A. Holness, H. Solheim, Hugh Alan Bruck, S. K. Gupta
Biological creatures demonstrate tremendous feats of maneuverability and dexterity. Some of these feats are achieved by intelligent usage of mass and inertia. For example, lizards use their tail mass and inertia to change body pose during jumping to self-right in mid-air. In a similar fashion, having shown passive mass position effects during flight tests of both flapping only and propeller-assisted flapping platforms, usage of an actuated reaction mass is proposed as a means of improving the maneuverability of a propeller-assisted flapping wing aerial vehicle. A simplified model for equations of motion, utilized successfully for autonomous diving, is presented and adapted to describe the aerodynamic forces on the wings and other surfaces. A model to approximate the change in the center of mass to be used with the equations of motion is also described. A design using a linear actuator in concert with the platform battery as a reaction mass system was prototyped and flight tested. Using the prototype design, flight characteristics for improved maneuverability were demonstrated via both video footage and data gathered by an inertial measurement unit during the same flight.
{"title":"Using Inertial Control to Improve Maneuverability of Propeller-Assisted Flapping Wing Aerial Vehicle","authors":"A. Holness, H. Solheim, Hugh Alan Bruck, S. K. Gupta","doi":"10.1115/detc2019-97854","DOIUrl":"https://doi.org/10.1115/detc2019-97854","url":null,"abstract":"\u0000 Biological creatures demonstrate tremendous feats of maneuverability and dexterity. Some of these feats are achieved by intelligent usage of mass and inertia. For example, lizards use their tail mass and inertia to change body pose during jumping to self-right in mid-air. In a similar fashion, having shown passive mass position effects during flight tests of both flapping only and propeller-assisted flapping platforms, usage of an actuated reaction mass is proposed as a means of improving the maneuverability of a propeller-assisted flapping wing aerial vehicle. A simplified model for equations of motion, utilized successfully for autonomous diving, is presented and adapted to describe the aerodynamic forces on the wings and other surfaces. A model to approximate the change in the center of mass to be used with the equations of motion is also described. A design using a linear actuator in concert with the platform battery as a reaction mass system was prototyped and flight tested. Using the prototype design, flight characteristics for improved maneuverability were demonstrated via both video footage and data gathered by an inertial measurement unit during the same flight.","PeriodicalId":211780,"journal":{"name":"Volume 5B: 43rd Mechanisms and Robotics Conference","volume":"61 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126699304","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
As the market goes to more diversified segments, automotive manufacturing needs to be more flexible in order to adapt to the market changes effectively. Meantime in flexible tooling/clamp design it is not acceptable to sacrifice the production requirements — holding force, working envelop, size, etc. in exchange for higher flexibility. In this paper we present a new innovative robotic hand for sheet panel applications for automotive body assembly. The new robotic mechanism of the hand enables the fingers to access sheet panels in different locations and orientations, while providing large and consistent holding force needed during production cycle. The mechanism design and validation tests of first prototype were presented. The results showed that the robotic hand satisfied the basic specifications as an automotive body assembly gripper and could be used in multi-style tools to lower manufacturing cost.
{"title":"A New Robotic Hand for Automotive Sheet Panels","authors":"D. Gao, N. Huang, Lance T. Ransom, C JanisRichard","doi":"10.1115/detc2019-97359","DOIUrl":"https://doi.org/10.1115/detc2019-97359","url":null,"abstract":"\u0000 As the market goes to more diversified segments, automotive manufacturing needs to be more flexible in order to adapt to the market changes effectively. Meantime in flexible tooling/clamp design it is not acceptable to sacrifice the production requirements — holding force, working envelop, size, etc. in exchange for higher flexibility. In this paper we present a new innovative robotic hand for sheet panel applications for automotive body assembly. The new robotic mechanism of the hand enables the fingers to access sheet panels in different locations and orientations, while providing large and consistent holding force needed during production cycle. The mechanism design and validation tests of first prototype were presented. The results showed that the robotic hand satisfied the basic specifications as an automotive body assembly gripper and could be used in multi-style tools to lower manufacturing cost.","PeriodicalId":211780,"journal":{"name":"Volume 5B: 43rd Mechanisms and Robotics Conference","volume":"48 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127240071","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
W. Zhang, Jonathan Hong, Saad Ahmed, Z. Ounaies, M. Frecker
An increasing range of engineering applications require soft grippers, which use compliant mechanisms instead of stiff components to achieve grasping action, have high conformability and exert gentle contact with target objects compared to traditional grippers. In this study, a three-fingered gripper is first designed based on a notched self-folding mechanism actuated using an electrostrictive PVDF-based terpolymer. Then the design optimization problem is formulated, where the design objectives are to maximize the free deflection Δfree and the blocked force Fb. A computationally efficient two-stage design optimization procedure is proposed and successfully applied in the gripper design. NSGA-II is adopted as the optimization algorithm for its capacity to deal with multi-objective optimization problems and to find the global optima with high design variables and large design domains. In stage one, computationally less expensive analytical models are developed based on Bernoulli-Euler beam theory and Castigliano’s theorem to calculate Δfree and Fb. Utility function is applied to determine the best design in the last generation of stage one. In stage two, 3D FEA models are developed, using the dimensions determined by the best design from stage one, to investigate effect of the shape of segment surfaces on the design objectives. Overall, the proposed two-stage optimization procedure is successfully applied in the actuator design and shows the potential to solve a wide range of structural optimization problems.
{"title":"A Two-Stage Optimization Procedure for the Design of an EAP-Actuated Soft Gripper","authors":"W. Zhang, Jonathan Hong, Saad Ahmed, Z. Ounaies, M. Frecker","doi":"10.1115/detc2019-98169","DOIUrl":"https://doi.org/10.1115/detc2019-98169","url":null,"abstract":"\u0000 An increasing range of engineering applications require soft grippers, which use compliant mechanisms instead of stiff components to achieve grasping action, have high conformability and exert gentle contact with target objects compared to traditional grippers. In this study, a three-fingered gripper is first designed based on a notched self-folding mechanism actuated using an electrostrictive PVDF-based terpolymer. Then the design optimization problem is formulated, where the design objectives are to maximize the free deflection Δfree and the blocked force Fb. A computationally efficient two-stage design optimization procedure is proposed and successfully applied in the gripper design. NSGA-II is adopted as the optimization algorithm for its capacity to deal with multi-objective optimization problems and to find the global optima with high design variables and large design domains. In stage one, computationally less expensive analytical models are developed based on Bernoulli-Euler beam theory and Castigliano’s theorem to calculate Δfree and Fb. Utility function is applied to determine the best design in the last generation of stage one. In stage two, 3D FEA models are developed, using the dimensions determined by the best design from stage one, to investigate effect of the shape of segment surfaces on the design objectives. Overall, the proposed two-stage optimization procedure is successfully applied in the actuator design and shows the potential to solve a wide range of structural optimization problems.","PeriodicalId":211780,"journal":{"name":"Volume 5B: 43rd Mechanisms and Robotics Conference","volume":"60 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126696221","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
This paper presents the design and experimental study of a geared five-bar module for the gravity compensation of a rotating mass. In this design, a compression spring is installed on the rotating link and a pair of spur gears are used to transmit the elastic force to counterbalance the gravitational force. The design problem is first formulated as an optimization model for minimizing the actuation torque and then simplified to an analytical equation for approximating the perfect compensation design. One unique feature of the study is that the friction effect of the meshing gears is considered in the design of the spring stiffness. A prototype of the proposed mechanism was built and experimentally investigated via the manual and motor-driven tests. In the manual test, the measured peak static motor torque due to gravity was reduced up to 84.3% with the spring attachment. On the other hand, in the motor-driven test, the measured peak motor torque was reduced up to 90% and 72.8% during the downward and upward motions, respectively, and the power reduction rate of the driving motor could achieve up to 86.5% within the overall range of motion.
{"title":"A Gear-Slider Gravity Compensation Mechanism: Design and Experimental Study","authors":"L. Vu, C. Kuo","doi":"10.1115/detc2019-97602","DOIUrl":"https://doi.org/10.1115/detc2019-97602","url":null,"abstract":"\u0000 This paper presents the design and experimental study of a geared five-bar module for the gravity compensation of a rotating mass. In this design, a compression spring is installed on the rotating link and a pair of spur gears are used to transmit the elastic force to counterbalance the gravitational force. The design problem is first formulated as an optimization model for minimizing the actuation torque and then simplified to an analytical equation for approximating the perfect compensation design. One unique feature of the study is that the friction effect of the meshing gears is considered in the design of the spring stiffness. A prototype of the proposed mechanism was built and experimentally investigated via the manual and motor-driven tests. In the manual test, the measured peak static motor torque due to gravity was reduced up to 84.3% with the spring attachment. On the other hand, in the motor-driven test, the measured peak motor torque was reduced up to 90% and 72.8% during the downward and upward motions, respectively, and the power reduction rate of the driving motor could achieve up to 86.5% within the overall range of motion.","PeriodicalId":211780,"journal":{"name":"Volume 5B: 43rd Mechanisms and Robotics Conference","volume":"90 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121514353","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
This paper presents a family of over-constrained mechanisms with revolute and prismatic joints. They are constructed by concatenating a Bennett 4R and a spatial RPRP mechanism. This is a major breakthrough because an assembly of two different source-modules, for the first time, will be used in the modular construction. A Bennett 4R mechanism and a spatial RPRP mechanism are mated for the purpose of demonstration. Topological reconfigurations of synthesized mechanisms are also discussed. The results indicate that synthesized mechanisms can be topologically reconfigured with either a plane-symmetric structure or a spatial four-bar RCRC loop. These synthesized mechanisms along with their reconfigurations represent the first and unique contribution in theoretical and applied kinematics. Academically, proposed methodology can be used to synthesize several families of over-constrained mechanisms. Each family of new mechanisms is unique and has its own academic significance because they are theoretical exceptions outside Chebychev–Grübler–Kutzbach criterion. The geometrical principles that address the combination of hybrid loops can treat the topological synthesis of over-constrained mechanisms as a systematic approach instead of a random search. Industrially, such paradoxical mechanisms could also be potentially valuable. The ambiguity of their structural synthesis stops ones from being aware of these theoretical exceptions. Hence, people fail to implement these mechanisms into real-world applications. The findings of this research can help people sufficiently acquire the knowledge of how to configure such mechanisms with desired mobility. From a practical point of view, over-constrained mechanisms can transmit motions with less number of links than the general types need. This means that engineers could achieve a compact design with fewer components. These features could be an attractive advantage to real world applications.
{"title":"Topological Reconfigurations Based on a Concatenation of Bennett and RPRP Mechanisms","authors":"Kuan-Lun Hsu, K. Ting","doi":"10.1115/detc2019-97033","DOIUrl":"https://doi.org/10.1115/detc2019-97033","url":null,"abstract":"This paper presents a family of over-constrained mechanisms with revolute and prismatic joints. They are constructed by concatenating a Bennett 4R and a spatial RPRP mechanism. This is a major breakthrough because an assembly of two different source-modules, for the first time, will be used in the modular construction. A Bennett 4R mechanism and a spatial RPRP mechanism are mated for the purpose of demonstration. Topological reconfigurations of synthesized mechanisms are also discussed. The results indicate that synthesized mechanisms can be topologically reconfigured with either a plane-symmetric structure or a spatial four-bar RCRC loop. These synthesized mechanisms along with their reconfigurations represent the first and unique contribution in theoretical and applied kinematics. Academically, proposed methodology can be used to synthesize several families of over-constrained mechanisms. Each family of new mechanisms is unique and has its own academic significance because they are theoretical exceptions outside Chebychev–Grübler–Kutzbach criterion. The geometrical principles that address the combination of hybrid loops can treat the topological synthesis of over-constrained mechanisms as a systematic approach instead of a random search. Industrially, such paradoxical mechanisms could also be potentially valuable. The ambiguity of their structural synthesis stops ones from being aware of these theoretical exceptions. Hence, people fail to implement these mechanisms into real-world applications. The findings of this research can help people sufficiently acquire the knowledge of how to configure such mechanisms with desired mobility. From a practical point of view, over-constrained mechanisms can transmit motions with less number of links than the general types need. This means that engineers could achieve a compact design with fewer components. These features could be an attractive advantage to real world applications.","PeriodicalId":211780,"journal":{"name":"Volume 5B: 43rd Mechanisms and Robotics Conference","volume":" 36","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-08-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120934173","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
The truss core surpasses the honeycomb core depending on the tasks. The height of core is limited by press forming and so on. Therefore, we developed a method by folding mountain / valley lines like origami. The origami forming method has the feature that it can be done from paper to metal by the same method. By examining three-point bending tests, drop tests, and analyzing them, we show that the structure that space-filled with cores obtained by the origami forming method called ATCP will be a box for both excellent cushioning material and transporting. Moreover, we also show that the core structure obtained by this has excellent sound insulation performance.
{"title":"Characteristics of Truss Core Created by Origami Forming Method","authors":"Ayami Abe, K. Terada, H. Yashiro, I. Hagiwara","doi":"10.1115/detc2019-97740","DOIUrl":"https://doi.org/10.1115/detc2019-97740","url":null,"abstract":"\u0000 The truss core surpasses the honeycomb core depending on the tasks. The height of core is limited by press forming and so on. Therefore, we developed a method by folding mountain / valley lines like origami. The origami forming method has the feature that it can be done from paper to metal by the same method. By examining three-point bending tests, drop tests, and analyzing them, we show that the structure that space-filled with cores obtained by the origami forming method called ATCP will be a box for both excellent cushioning material and transporting. Moreover, we also show that the core structure obtained by this has excellent sound insulation performance.","PeriodicalId":211780,"journal":{"name":"Volume 5B: 43rd Mechanisms and Robotics Conference","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-08-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129463154","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Scissor-like structures are commonly composed of two straight rigid supports in a crisscross pattern connected by a pivot at its point of intersection [1]. Opposite angles formed by the supports are equal regardless of the structure’s folded state. Parallelogram linkages have a similar property. Rigid origami can be used to create these structures by combining two identical copies of a 4-crease single-vertex flat-foldable rigid origami, a single 4C, to form a flat-foldable composite structure, a double 4C. In this paper, we prove mathematically that regardless of the folded state of a single-4C, its even dihedral angles are equal, and odd dihedral angles are equal. As a result, the double 4C consists of 2 scissor-like structures. A past method to prove these dihedral angle equalities requires a more complex approach involving rotation matrices using Denavit and Hartenberg parameters [2,3]. This paper will provide a more intuitive method that proves the same equalities. We will also show that a similar construction of the double 4C using thick-panel versions of the single 4C satisfies the same dihedral angle equalities necessary for the formation of parallelogram linkages. The construction of the double 4C can help design self-folding mechanisms and useful metamaterials.
{"title":"Constructing Scissor-Like Structures and Parallelogram Linkages With 4-Crease Single-Vertex Flat-Foldable Rigid Origami and Their Thick-Panel Versions","authors":"David Xing, Z. You","doi":"10.1115/detc2019-97983","DOIUrl":"https://doi.org/10.1115/detc2019-97983","url":null,"abstract":"\u0000 Scissor-like structures are commonly composed of two straight rigid supports in a crisscross pattern connected by a pivot at its point of intersection [1]. Opposite angles formed by the supports are equal regardless of the structure’s folded state. Parallelogram linkages have a similar property. Rigid origami can be used to create these structures by combining two identical copies of a 4-crease single-vertex flat-foldable rigid origami, a single 4C, to form a flat-foldable composite structure, a double 4C. In this paper, we prove mathematically that regardless of the folded state of a single-4C, its even dihedral angles are equal, and odd dihedral angles are equal. As a result, the double 4C consists of 2 scissor-like structures. A past method to prove these dihedral angle equalities requires a more complex approach involving rotation matrices using Denavit and Hartenberg parameters [2,3]. This paper will provide a more intuitive method that proves the same equalities. We will also show that a similar construction of the double 4C using thick-panel versions of the single 4C satisfies the same dihedral angle equalities necessary for the formation of parallelogram linkages. The construction of the double 4C can help design self-folding mechanisms and useful metamaterials.","PeriodicalId":211780,"journal":{"name":"Volume 5B: 43rd Mechanisms and Robotics Conference","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-08-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127775893","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Origami has emerged as a promising tool for the design of mechanical structures that can be folded into small volume and expanded to large structures, which enables the desirable features of compact storage and effective deployment. Most attention to date on origami deployment has been on its geometry, kinematics, and quasi-static mechanics, while the dynamics of deployment has not been systematically studied. On the other hand, deployment dynamics could be important in many applications, especially in high speed operation and low damping conditions. This research investigates the dynamic characteristics of the deploying process of origami structures through investigating a Miura-Ori sheet (Fig. 1(b, c)). In this study, we have utilized the stored energy in pre-deformed spring elements to actuate the deployment. We theoretically model and numerically analyze the deploying process of the origami sheet. Specifically, the sheet is modeled by bar-and-hinge blocks, in which the facet and crease stiffnesses are modeled to be related to the bar axial deformation and torsional motion at the creases. On the other hand, the structural inertia is modelled as mass points assigned at hinges. Numerical simulations show that, apart from axial contraction and expansion, the origami structure can exhibit transverse motion during the deploying process. Further investigation reveals that the transverse motion has close relationship with the controlled deploying rate. This research will pave the way for further analysis and applications of the dynamics of origami-based structures.
{"title":"Dynamics Analysis of the Deployment of Miura-Origami Sheets","authors":"Yutong Xia, Kon-Well Wang","doi":"10.1115/detc2019-97136","DOIUrl":"https://doi.org/10.1115/detc2019-97136","url":null,"abstract":"\u0000 Origami has emerged as a promising tool for the design of mechanical structures that can be folded into small volume and expanded to large structures, which enables the desirable features of compact storage and effective deployment. Most attention to date on origami deployment has been on its geometry, kinematics, and quasi-static mechanics, while the dynamics of deployment has not been systematically studied. On the other hand, deployment dynamics could be important in many applications, especially in high speed operation and low damping conditions. This research investigates the dynamic characteristics of the deploying process of origami structures through investigating a Miura-Ori sheet (Fig. 1(b, c)). In this study, we have utilized the stored energy in pre-deformed spring elements to actuate the deployment. We theoretically model and numerically analyze the deploying process of the origami sheet. Specifically, the sheet is modeled by bar-and-hinge blocks, in which the facet and crease stiffnesses are modeled to be related to the bar axial deformation and torsional motion at the creases. On the other hand, the structural inertia is modelled as mass points assigned at hinges. Numerical simulations show that, apart from axial contraction and expansion, the origami structure can exhibit transverse motion during the deploying process. Further investigation reveals that the transverse motion has close relationship with the controlled deploying rate. This research will pave the way for further analysis and applications of the dynamics of origami-based structures.","PeriodicalId":211780,"journal":{"name":"Volume 5B: 43rd Mechanisms and Robotics Conference","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-08-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115766870","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
C. Zekios, Xueli Liu, M. Moshtaghzadeh, E. Izadpanahi, Hamid Reza Radnezhad, Pezhman Mardanpour, S. Georgakopoulos
In this work an origami based helical antenna is electromagnetically and mechanically analyzed and tested. The Kresling pattern is used to accommodate the helical nature of the antenna design. First, a mechanical analysis is performed showing that by increasing the number of the sides, the structure becomes more stable and it is easier to fold. An 8-sided design is chosen based on our results. The electromagnetic analysis of the antenna shows that it achieves a realized gain of 8.1 dB and that is circularly polarized. The antenna is fabricated and tested. Our results exhibit very good agreement between simulations and measurements.
{"title":"Electromagnetic and Mechanical Analysis of an Origami Helical Antenna Encapsulated by Fabric","authors":"C. Zekios, Xueli Liu, M. Moshtaghzadeh, E. Izadpanahi, Hamid Reza Radnezhad, Pezhman Mardanpour, S. Georgakopoulos","doi":"10.1115/detc2019-98072","DOIUrl":"https://doi.org/10.1115/detc2019-98072","url":null,"abstract":"\u0000 In this work an origami based helical antenna is electromagnetically and mechanically analyzed and tested. The Kresling pattern is used to accommodate the helical nature of the antenna design. First, a mechanical analysis is performed showing that by increasing the number of the sides, the structure becomes more stable and it is easier to fold. An 8-sided design is chosen based on our results. The electromagnetic analysis of the antenna shows that it achieves a realized gain of 8.1 dB and that is circularly polarized. The antenna is fabricated and tested. Our results exhibit very good agreement between simulations and measurements.","PeriodicalId":211780,"journal":{"name":"Volume 5B: 43rd Mechanisms and Robotics Conference","volume":"24 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-08-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126775595","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
This paper presents an improved design concept for a surgical robot that contributes to improved human-robot interaction and precise positioning of surgical tools. Based on a spherical wrist design, the robot incorporates new human-safe features limiting its ability to apply excessive force and uses a novel adaptation of the compliant rolling-element (CORE) joint suitable for conical rolling surfaces. The proposed safety features aim to provide novel functionality by mechanically disengaging the drive in overload conditions. This approach avoids the necessity of force sensing and control to detect and compensate for unintended device collisions. Further, proof of concept of a novel compliant rolling-element joint is presented as a low-backlash alternative to bevel gear pairs for heightened precision in angular positioning.
{"title":"Improved Surgical Robot Design Using a Novel Compliant Rolling-Contact Joint","authors":"C. Nelson, Cole A. Dempsey, E. Brush, M. Laribi","doi":"10.1115/detc2019-97981","DOIUrl":"https://doi.org/10.1115/detc2019-97981","url":null,"abstract":"\u0000 This paper presents an improved design concept for a surgical robot that contributes to improved human-robot interaction and precise positioning of surgical tools. Based on a spherical wrist design, the robot incorporates new human-safe features limiting its ability to apply excessive force and uses a novel adaptation of the compliant rolling-element (CORE) joint suitable for conical rolling surfaces. The proposed safety features aim to provide novel functionality by mechanically disengaging the drive in overload conditions. This approach avoids the necessity of force sensing and control to detect and compensate for unintended device collisions. Further, proof of concept of a novel compliant rolling-element joint is presented as a low-backlash alternative to bevel gear pairs for heightened precision in angular positioning.","PeriodicalId":211780,"journal":{"name":"Volume 5B: 43rd Mechanisms and Robotics Conference","volume":"77 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-08-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125986239","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
京公网安备 11010802042870号
京ICP备2023020795号-1
扫码关注我们
求助内容：
应助结果提醒方式：