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The performance of the robot mimicking water striders is mainly influenced by the driven mechanism, trajectory of actuating legs and hydrophobic property of the material. Clarify the forces exerted on the hydrophobic legs helps optimize the rowing trajectory and performance of the water striders. Limited by the complex fluid dynamics on air-water interface and the lack of the relevant theories, the...
The pneumatic servo system is used more and more widely in industrial production because of its advantages like low cost, easy maintenance and environmental cleaning. However, due to the compressibility of gases, the nonlinear of the flow rate through valves, and the friction between the piston and the cylinder, the precise control of the pneumatic servo system has many difficulties. Among them, the...
At present, the research of robots imitating water strider is mainly focusing on imitating the skating movement of the insects. In contrast, the jumping motion of water striders needs a sufficiently large driving force to lift the body detaching from the water surface, which is easy to break the hydrophobic property of the material and result in the sinking of the robot, so there is few research on...
We experimentally demonstrate the use of simple MEMS microcantilevers as an efficient way to achieve dynamic manipulation of terahertz waves. An array of subwavelength sized microcantilevers acts as metamaterial, which can be electrostatically tuned to provide active control of light-matter interaction. The proposed metamaterial shows tuning range of 0.3 THz, which is further improved to 0.36 THz,...
In this paper, the design of a 8 degrees-of-freedom (DOF) force reflection master manipulator for applications in minimally invasive surgery is presented. The manipulator includes three parts: arm mechanism, wrist mechanism and clamping mechanism. Arm mechanism is capable of position and force reflection in three translational motion. The wrist mechanism has a redundant DOF and can provide 3 DOF orientation...
Water strider is an amazing insect that can effortlessly float, quickly run and jump on a water surface without drowning. It's of great challenge and interest to design and fabricates a micro robot that can walk on a water surface like water strider to carry out aquatic tasks such as water quality monitoring, aquatic exploration, water search and rescue. In this study, we designed a new type of biologically...
A servo controller for redundant force is designed based on DOF shaking table. Firstly, according to the geometric position of hydraulic cylinders, the composition and decomposition matrix are achieved. Secondly, in order to reduce the coupling on shaking table, which derives from redundant force within the system, force transformation matrix is calculated. Thirdly, a three-variable controller is...
A new dexterous hand is designed and produced. The shape and structure of the dexterous hand is described, focused on analyzing the layout of tendons and the optimization of the joint radius. Furthermore, a single finger is controlled by Fuzz-PID with model compensation and the good control precision is achieved. Through the study on the single finger control, the master-slave control of the dextrous...
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