microgripper as an end-effector. The electrically insulative polymer gripper consists of a thick (~50 μm), patterned high aspect ratio (~5:1) layer of SU-8 as the structural layer and a thin nickel layer as the electrothermal heating layer. The fabricated polymer gripper was completely released from the substrate and mounted onto a ceramic pad. The gripper was characterized in air and PBS, and the displacement at the tips was 12 μm for 0.5 V in air and for 2 V in PBS. The mounted gripper was assembled as end-effector onto a biological nano-manipulator (L200, Zyvex Corporation, Richardson, TX). Pick-and-place of a single cell from a cluster of suspended cells in aqueous medium has been demonstrated using this set-up.
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Nejat, Goldie, and Beno Benhabib. "Micro-Guidance of Pick-and-Place Robots via Task-Space Sensing." In ASME 2004 International Mechanical Engineering Congress and Exposition. ASMEDC, 2004. http://dx.doi.org/10.1115/imece2004-61361.

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In this paper, a line-of-sight-sensing based guidance methodology is proposed for the localization of robotic end-effectors in high-precision (i.e., micron or sub-micron accuracy) pick-and-place applications. The novelty of the overall system is its applicability to cases that do not allow for the direct proximity measurement of the end-effector’s pose. The proposed iterative guidance algorithm utilizes a pseudo-PD function to minimize the systematic errors of the end-effector, while allowing the pose of the end-effector to converge within the random noise limits. The system has been experimentally tested for a three-dof planar parallel manipulator.
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Jeon, Soo, Masayoshi Tomizuka, and Tetsuaki Katou. "A New Kinematic Kalman Filter (KKF) for End-Effector Sensing of Robotic Manipulators." In ASME 2007 International Mechanical Engineering Congress and Exposition. ASMEDC, 2007. http://dx.doi.org/10.1115/imece2007-42327.

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The kinematic Kalman filter (KKF) is a sensor-based state estimator which is immune to the external disturbances and the parameter uncertainties of mechanical plants. This paper extends the original idea of the KKF to a more general form as a means to enhance a real time vision sensor for the end-effector control of a robot manipulator, the performance of which is often limited by its slow sampling rate. The original one-dimensional KKF is reformulated in a higher dimensional form by incorporating the measurements from the vision sensor, accelerometers and gyroscopes. A nonlinear state space model of the kinematics of the end-effector is derived including the time delay associated with vision sensing. Then, the new KKF is formulated as a state estimator combining the inter-sample predictions with an extended Kalman filter (EKF). The paper discusses practical issues such as the real time computation to implement the EKF and the vision sensor to measure the absolute position. Experimental results are presented to confirm the benefits of the new KKF using a two-link direct drive manipulator equipped with a dual axis MEMS accelerometer, a single axis MEMS gyroscope and an end-effector mounted vision camera. The accurate estimation of the position and velocity of the end-effector from the new KKF will be useful for the real time visual-servo and the task space control of robot manipulators.
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Guo, Xu-Dong, Yu Wang, and He-Ting Tong. "POSE CONTROL OF END-EFFECTOR OF 6-DOFs EXOSKELETON ARM FOR FUNCTIONAL REHABILITATION." In 2015 International Conference on Energy and Mechanical Engineering. WORLD SCIENTIFIC, 2016. http://dx.doi.org/10.1142/9789814749503_0131.

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Toyomasu, Ippei, Naoya Tojo, Tomoyuki Shimono, and Takahiro Mizoguchi. "Estimation of mechanical impedance at end effector of arm based on frequency analysis." In 2016 IEEE 14th International Workshop on Advanced Motion Control (AMC). IEEE, 2016. http://dx.doi.org/10.1109/amc.2016.7496399.

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Baglioni, Stefano, Filippo Cianetti, Claudio Braccesi, and Luca Landi. "Parametric Multibody Modeling of Anthropomorphic Robot to Predict Joint Compliance Influence on End Effector Positioning." In ASME 2013 International Mechanical Engineering Congress and Exposition. American Society of Mechanical Engineers, 2013. http://dx.doi.org/10.1115/imece2013-64815.

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Nowadays, in the field of robotic, one of the most important objectives is to reduce robot error positioning and improve its dynamic behaviour. One of the main source of error in end effector positioning is due to the joint compliance: robot joint components under operating conditions can be deformed as a function of their stiffness/damping properties. Generally, for industrial robots, harmonic drive gearings are used, their principal characteristics are high transmission ratio and law weight, on the other hand, to realize high transmission ratio, harmonic drive gearings work on inner gear elastic deformation, conferring to the robot joints an excessive compliance that, in some robot applications, cannot be neglected. In this research activity multibody modelling and simulation approach has been used to analyse joint compliance influence on robot position accuracy. The principal aim of this work was the formulation of a modelling procedure that starting from classical robots modelling approach (i.e. Denavit Hartenberg) defines an universal database and a parametric modelling procedure that allows the designer to use any multibody commercial codes to analyse anthropomorphic robots considering or not the compliance effect. All the procedure was developed and managed into a numerical code environment (Matlab/Simulink). An example of commercial anthropomorphic robot was considered by assuming its principal kinematic and dynamic characteristics. Parametric models of the robot have been developed in two different multibody modelling environments (Simmechanics, Adams/View). Moreover the models structure has been built in order to control the robot movements both in motion (open loop) or in force (closed loop). In this case they are interfaced with Simulink code in a so called co-simulation approach that allows to developed a generic control system and test it by using one or more models, less or more refined.
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Chen, Minghong, Deshan Wang, Jiakang Zou, Lining Sun, Jin Sun, and Guoqing Jin. "A Multi-Module Soft Robotic Arm with Soft End Effector for Minimally Invasive Surgery." In 2019 2nd World Conference on Mechanical Engineering and Intelligent Manufacturing (WCMEIM). IEEE, 2019. http://dx.doi.org/10.1109/wcmeim48965.2019.00097.

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