To see the other types of publications on this topic, follow the link: Robotic claw.
Journal articles on the topic 'Robotic claw'
Create a spot-on reference in APA, MLA, Chicago, Harvard, and other styles
Consult the top 50 journal articles for your research on the topic 'Robotic claw.'
Next to every source in the list of references, there is an 'Add to bibliography' button. Press on it, and we will generate automatically the bibliographic reference to the chosen work in the citation style you need: APA, MLA, Harvard, Chicago, Vancouver, etc.
You can also download the full text of the academic publication as pdf and read online its abstract whenever available in the metadata.
Browse journal articles on a wide variety of disciplines and organise your bibliography correctly.
1
Choi, Young, Keith Drake, Mark Jesik, Christine Hartzell, and Norman Wereley. "An Adaptive Magnetorheological Fluid-Based Robotic Claw with an Electro-Permanent Magnet Array." Actuators 12, no. 12 (2023): 469. http://dx.doi.org/10.3390/act12120469.
Full textAbstract:
The increasing demand for the adept handling of a diverse range of objects in various grasp scenarios has spurred the development of more efficient and adaptable robotic claws. This study specifically focuses on the creation of an adaptive magnetorheological fluid (MRF)-based robotic claw, driven by electro-permanent magnet (EPM) arrays to enhance gripping capabilities across different task requirements. In pursuit of this goal, a two-finger MRF-based robotic claw was introduced, featuring two magnetorheological (MR) grippers equipped with MR elastomer (MRE) bladders and EPM arrays at the fingertips. The operational principle involved placing a target object between these MR grippers and adjusting the normal force applied to the object for effective grasping. During this process, the contact stiffness of the MR grippers was altered by activating the EPM arrays in three distinct operation modes: passive, short-range (SR), and long-range (LR). Through experimentation on a benchtop material testing machine, the holding performance of the MRF-based robotic claw with the integrated EPM arrays was systematically evaluated. This study empirically validates the feasibility and effectiveness of the MRF-based robotic claw when equipped with EPM arrays.
2
Ligutan, Dino Dominic Forte, Argel Alejandro Bandala, Jason Limon Española, Richard Josiah Calayag Tan Ai, Ryan Rhay Ponce Vicerra, and Elmer Jose Pamisa Dadios. "DESIGN OF A 3D-PRINTED THREE-CLAW ROBOTIC GRIPPER END-EFFECTOR." ASEAN Engineering Journal 11, no. 4 (2021): 70–79. http://dx.doi.org/10.11113/aej.v11.17865.
Full textAbstract:
The development of a novel 3D-printed three-claw robotic gripper shall be described in this paper with the goal of incorporating various design considerations. Such considerations include the grip reliability and stability, grip force maximization, wide object grasping capability. Modularization of its components is another consideration that allows its parts to be easily machined and reusable. The design was realized by 3D printing using a combination of tough polylactic acid (PLA) material and thermoplastic polyurethane (TPU) material. In practice, additional tolerances were also considered for 3D printing of materials to compensate for possible expansion or shrinkage of the materials used to achieve the required functionality. The aim of the study is to explore the design and eventually deploy the three-claw robotic gripper to an actual robotic arm once its metal work fabrication is finished.
3
Senthil, Pavan, Om Vishanagra, John Sparkman, Peter Smith, and Albert Manero. "Design and Assessment of Bird-Inspired 3D-Printed Models to Evaluate Grasp Mechanics." Biomimetics 9, no. 4 (2024): 195. http://dx.doi.org/10.3390/biomimetics9040195.
Full textAbstract:
Adapting grasp-specialized biomechanical structures into current research with 3D-printed prostheses may improve robotic dexterity in grasping a wider variety of objects. Claw variations across various bird species lend biomechanical advantages for grasping motions related to perching, climbing, and hunting. Designs inspired by bird claws provide improvements beyond a human-inspired structure for specific grasping applications to offer a solution for mitigating a cause of the high rejection rate for upper-limb prostheses. This research focuses on the design and manufacturing of two robotic test devices with different toe arrangements. The first, anisodactyl (three toes at the front, one at the back), is commonly found in birds of prey such as falcons and hawks. The second, zygodactyl (two toes at the front, two at the back), is commonly found in climbing birds such as woodpeckers and parrots. The evaluation methods for these models included a qualitative variable-object grasp assessment. The results highlighted design features that suggest an improved grasp: a small and central palm, curved distal digit components, and a symmetrical digit arrangement. A quantitative grip force test demonstrated that the single digit, the anisodactyl claw, and the zygodactyl claw designs support loads up to 64.3 N, 86.1 N, and 74.1 N, respectively. These loads exceed the minimum mechanical load capabilities for prosthetic devices. The developed designs offer insights into how biomimicry can be harnessed to optimize the grasping functionality of upper-limb prostheses.
4
Xu, Yongpeng, and Kehua Zhu. "Prototype design and structural analysis of a variable-angle robotic gripper prototype." Highlights in Science, Engineering and Technology 111 (August 19, 2024): 629–40. https://doi.org/10.54097/7tcw1g05.
Full textAbstract:
This paper describes the design of a three-finger mechanical claw, a horticultural product gripper. The design scheme adopts a systematic approach by evaluating all possible structures, selecting the most suitable motion and structure scheme, and using G.I. The proposed structure is optimized and numerically simulated by the evaluation index. The design process and test results are discussed, and the mechanical claw scheme, which is highly versatile, is designed. The three-dimensional model is established with Solidworks, and the kinematic simulation and static simulation are carried out to verify the feasibility of the design scheme preliminarily. The effectiveness of the method is proved by additive manufacturing by making an actual model for the clamping test. The experiment shows that the three-finger mechanical claw with rotating knuckles has good compatibility with the shape of the clamp, and the scheme is simple and convenient in the control process.
5
Manning, Phillip L., David Payne, John Pennicott, Paul M. Barrett, and Roland A. Ennos. "Dinosaur killer claws or climbing crampons?" Biology Letters 2, no. 1 (2005): 110–12. http://dx.doi.org/10.1098/rsbl.2005.0395.
Full textAbstract:
Dromaeosaurid theropod dinosaurs possess a strongly recurved, hypertrophied and hyperextensible ungual claw on pedal digit II. This feature is usually suggested to have functioned as a device for disembowelling herbivorous dinosaurs during predation. However, modelling of dromaeosaurid hindlimb function using a robotic model and comparison of pedal ungual morphology with extant analogue taxa both indicate that this distinctive claw did not function as a slashing weapon, but may have acted as an aid to prey capture.
6
Sardar, Muhammad Shoaib, Shou-Jun Xu, Murat Cancan, Mohammad Reza Farahani, Mehdi Alaeiyan, and Shobha V. Patil. "Computing Metric Dimension of Two Types of Claw-free Cubic Graphs with Applications." Journal of Combinatorial Mathematics and Combinatorial Computing 119, no. 1 (2024): 163–74. http://dx.doi.org/10.61091/jcmcc119-17.
Full textAbstract:
Consider the simple connected graph G with vertex set V(G) and edge set E(G). A graph \(G\) can be resolved by \(R\) if each vertex’s representation of distances to the other vertices in \(R\) uniquely identifies it. The minimum cardinality of the set \(R\) is the metric dimension of \(G\). The length of the shortest path between any two vertices, x, y in V(G), is signified by the distance symbol d(x, y). An ordered k-tuple \(r(x/R)=(d(x,z_1),d(x,\ z_2),…,d(x,z_k))\) represents representation of \(x\) with respect to \(R\) for an ordered subset \(R={\{z}_1,z_2,z_3…,z_k\}\) of vertices and vertex \(x\) in a connected graph. Metric dimension is used in a wide range of contexts where connection, distance, and connectedness are essential factors. It facilitates understanding the structure and dynamics of complex networks and problems relating to robotics network design, navigation, optimization, and facility location. Robots can optimize their localization and navigation methods using a small number of reference sites due to the pertinent idea of metric dimension. As a result, many robotic applications, such as collaborative robotics, autonomous navigation, and environment mapping, are more accurate, efficient, and resilient. A claw-free cubic graph (CCG) is one in which no induced subgraph is a claw. CCG proves helpful in various fields, including optimization, network design, and algorithm development. They offer intriguing structural and algorithmic properties. Developing algorithms and results for claw-free graphs frequently has applications in solving of challenging real-world situations. The metric dimension of a couple of claw-free cubic graphs (CCG), a string of diamonds (SOD), and a ring of diamonds (ROD) will be determined in this work.
7
Ahmmed, Faysal, Asef Rahman, Amirul Islam, et al. "Arduino-Controlled Multi-Function Robot with Bluetooth and nRF24L01+ Communication." International Journal of Robotics and Control Systems 4, no. 3 (2024): 1353–81. http://dx.doi.org/10.31763/ijrcs.v4i3.1517.
Full textAbstract:
This paper outlines the design and development of an advanced robotic system that integrates hardware implementation with theoretical simulation to address the need for versatile and user-friendly robotic solutions in various environments. Addressing the issue of limited adaptability in existing robotic systems, we propose a wireless, voice and gesture-controlled robot car with an integrated robotic arm capable of performing complex tasks such as line following, obstacle avoidance, object manipulation, and autonomous navigation over one-kilometer range. To improve operational efficiency and user involvement, this paper designs a multifunctional robotic platform that integrates user-friendly control interfaces with inexpensive, state-of-the-art sensor technologies. To achieve this, we integrate a variety of sensors, including ultrasonic sensors for precise distance measurement, infrared sensors for object detection and line following, an L298 motor driver for controlling geared motors, servo motors for controlling robotic arms, a flex sensor for claw control, and an mpu6050 accelerometer for gesture recognition. The system also uses a custom-made Bluetooth app for remote control, nRF24L01+ for long-range wireless control, and Arduino Mega and Nano for processing and control functions. The results demonstrate the robot functions well in dynamic conditions, and it can be used in hospitals to assist healthcare professionals, in restaurants for food delivery, and in industrial settings for object manipulation. The system’s design proves robust in real-world scenarios, offering significant improvements in accessibility and operational efficiency. This study aligns with Sustainable Development Goals (SDGs) 3 (Good Health and Well-being), 9 (Industry, Innovation, and Infrastructure), and 17 (Partnerships for the Goals). The robotic arm's potential application in healthcare settings advances SDG 3, its contribution to industrial productivity advances SDG 9, and collaborations with tech companies to expand and improve the robot's capabilities promote SDG 17.
8
Nabi, Fizza Ghulam, Kenneth Sundaraj, Vikneswaran Vijean, et al. "A Novel Design of Robotic hand Based on Bird Claw Model." Journal of Physics: Conference Series 1997, no. 1 (2021): 012034. http://dx.doi.org/10.1088/1742-6596/1997/1/012034.
Full text
9
Erlingsson, Bjartmar Freyr, Ingólfur Hreimsson, Páll Indriði Pálsson, Sigurður Jóhann Hjálmarsson, and Joseph Timothy Foley. "Axiomatic Design of a Linear Motion Robotic Claw with Interchangeable Grippers." Procedia CIRP 53 (2016): 213–18. http://dx.doi.org/10.1016/j.procir.2016.07.006.
Full text
10
Pandey, Piyush, Juan J. Acosta, Kitt G. Payn, and Sierra Young. "Towards Autonomous, Aerial Pollination: Design of a Robotic Pollinator Payload for Controlled Crosses in Loblolly Pine." Applied Engineering in Agriculture 40, no. 6 (2024): 635–49. https://doi.org/10.13031/aea.15916.
Full textAbstract:
HighlightFirst-of-its-kind payload engineered for performing controlled pollinations in Loblolly pine orchards.Payload performance verified in laboratory experiments to ensure sufficient pollen injection.Conceptual system architecture developed for integration with unoccupied aerial systems (UAS).Abstract. This article reports the design of a robotic pollination system suitable for use with an unoccupied aerial vehicle (UAV) aimed at performing controlled crosses in loblolly pine seed orchards. In controlled crosses, paper exclusion bags are placed over female strobili to prevent natural pollination, and pollen from known origins is manually introduced into the bag. The proposed system comprises a six-degrees-of-freedom parallel manipulator equipped with a pollinator needle end effector. The end effector consists of a claw mechanism with two links for bag stabilization and needle injection. A pneumatic device ejects pollen through the needle, and a perception system using a stereovision camera with an object detection model for bag detection estimates the appropriate orientation of the manipulator before actuating the pollinating device. The device was evaluated for successful delivery of pollen inside an exclusion bag. It was found to require less than two attempts for successful needle insertion into a bag with vertical orientation. The system also delivered the required pollen within two seconds of air pump actuation. This work presents the first step towards aerial robotic pollination for performing controlled crosses in loblolly pine and lays the groundwork for automating controlled pollinations using exclusion bags. Keywords: Aerial manipulator, Agricultural robotics, Forestry automation, Stewart platform, UAV pollination.
11
Angelakis, D., S. Zoumis, and P. Asvestas. "Design and Implementation of a Brain Computer Interface System for Controlling a Robotic Claw." Journal of Physics: Conference Series 931 (November 2017): 012001. http://dx.doi.org/10.1088/1742-6596/931/1/012001.
Full text
12
Stokes, Mary E., John K. Mohrmann, Chase G. Frazelle, Ian D. Walker, and Ge Lv. "The Claw: An Avian-Inspired, Large Scale, Hybrid Rigid-Continuum Gripper." Robotics 13, no. 3 (2024): 52. http://dx.doi.org/10.3390/robotics13030052.
Full textAbstract:
Most robotic hands have been created at roughly the scale of the human hand, with rigid components forming the core structural elements of the fingers. This focus on the human hand has concentrated attention on operations within the human hand scale, and on the handling of objects suitable for grasping with current robot hands. In this paper, we describe the design, development, and testing of a four-fingered gripper which features a novel combination of actively actuated rigid and compliant elements. The scale of the gripper is unusually large compared to most existing robot hands. The overall goal for the hand is to explore compliant grasping of potentially fragile objects of a size not typically considered. The arrangement of the digits is inspired by the feet of birds, specifically raptors. We detail the motivation for this physical hand structure, its design and operation, and describe testing conducted to assess its capabilities. The results demonstrate the effectiveness of the hand in grasping delicate objects of relatively large size and highlight some limitations of the underlying rigid/compliant hybrid design.
13
Bai, Yanru, Zhi Wang, Yizhuo Zhang, Rui Guo, and Xisheng Li. "Liquid Metal-Based Dual-Response Pressure Sensor for Dual-Modality Sensing and Robotic Object Recognition." Bioengineering 11, no. 12 (2024): 1211. http://dx.doi.org/10.3390/bioengineering11121211.
Full textAbstract:
Characterized by their high sensitivity and flexible deformation, flexible pressure sensors have been extensively applied in various fields such as wearable electronics, health monitoring, soft robotics, and human–computer interaction. In this research, we developed a dual-response pressure sensor (DRPS) designed to identify object materials. By integrating the operating principles of capacitive and resistive sensors and employing microstructured dielectric layers, we enhanced the sensitivity and detection range of the pressure sensor. Additionally, this research introduced an innovative, simple, and cost-effective method for preparing flexible pressure sensors. Following a comprehensive performance evaluation, the DRPS exhibited high sensitivity, a broad detection range, and robust stability. Finally, utilizing a mechanical claw equipped with an intelligent perception data collection system, we effectively distinguished various materials, further corroborating the practicality of DRPS in intelligent perception applications.
14
Sartal, Antonio, Diego Carou, Rubén Dorado-Vicente, and Lorenzo Mandayo. "Facing the challenges of the food industry: Might additive manufacturing be the answer?" Proceedings of the Institution of Mechanical Engineers, Part B: Journal of Engineering Manufacture 233, no. 8 (2018): 1902–6. http://dx.doi.org/10.1177/0954405418805611.
Full textAbstract:
Our research explores how additive manufacturing can support the food industry in facing its current global challenges. Although information technologies are usually highlighted as the main driver of the Industry 4.0 concept, which was first introduced during the Hannover Fair event in 2011, we posit that additive manufacturing can be the true generator of a sustainable competitive advantage in this sector. This evidence stems from a case study in a plant of one of the world’s largest fishing multinational companies. Our results show how, through robotic claw optimization using three-dimensional printing, we not only reduce the manufacturing costs but also increase the flexibility of the line and reduce time to market. On the one hand, our findings should encourage managers to test this technology at their facilities; on the other hand, policymakers should promote the adoption of additive manufacturing, highlighting the potential of this technology within the Industry 4.0 context.
15
Fang, Kangrui, Qigong Huang, and Yilin Hao. "Autonomous Cargo Grabbing System for Drones Using Cameras and ROS." Applied and Computational Engineering 98, no. 1 (2024): 17–26. http://dx.doi.org/10.54254/2755-2721/98/20241092.
Full textAbstract:
Abstract. With the rapid development of low-altitude economy, the functional requirements for logistics UAVs are constantly improving. In this paper, an unmanned aerial vehicle system (UAV) is proposed to realize autonomous grasping of goods. First of all, a new type of grasping device is proposed, which can be easily mounted on the UAV. The camera image stream mounted on the UAV was obtained through camera calibration and corrected. Subsequently, the object recognition algorithm was used to process the image frames, successfully identify the goods to be captured, and calculate the position and direction relationship between the UAV and the target cargo. Next, the speed of the drone is adjusted by the PID controller to achieve a stable landing above the target cargo. Then, the drone is equipped with a robotic claw innovatively designed by our team to complete the gripping of the goods. Subsequently, the drone lifted off and began to deliver cargo. Throughout the grabbing process, a laptop equipped with Ubuntu and ROS systems communicates with the drone via Wi-Fi. The feasibility of the whole system was proved by experiments.
16
Bian, Peishuo. "Tendon Actuation Device Based On Underactuation Apple Lossless End Effector." Highlights in Science, Engineering and Technology 97 (May 28, 2024): 258–66. http://dx.doi.org/10.54097/795jx659.
Full textAbstract:
With the continuous development of agriculture, people's demand for improving orchard production efficiency and fruit quality is increasing. The traditional manual method of picking apples has problems such as low efficiency and high losses. Advanced technologies are urgently needed to address this challenge. To this end, this article introduces a non-destructive apple-picking technology based on robot end effectors. Through simulation analysis, it was determined that four steps of adsorption, pulling back, clamping, and twisting were used to simulate one-handed picking. The end effector produces a spherical dynamic grasp with normal force distribution and pick-up sequence replicating selected human body patterns. By analyzing and solving the structure of the hand claw, the motion statistics of the three fingers under different drives are simulated to determine the force required for picking. This technology adds an underactuated tendon drive with a flexible flexure joint. This is to make the system work better in the event of positioning errors and to make it more resistant to changes in fruit size, shape, and orientation. Experimental results show that non-destructive apple-picking technology using robotic end effectors has higher efficiency and lower losses than traditional methods. Robots can quickly complete more picking tasks and reduce fruit waste and loss.
17
Liu, Hong, Jun Wu, Shaowei Fan, Minghe Jin, and Chunguang Fan. "Integrated virtual impedance control based pose correction for a simultaneous three-fingered end-effector." Industrial Robot: An International Journal 45, no. 2 (2018): 255–66. http://dx.doi.org/10.1108/ir-09-2017-0173.
Full textAbstract:
Purpose This paper aims to present a pose correction method based on integrated virtual impedance control for avoiding collision and reducing impact. Design/methodology/approach The authors first constructed the artificial potential field (APF) considering the geometric characteristics of the end-effector. The characteristics of the proposed field were analyzed considering the position and orientation misalignment. Then, an integrated virtual impedance control was proposed by adding resultant virtual repulsive force into traditional impedance control. Finally, the authors modified a correction trajectory for avoiding collision and reducing impact with virtual force and contact force. Findings The APF the authors constructed can get rid of a local minimum. Comparing with linear correction, this method is able to avoid collision effectively. When the capturing target has intrinsic estimation error, the pose correction can ensure smooth transitions among different stages. Practical implications This method can be implemented on a manipulator with inner position control. It can be applied to an industrial robot with applications on robotic assembly for achieving a softer and smoother process. The method can also be expanded to the kind of claw-shaped end-effectors for capturing target. Originality value As the authors know, it is the first time that the characteristics of the end-effector are considered for avoiding collision in capturing application. The proposed integrated virtual impedance control can provide smooth transitions among different stages without switching different force/position controllers.
18
Liu, Guanxu. "A Five-finger Pneumatic Mechanical Claw Designed by SolidWorks and Analyzed by ANSYS Workbench Simulation." Advances in Engineering Technology Research 12, no. 1 (2024): 837. https://doi.org/10.56028/aetr.12.1.837.2024.
Full textAbstract:
With the development of industrial automation and robotics, mechanical claws are increasingly vital in modern manufacturing. In this paper, a five-finger pneumatic mechanical claw is designed and analyzed, which simulates the human hand in its structure with high flexibility and adaptability. SolidWorks is used to model the mechanical claw in three dimensions, and its transient simulation analysis is implemented by ANSYS Workbench to evaluate the performance and reliability in practical work. The results show that such a mechanical claw with good mechanical properties and dynamic response can grasp objects of various shapes. The mechanical claw can complete the grasping action in a short time with a stable dynamic response, which meets the requirements of practical applications.
19
Deng, Lexing, Tianyu Liu, Ping Jiang, et al. "Design and Testing of Bionic-Feature-Based 3D-Printed Flexible End-Effectors for Picking Horn Peppers." Agronomy 13, no. 9 (2023): 2231. http://dx.doi.org/10.3390/agronomy13092231.
Full textAbstract:
To solve the problems of poor adaptability and large sizes of pepper harvesting machinery in facility agriculture to enhance the efficiency and quality of pepper harvesting and ultimately boost farmers’ income, several flexible end-effectors were designed. These end-effectors were tailored to the unique morphologies of horn peppers, drawing inspiration from biomimicry. Subsequently, we conducted experimental verification to validate their performance. Four biological features, namely, the outer contours of a Vicia faba L. fruit, an Abelmoschus esculentus fruit, the upper jaw of a Lucanidae, and a Procambarus clarkii claw, were selected and designed using 3D software. In order to ascertain the structural viability and establish the initial design framework for the test end-effector, a simulation analysis to evaluate the strength and deformation of the flexible end-effector under various pepper-picking conditions was conducted. PLA material and 3D printing technology were used to create the end-effector, and, together with the mobile robotic arm platform ROSMASTER X3 PLUS, they were used to build a test prototype; a pepper tensile test was performed to pre-determine the reasonableness of the picking program, and then a prototype was created for the actual picking of the peppers to compare the picking effectiveness of several types of flexible end-effectors. In six experiments, each flexible end was harvested for 120 horn peppers. The Vicia faba L. flexible end-effector had the lowest average breakage rate. The average breakage rate was 1.7%. At the same time, it had the lowest average drop rate. The average drop rate was 3.3%. The test results indicated that the flexible end-effector that emulated the outer contour characteristics of the Vicia faba L. fruit demonstrated the most favorable outcomes. This design exhibited high working efficiency and the lowest rates of fruit breakage and fruit drops, surpassing both the artificial and traditional machine picking methods and effectively fulfilling the requirements for pepper-picking operations in facility agriculture.
20
Ma, Zhao, Simon Duenser, Christian Schumacher, et al. "Stylized robotic clay sculpting." Computers & Graphics 98 (August 2021): 150–64. http://dx.doi.org/10.1016/j.cag.2021.05.008.
Full text
21
Bravo, Maite, Stephanie Chaltiel, and Wilfredo Carazas. "Matter-Robotic Calibration for Bioshotcrete." Temes de Disseny, no. 34 (November 26, 2018): 80–91. http://dx.doi.org/10.46467/tdd34.2018.80-91.
Full textAbstract:
Construction techniques associated with traditional raw earth architecture are characterised by laborious manual tasks in which each clay mix is deposited in layers over a light formwork, such as with the wattle and daub technique. More sustainable solutions also exist for the use of concrete, including shotcrete or sprayed concrete over light formwork composed of fabrics, inflatables or metal meshes. This research explores robotic techniques for the digital fabrication of monolithic earthen shells, with the objective of reformulating the use of clay as a sustainable material to reduce laborious tasks, minimize the use of formwork, and to implement robotic fabrication processes. This unique technique is called “bioshotcrete” and is characterised by an innovative fabrication process of sequential robotic spraying deposition of different natural raw clay mixes over a temporary light formwork. Two case studies are described and analysed featuring two distinctive techniques: clay mixes sprayed with a robotic arm and with a drone. Details are highlighted, and key considerations are identified, in terms of subtle adjustments for the material formulation and application sequences, robotic tooling strategies, and customised robotic actions. This series of experiments was formulated as an ongoing experiment to address challenges related to limitations of reaching distances and lightness of machines to bring on site, and to explore newfound possibilities for aerial deposition techniques using drones. Variations related to Tool/Matter performance (spray velocity and surface adhesion) were explored at each clay mixture iteration. Additional improvements were identified by recent physical tests, such as using the drafts created by the drone helixes to help the drying process at each layer, and additional conclusions establish how this technique is not only shaping new design and digital fabrication processes but envisioning possible future applications and offering new scenarios for sustainable large-scale earthen envelopes.
22
Peters, Brady, Nicholas Hoban, John Nguyen, and Nermine Hassanin. "Robotic fabrication of clay acoustic resonators." Journal of the Acoustical Society of America 155, no. 3_Supplement (2024): A321. http://dx.doi.org/10.1121/10.0027668.
Full textAbstract:
Digital fabrication offers the potential for the creation of complex geometries and mass-customized products; however, most 3D printers do not scale sufficiently to create architectural scale components. Robotic fabrication methods may bridge the gap, offering the possibility of architectural-scale 3d-printing capabilities. It has been found that the combination of multiple Helmholtz resonators tuned to different frequencies can create broadband absorption. This research pairs CAD parametric design with robotic clay extrusion as a method of acoustic resonator mass customization. The history of architectural acoustics together with recent archeological discoveries unveils a long-established practice of using clay vases as acoustic devices. And while the efficacy of these vases in historical settings has been contested, the use of large arrays of carefully tuned acoustic vases remains largely unexplored in contemporary practice. This paper presents the acoustic vases' unique history, defines its geometry and performance, and projects the potentials of the acoustic vase in current practice through modelling, simulation, and fabrication. A full-scale prototype wall with 126 robotically 3d-printed clay resonator vases was designed and constructed. The 1:1 prototype was shown in the “Robotic Clay,” which was exhibited at the Canadian Clay and Glass Gallery in Waterloo, Canada.
23
Pupin, D. S., and D. O. Khort. "Study of the influence of robotic gripper parameters on apple fruit damage." Horticulture and viticulture, no. 1 (March 15, 2024): 40–50. http://dx.doi.org/10.31676/0235-2591-2024-1-40-50.
Full textAbstract:
The article discusses the design of a robotic device intended for effective apple fruit harvesting with minimum damage. The research was conducted in the Federal Scientific Agroengineering Center VIM from 2020 to 2023. The developed device is equipped with specialized mechanisms and sensors designed to reduce the negative eff ects on apples during harvesting. The study aims to justify the parameters of the robotic device for apple fruit picking and to conduct laboratory experimental studies of the grip strength eff ect on fruit damage during robotic fruit harvesting. A classification of gripping devices was developed based on the analysis of their design parameters and types. A concentric three-fingered gripper tool with rotating and sliding elements added to the gripping device was selected as the prototype device. As a result of studying the size and weight parameters of apples of the ‘Jonathan’ and ‘Granny Smith’ cultivars, data were obtained that enable one to describe the characteristics of these fruits more fully. Th e grapho-analytical method was employed to select the optimal geometric parameters of the gripper claws. We designed a robotic gripper which has several components, including gripper claws and a movable base. A laboratory setup was developed to simulate the operation of the manipulator and conduct experiments. Th e setup makes it possible to create conditions close to the actual manipulator operation and study the processes of grasping and holding fruits. The three-factor experiment allowed us to analyze the impact of the grip strength of the gripper claws, as well as the distance from the fruit to the gripper on the damage to fruits. It has been determined that these parameters have a signifi cant eff ect on the process of grasping and holding fruits. Entirely optimal values of these parameters contribute to reliable holding of a fruit in the gripper claws with minimal damage. As a result of analyzing the size-mass parameters of fruits, we found the average size and weight of apples of the Jonathan and Granny Smith cultivars. Th e design parameters of the robotic device were justifi ed. A 3D robotic gripper model was developed. We also manufactured an experimental robotic gripper model which underwent laboratory tests. As a result, the parameters of the grip strength and the distance from the fruit to the gripper were identified.
24
Shah, Dylan S., Michelle C. Yuen, Liana G. Tilton, Ellen J. Yang, and Rebecca Kramer-Bottiglio. "Morphing Robots Using Robotic Skins That Sculpt Clay." IEEE Robotics and Automation Letters 4, no. 2 (2019): 2204–11. http://dx.doi.org/10.1109/lra.2019.2902019.
Full text
25
Steffl, Simon, Rebekka Volk, Moritz Dörstelmann, and Frank Schultmann. "Innovative robotic-woven willow-clay-composite ceiling elements." IOP Conference Series: Earth and Environmental Science 1402, no. 1 (2024): 012034. http://dx.doi.org/10.1088/1755-1315/1402/1/012034.
Full textAbstract:
Abstract The construction sector contributes 36% to global final energy use and 39% to energy-related CO2 emissions. Consequently, it is imperative to focus on quantifying and reducing environmental impacts e.g., via renewable building materials. The combination of fast-growing willow as tension reinforcement for regionally available and compression bearing clay seems a promising approach. The new attempt is based on the idea of full circularity, as the willow clay composite modules are in the first loop dismountable and can be rearranged and reused for another life cycle. When the composite material comes to its end-of-life, the materials can be theoretically fully recovered. To assess the environmental sustainability of such an innovative composite structure for the first time, a simplified cradle to grave Life Cycle Assessment is performed. The investigation is based on experimental data of the 1 to 1 scale robotically woven willow-clay-composite ceiling demonstrator. First results reveal hot spots, especially in the supply chain of the prototype production process but compared to conventional steel concrete ceiling, the innovative biobased composite is capable to function as a CO2 sink over the entire life cycle. In addition, the resource problem of timber could be circumvented accordingly.
26
Stephanie, Chaltiel, Bravo Maite, and Ibrahim Abdullah. "Adaptive Strategies for Mud Shell Robotic Fabrication." International Journal of Environmental Science & Sustainable Development 3, no. 2 (2018): 64. http://dx.doi.org/10.21625/essd.v3iss2.382.
Full textAbstract:
The digital fabrication of monolithic shell structures is presenting some challenges related to the interface between computational design, materialist, and fabrication techniques. This research proposes a singular method for the sequential robotic spray deposition in layers of diverse clay mixes over a temporary fabric form-work pulled in between peripheral and cross section arches. This process relies mainly on the continuity of the construction phases for stability and durability but has encountered some challenges in physical tests related to sagging, displacement, and deformations during the robotic deposition of the material. Adaptive strategies during the digital fabrication stages are proposed for a sequential exploration of the geometry, structural analysis, and construction techniques. Alternative adjustments of protocols for the robotic material deposition include both predictable and unsuspected behaviors preventing the structure to reach non-viable geometric thresholds. Two case studies of physical tests describe, analyze, and simulate some of these strategies and identify specific parameters inquiring the sequential adjustments of the robotic material deposition. These strategies will drive future full-scale tests within a sustainable use of materials and adaptive construction methods, seeking an optimized structural performance that could open a new chapter for the digital fabrication of earthen shells.
27
Nagaoka, Eiki, Jill Gelinas, Marco Vola, and Bob Kiaii. "Early Clinical Experiences of Robotic Assisted Aortic Valve Replacement for Aortic Valve Stenosis with Sutureless Aortic Valve." Innovations: Technology and Techniques in Cardiothoracic and Vascular Surgery 15, no. 1 (2020): 88–92. http://dx.doi.org/10.1177/1556984519894298.
Full textAbstract:
Robotic assisted aortic valve surgery is still challenging and debatable. We retrospectively reviewed our cases of robotic assisted aortic valve replacement utilizing sutureless aortic valve with following surgical technique: 3 ports, 1 for endoscope and 2 for the robotic arms were inserted in the right chest and da Vinci Si robotic system (Intuitive Surgical, Sunnyvale, CA, USA) was adapted to these ports. Cardiopulmonary bypass was initiated through peripheral cannulations. A vent cannula was placed through the right superior pulmonary vein and a cardioplegia cannula in the ascending aorta. After cardioplegic arrest following aortic cross-clamp, the aortic valve was exposed through a clam shell aortotomy. Valvectomy along with decalcification was performed. Next using 3 guiding sutures the Perceval S valve (LivaNova, London, UK) was parachuted down and deployed. After confirming valve position, the aortotomy was closed. There were no major complications during the procedures and no conversion to sternotomy. Exposure of aortic valve was of high quality. Valvectomy required assistance with long scissors by the bedside surgeon for excision of the severely calcified valve cusps and effective decalcification of annulus. Postoperative convalescence was uncomplicated except for postoperative atrial fibrillation in 1 patient. Robotic assistance in aortic valve procedure enabled excellent exposure of the aortic valve and improved manipulation and suturing of the aortic annulus and aorta. There needs to be improvement of instrumentation for valve debridement and removal of calcium from the annulus. In addition, the sutureless valve technology contributes to the feasibility and the efficacy of this procedure.
28
Yu, Zhangguo, and Hsien-I. Lin. "Development of robotic polishing/fettling system on ceramic pots." International Journal of Advanced Robotic Systems 18, no. 3 (2021): 172988142110128. http://dx.doi.org/10.1177/17298814211012851.
Full textAbstract:
Current robot polishing techniques are available for objects with computer-aided design geometric models but not for objects without geometric models such as ceramic or clay pots. In this study, we developed a robotic polishing/fettling system to polish the molding defects of ceramic objects. The polishing force on the object surfaces is required to be constant to obtain better results. Thus, the proposed robotic polishing system was designed with a stepper motor, ball screw, and force sensor. The proposed system acquired a rough robot polishing/fettling trajectory and adopted a fuzzy proportional–integral–derivative controller to regulate the trajectory to maintain the desired contact force response from a ceramic object. We developed the temporary desired value technique to make the polishing force response close to the desired one. We validated the system on a six-degrees-of-freedom Staubli TX 40L robotic arm. Experiments were performed to test the effectiveness of the system. The robot trajectory responses showed that the proposed system performed well in tracking the desired force in the polishing/fettling process. We used a 3D microscope to verify that the molding defect of the ceramic pot was significantly removed to evaluate the polishing/fettling quality.
29
Winter, A. G., V, R. L. H. Deits, D. S. Dorsch, A. H. Slocum, and A. E. Hosoi. "Razor clam to RoboClam: burrowing drag reduction mechanisms and their robotic adaptation." Bioinspiration & Biomimetics 9, no. 3 (2014): 036009. http://dx.doi.org/10.1088/1748-3182/9/3/036009.
Full text
30
Tokac, Iremnur, Herman Bruyninckx, and Andrew Vande Moere. "A programming grammar for robotic fabrication: Incorporating material agency into clay textures." Design Studies 88 (September 2023): 101220. http://dx.doi.org/10.1016/j.destud.2023.101220.
Full text
31
Alqenaee, Amnah Y., Ali M. Memari, and Maryam Hojati. "TRANSITION FROM TRADITIONAL COB CONSTRUCTION TO 3D PRINTING OF CLAY HOMES." Journal of Green Building 16, no. 4 (2021): 3–28. http://dx.doi.org/10.3992/jgb.16.4.3.
Full textAbstract:
ABSTRACT 3D printing of cementitious material can provide an affordable, sustainable, and optimized approach for the construction of homes, without compromising quality or craftsmanship. While most of the current research and development efforts in this field are focused on cement-based concrete printing, this paper focuses on the current state-of-the-art literature review of designing and developing a sustainable clay-based mixture design that mainly includes clay, sand, straw, lime, and water. The goal of this paper is to bridge the gap between typical traditional earth construction, specifically cob construction, and emerging 3D printing of cementitious materials. The specific objective of this paper is to offer some possible changes in the typical cob mixture so that it can be used for 3D printing of clay-based mixtures with sufficient flowability, buildability, strength, and open time (i.e., the time period between printing of one layer and printing of another layer deposited on a layer below). The paper describes typical clay-based mixtures and their traditional process and then specifies the challenges in going from traditional cob construction to advanced computer-controlled robotic 3D printing.
32
Yin, Xunzhi, Chong Guo, Bo Sun, Honggang Chen, Hui Wang, and An Li. "The State of the Art in Digital Construction of Clay Buildings: Reviews of Existing Practices and Recommendations for Future Development." Buildings 13, no. 9 (2023): 2381. http://dx.doi.org/10.3390/buildings13092381.
Full textAbstract:
Under the trend of digitization and global carbon reductions, clay construction has increasingly attracted attention due to advantages such as an excellent thermal performance, low carbon emissions, and high cost-effectiveness. In this article, an in-depth investigation is conducted into the potential, challenges, and future in the development of digital manufacturing technologies for clay architecture, especially 3D printing, robotic construction, and prefabrication systems. It is revealed through a review that digital clay construction is under rapid development and likely to provide a viable solution to achieving global carbon neutrality, which is conducive to addressing various regional issues. The key findings from this review are as follows. Firstly, as a flexible, precise, and low-carbon industrial solution, 3D printing lays a foundation for the extensive research on materials, equipment, and algorithm optimization. Secondly, the use of machine construction methods such as modern rammed earth technology and drone spraying is effective in improving efficiency and lowering costs. Lastly, the prefabricated building system shows its potential in renewing and developing the rammed earth architecture culture. These findings indicate a massive potential of digital clay construction to support sustainability efforts in the future.
33
Taher, Ammar, Serdar Aşut, and Willem van der Spoel. "An Integrated Workflow for Designing and Fabricating Multi-Functional Building Components through Additive Manufacturing with Clay." Buildings 13, no. 11 (2023): 2676. http://dx.doi.org/10.3390/buildings13112676.
Full textAbstract:
This article presents a project that explores the potential of Additive Manufacturing (AM) for designing and fabricating multi-functional building components for improved climate performance. In this project, an innovative façade wall design was developed by using a computational method in an attempt to integrate a displacement ventilation system into the wall. A robotic AM solution is integrated into the workflow as a potentially feasible fabrication method for the resulting wall design with an intricate geometry. Clay is proposed as the AM material, being a potential low-carbon building material. To this end, a material exploration of clay was conducted to develop an appropriate composite for AM. A displacement ventilation system was developed to achieve better indoor air quality by using a Computational Fluid Dynamics (CFD) model. Subsequently, an AM solution was integrated into the workflow to automate the fabrication phase. Finally, a partial prototype of the design was made through AM with clay to demonstrate the feasibility and observe the material qualities of the final product. The proposed workflow proves applicable, highlighting directions for future research.
34
Trilsbeck, Matthew, Nicole Gardner, Alessandra Fabbri, Matthias Hank Haeusler, Yannis Zavoleas, and Mitchell Page. "Meeting in the middle: Hybrid clay three-dimensional fabrication processes for bio-reef structures." International Journal of Architectural Computing 17, no. 2 (2019): 148–65. http://dx.doi.org/10.1177/1478077119849655.
Full textAbstract:
Despite the relative accessibility of clay, its low cost and reputation as a robust and sustainable building material, clay three-dimensional printing remains an under-utilized digital fabrication technique in the production of architectural artefacts. Given this, numerous research projects have sought to extend the viability of clay three-dimensional digital fabrication by streamlining and automating workflows through computational methods and robotic technologies in ways that afford agency to the digital and machinic processes over human bodily skill. Three-dimensional printed clay has also gained prominence as a resilient material well suited to the design and fabrication of artificial reef and habitat-enhancing seawall structures for coastal marine environments depleted and disrupted by human activity, climate change and pollution. Still, these projects face similar challenges when three-dimensional printing complex forms from the highly plastic and somewhat unpredictable feed material of clay. In response, this article outlines a research project that seeks to improve the translation of complex geometries into physical clay artefacts through additive three-dimensional printing processes by drawing on the notion of digital craft and giving focus to human–machine interaction as a collaborative practice. Through the case study of the 1:1 scale fabrication of a computationally generated bio-reef structure using clay as a feed material and a readily available Delta Potterbot XLS-2 ceramic printer, the research project documents how, by exploiting the human ability to intuitively handle clay and adapt, and the machine’s ability to work efficiently and with precision, humans and machines can fabricate together. With the urgent need to develop more sustainable building practices and materials, this research contributes valuable knowledge of hybrid fabrication processes towards extending the accessibility and viability of clay three-dimensional printing as a resilient material and fabrication system.
35
Hu, Hao, Chao Huang, Massimiliano Galluzzi, et al. "Editing the Shape Morphing of Monocomponent Natural Polysaccharide Hydrogel Films." Research 2021 (June 3, 2021): 1–12. http://dx.doi.org/10.34133/2021/9786128.
Full textAbstract:
Shape-morphing hydrogels can be widely used to develop artificial muscles, reconfigurable biodevices, and soft robotics. However, conventional approaches for developing shape-morphing hydrogels highly rely on composite materials or complex manufacturing techniques, which limit their practical applications. Herein, we develop an unprecedented strategy to edit the shape morphing of monocomponent natural polysaccharide hydrogel films via integrating gradient cross-linking density and geometry effect. Owing to the synergistic effect, the shape morphing of chitosan (CS) hydrogel films with gradient cross-linking density can be facilely edited by changing their geometries (length-to-width ratios or thicknesses). Therefore, helix, short-side rolling, and long-side rolling can be easily customized. Furthermore, various complex artificial 3D deformations such as artificial claw, horn, and flower can also be obtained by combining various flat CS hydrogel films with different geometries into one system, which can further demonstrate various shape transformations as triggered by pH. This work offers a simple strategy to construct a monocomponent hydrogel with geometry-directing programmable deformations, which provides universal insights into the design of shape-morphing polymers and will promote their applications in biodevices and soft robotics.
36
Samodurova, M. N., I. V. Chumanov, A. N. Anikeev, et al. "Restoration of Die Equipment by Laser Cladding Using Robotic Complex FL-CLAD–R-4." Metallurgist 64, no. 9-10 (2021): 1086–95. http://dx.doi.org/10.1007/s11015-021-01090-4.
Full text
37
Yang, Lili, Huichao Deng, Kai Hu, and Xilun Ding. "Clap-and-Fling Mechanism of Climbing-Flight Coccinella Septempunctata." Biomimetics 9, no. 5 (2024): 282. http://dx.doi.org/10.3390/biomimetics9050282.
Full textAbstract:
Previous studies on the clap–fling mechanism have predominantly focused on the initial downward and forward phases of flight in miniature insects, either during hovering or forward flight. However, this study presents the first comprehensive kinematic data of Coccinella septempunctata during climbing flight. It reveals, for the first time, that a clap-and-fling mechanism occurs during the initial upward and backward phase of the hind wings’ motion. This discovery addresses the previously limited understanding of the clap-and-fling mechanism by demonstrating that, during the clap motion, the leading edges of beetle’s wings come into proximity to form a figure-eight shape before rotating around their trailing edge to open into a “V” shape. By employing numerical solutions to solve Navier–Stokes (N-S) equations, we simulated both single hind wings’ and double hind wings’ aerodynamic conditions. Our findings demonstrate that this fling mechanism not only significantly enhances the lift coefficient by approximately 9.65% but also reduces the drag coefficient by about 1.7%, indicating an extension of the applicability range of this clap-and-fling mechanism beyond minute insect flight. Consequently, these insights into insect flight mechanics deepen our understanding of their biological characteristics and inspire advancements in robotics and biomimetics.
38
Beck, Hendrik K., Johanna T. Schultz, and Christofer J. Clemente. "A bio-inspired robotic climbing robot to understand kinematic and morphological determinants for an optimal climbing gait." Bioinspiration & Biomimetics 17, no. 1 (2021): 016005. http://dx.doi.org/10.1088/1748-3190/ac370f.
Full textAbstract:
Abstract Robotic systems for complex tasks, such as search and rescue or exploration, are limited for wheeled designs, thus the study of legged locomotion for robotic applications has become increasingly important. To successfully navigate in regions with rough terrain, a robot must not only be able to negotiate obstacles, but also climb steep inclines. Following the principles of biomimetics, we developed a modular bio-inspired climbing robot, named X4, which mimics the lizard’s bauplan including an actuated spine, shoulders, and feet which interlock with the surface via claws. We included the ability to modify gait and hardware parameters and simultaneously collect data with the robot’s sensors on climbed distance, slip occurrence and efficiency. We first explored the speed-stability trade-off and its interaction with limb swing phase dynamics, finding a sigmoidal pattern of limb movement resulted in the greatest distance travelled. By modifying foot orientation, we found two optima for both speed and stability, suggesting multiple stable configurations. We varied spine and limb range of motion, again showing two possible optimum configurations, and finally varied the centre of pro- and retraction on climbing performance, showing an advantage for protracted limbs during the stride. We then stacked optimal regions of performance and show that combining optimal dynamic patterns with either foot angles or ROM configurations have the greatest performance, but further optima stacking resulted in a decrease in performance, suggesting complex interactions between kinematic parameters. The search of optimal parameter configurations might not only be beneficial to improve robotic in-field operations but may also further the study of the locomotive evolution of climbing of animals, like lizards or insects.
39
Ifrim, Ioana, Vassil Vassilev, and David J. Lange. "GPU Accelerated Automatic Differentiation With Clad." Journal of Physics: Conference Series 2438, no. 1 (2023): 012043. http://dx.doi.org/10.1088/1742-6596/2438/1/012043.
Full textAbstract:
Abstract Automatic Differentiation (AD) is instrumental for science and industry. It is a tool to evaluate the derivative of a function specified through a computer program. The range of AD application domain spans from Machine Learning to Robotics to High Energy Physics. Computing gradients with the help of AD is guaranteed to be more precise than the numerical alternative and have a low, constant factor more arithmetical operations compared to the original function. Moreover, AD applications to domain problems typically are computationally bound. They are often limited by the computational requirements of high-dimensional parameters and thus can benefit from parallel implementations on graphics processing units (GPUs). Clad aims to enable differential analysis for C/C++ and CUDA and is a compiler-assisted AD tool available both as a compiler extension and in ROOT. Moreover, Clad works as a plugin extending the Clang compiler; as a plugin extending the interactive interpreter Cling; and as a Jupyter kernel extension based on xeus-cling. We demonstrate the advantages of parallel gradient computations on GPUs with Clad. We explain how to bring forth a new layer of optimization and a proportional speed up by extending Clad to support CUDA. The gradients of well-behaved C++ functions can be automatically executed on a GPU. The library can be easily integrated into existing frameworks or used interactively. Furthermore, we demonstrate the achieved application performance improvements, including (≈10x) in ROOT histogram fitting and corresponding performance gains from offloading to GPUs.
40
Kontovourkis, Odysseas, and George Tryfonos. "Robotic 3D clay printing of prefabricated non-conventional wall components based on a parametric-integrated design." Automation in Construction 110 (February 2020): 103005. http://dx.doi.org/10.1016/j.autcon.2019.103005.
Full text
41
Wen, Kai, Benjamin Cerfontaine, David White, Susan Gourvenec, and Andrea Diambra. "Lateral bearing factors and elastic stiffness factors for robotic CPT p-y module in undrained clay." Computers and Geotechnics 172 (August 2024): 106487. http://dx.doi.org/10.1016/j.compgeo.2024.106487.
Full text
42
Luan, Xuecheng, Hanwen Yu, Chunxiao Ding, et al. "A Review of Research on Precision Rotary Motion Systems and Driving Methods." Applied Sciences 15, no. 12 (2025): 6745. https://doi.org/10.3390/app15126745.
Full textAbstract:
As the core component of modern mechanical transmission, the precision rotary motion mechanism and its drive system have wide applications in aerospace, robotics, and other fields. This article systematically reviews the design principles, performance characteristics, and research progress of various rotational motion mechanisms and their driving technologies. The working principles, advantages, disadvantages, and applicable scenarios of gears, drive belts, sprockets, camshafts, ratchet claw mechanisms, and linkage mechanisms were analyzed in terms of traditional mechanisms. In terms of new mechanisms, we focused on exploring the innovative design and application potential of intermittent indexing mechanisms, magnetic gears, 3D-printed spherical gears, and multi-link mechanisms. In addition, the paper compared the performance differences of electric, hydraulic, pneumatic, and piezoelectric drive methods. Research has shown that through material innovation, structural optimization, and intelligent control, there is still significant room for improvement in the load capacity, accuracy, and reliability of precision rotary motion mechanisms, providing theoretical support and practical reference for innovative design and engineering applications of future mechanical transmission technologies.
43
Feliu-Talegon, Daniel, José Ángel Acosta, Alejandro Suarez, and Anibal Ollero. "A Bio-Inspired Manipulator with Claw Prototype for Winged Aerial Robots: Benchmark for Design and Control." Applied Sciences 10, no. 18 (2020): 6516. http://dx.doi.org/10.3390/app10186516.
Full textAbstract:
Nature exhibits many examples of birds, insects and flying mammals with flapping wings and limbs offering some functionalities. Although in robotics, there are some examples of flying robots with wings, it has not been yet a goal to add to them some manipulation-like capabilities, similar to ones that are exhibited on birds. The flying robot (ornithopter) that we propose improves the existent aerial manipulators based on multirotor platforms in terms of longer flight duration of missions and safety in proximity to humans. Moreover, the manipulation capabilities allows them to perch in inaccessible places and perform some tasks with the body perched. This work presents a first prototype of lightweight manipulator to be mounted to an ornithopter and a new control methodology to balance them while they are perched and following a desired path with the end effector imitating their beaks. This allows for several possible applications, such as contact inspection following a path with an ultrasonic sensor mounted in the end effector. The manipulator prototype imitates birds with two-link legs and a body link with an actuated limb, where the links are all active except for the first passive one with a grabbing mechanism in its base, imitating a claw. Unlike standard manipulators, the lightweight requirement limits the frame size and makes it necessary to use micro motors. Successful experimental results with this prototype are reported.
44
Eisenmenger, Jonas, and Jonas Benz. "Development of a leveling and loosening mechanism for fine sediments on a test track for planetary robots." Journal of Physics: Conference Series 2716, no. 1 (2024): 012096. http://dx.doi.org/10.1088/1742-6596/2716/1/012096.
Full textAbstract:
Abstract Planetary robots must be extensively tested before they can be sent on a mission. Especially on loose soil, there is a need for tests with repeatable surface and soil properties to simulate the planetary use and to obtain reliable results for each test run. To achieve this, a leveling and loosening mechanism for a robotic test track is presented. By leveling and loosening in one motion, it enables easy and fast test preparation. Bio-inspired bear claws were designed and tested as loosening tools, which allow loosening with minimal resistance and a loosening effect of about 45%. The modular design allows the attachments to be easily interchanged to adapt the mechanism to different requirements or add additional functions like measurements of the soil properties. The paper provides details on the design and evaluation of the leveling and loosening mechanism.
45
Hatoum, H. M., and M. G. Mustafin. "Optimization of locating robotic total stations for determining the deformations of buildings and structures." Geodesy and Cartography 963, no. 9 (2020): 2–13. http://dx.doi.org/10.22389/0016-7126-2020-963-9-2-13.
Full textAbstract:
Monitoring deformation processes is directly related to safety and carried out therefore with high measurement accuracy. In this case, high-precision equipment and tools are accordingly used. Following the interstate standard of measuring deformations of buildings and structures foundations on sandy clay soils, the permissible error in measuring displacements should not exceed 1 mm with calculated values of vertical or horizontal displacements up to 100 mm. In this regard, monitoring the structures’ deformations is carried out under a program that provides selecting the initial geodetic signs location. Currently, the use of robotic stations for tracking the displacements of various objects’ elements has gained wide popularity. Of course, permanent observations look preferable, first, because there aren’t any intervals in observations during which the negative development of the process can be missed. However, the matter of locating the station remains relevant. The authors provide an analysis of approaches to solving this task. The use of Distance-Angle resection is considered. The constraints of its use are shown. The results of applying the least-squares method are presented. A particular practical example demonstrates the methodology of selecting and evaluating the location accuracy of a monitoring station.
46
Strachota, Beata, Adam Strachota, Katarzyna Byś, Ewa Pavlova, Jiří Hodan, and Beata Mossety-Leszczak. "Self-Healing and Super-Elastomeric PolyMEA-co-SMA Nanocomposites Crosslinked by Clay Platelets." Gels 8, no. 10 (2022): 657. http://dx.doi.org/10.3390/gels8100657.
Full textAbstract:
Novel solvent-free ultra-extensible, tough, and self-healing nanocomposite elastomers were synthesized. The self-assembled materials were based on the copolymer matrix poly(methoxyethyl acrylate-co-sodium methacrylate) physically crosslinked by clay nano-platelets (‘poly[MEA-co-SMA]/clay’). Depending on the content of SMA, the super-elastomers were predominantly hydrophobic, water-swelling, or fully water-soluble, and hence repeatedly processible. The SMA co-monomer introduces a tremendous increase in tensile strength, an increase in toughness, while ultra-extensibility is preserved. By tuning the contents of nano-clay and SMA co-monomer, a very wide range of product properties was achieved, including extreme ultra-extensibility, or high stiffness combined with more moderate super-extensibility, or very different values of tensile strength. There was very attractive, great improvement in autonomous self-healing ability induced by SMA, combined with tremendously enhanced self-recovery of internal mechanical damage: even complete self-recovery could be achieved. The ionic SMA repeat units were found to assemble to multiplets, which are phase-separated in the hydrophobic polyMEA matrix. The dynamics of SMA-units-hopping between these aggregates was of key importance for the mechanical, visco-elastic, tensile, and self-healing properties. The studied super-elastomers are attractive as advanced self-healing materials in engineering, soft robotics, and in medical or implant applications.
47
Yeoh, Chin Ean, and Hak Yi. "Conceptual Design of the Combinable Legged Robot Bio-Inspired by Ants’ Structure." Applied Sciences 11, no. 4 (2021): 1379. http://dx.doi.org/10.3390/app11041379.
Full textAbstract:
This study presents a new combinable multi-legged modular robot that mimics the structures of ants to expand the physical capabilities of the legged robot. To do this, the robot design is focused on exploring a fusion of two robotic platforms, modular and multi-legged, in which both the body frame and the legged structure are designed to be a rectangular prism and a 3-DoF sprawling-type articulated leg structure, respectively. By imitating ants’ claws, the hook-link structure of the robot as the coupling mechanism is proposed. This study includes the platform’s development, and the experimental work on the locomotion in both single and combined modes is carried out. The result of this study proves that mimicking ants’ structure in the proposed robots successfully enhances the capability of the conventional legged robot. It is feasible to use in a multi-robot system to realize ants’ super-organized behavior.
48
K. Jodah, Mohammed, Mofeed Turky Rashid, and Raed S. Batbooti. "Design and Implementation of a Climbing Robot Limb for Clinging to Rough Walls." Iraqi Journal for Electrical and Electronic Engineering 21, no. 2 (2025): 196–205. https://doi.org/10.37917/ijeee.21.2.19.
Full textAbstract:
In recent years, the urgent need for robotics applications in various sensitive work areas and high buildings has led to a significant development in the design of robots intended for climbing rough surfaces. Where, attention became focused on the ideal clinging mechanism. In this paper, a gripper of the climbing robot has been designed to achieve clinging on rough walls. The objective of this design is to be lightweight with high performance of clinging, therefore, a robot gripper has been designed based on a model of a limb inspired by the hand and claws of a cat, in which the robot claws were implemented by fishing hooks. These hooks are arranged in an arc so that each hook can move independently on the wall's surface to increase the force of clinging to the rough wall. SolidWorks platform has been used to design the clinging limb and implemented using a 3D printer. In addition, the proposed design has been validated by performing several simulations using the SolidWorks platform. Experimental work has conducted to test the proposed design, and the results proved the success of the design.
49
Kontovourkis, Odysseas, George Tryfonos, and Christos Georgiou. "Robotic additive manufacturing (RAM) with clay using topology optimization principles for toolpath planning: the example of a building element." Architectural Science Review 63, no. 2 (2019): 105–18. http://dx.doi.org/10.1080/00038628.2019.1620170.
Full text
50
Kaimov, Aidarkhan, Talgat Kaiym, Suleimen Kaimov, Abylay Kaimov, and Nazym Kanagatova. "Justification of an innovative system for the complete burial of solid, high-level radioactive waste (HLW) in spent open-pit mines." Eastern-European Journal of Enterprise Technologies 5, no. 10 (131) (2024): 6–28. http://dx.doi.org/10.15587/1729-4061.2024.311832.
Full textAbstract:
The object of research is the spent open-pit mines themselves where the proposed system could be applied. The primary reason for this studying is the following circumstance: up to the present time period, in all countries of the world, no methods of HLW disposal in a storage facility has been identified that is absolutely safe for any length of time, taking into account the impact of catastrophic natural emergencies and man-made emergencies. The research was conducted to address the problem of safely managing and storing HLW, leveraging the unique characteristics of spent open-pit mines, such as their large volume and geological stability, to prevent environmental contamination and ensure long-term safety. In the article has been justified a novel approach to the burial of sarcophagus containers with solid HLW in exhausted mining pits and studied the usabilities of the basalt sarcofagous container. Robust materials and advanced robotic systems proposed in the article aims to address the challenges associated with long-term radioactive waste disposal effectively. The robotic systems transfer the basalt container with HLW, ensuring personnel safety by minimizing human presence near radioactive materials. In the article have been established the distribution of temperature into the multi-layered composite structure of the basalt sarcophagous with HLW from 300 °C into the inner space to 50 °C onto on the its outer suffer where the thickness of each layers (from inner to outer radius) was respectively: for lead matrix: from r1=0.1 m to r2=0.2 m; for clay layer: from r2=0.2 m to r3=0.3 m; for basalt block: from r3=0.3 m to r4=0.4 m. The findings on temperature distribution are crucial as they directly affect the performance and longevity of the basalt containment system