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This paper describes a displacement modeling of a digital actuators array for conveyance application. The actuators array is composed of 25 elementary actuators arranged in a 5 × 5 matrix configuration. A thin plate placed on the top side of the array is moved along two orthogonal directions. The model of the mobile permanent magnet and plate displacements is presented by taking into account the contribution...
The process of peg-in-hole insertion is the most typical problem in robotic assembly research. In this paper, a laser tracker based robotic assembly system is proposed for the insertion of large scale peg-hole type parts with heavy weight. A flexible end-effector with several claws, motivated by stepper motors, is designed to grasp the shaft part. Laser interferometry guidance methodology is utilized...
The ability to jump is found widely among small animals such as frogs, grasshoppers, and fleas. They jump to overcome large obstacles relative to their small sizes. Inspired by the animals’ jumping capability, a miniature jumping robot—Michigan State University (MSU) Jumper—has been developed. In this paper, the mechanical design, fabrication, and experimentation of the MSU jumper are presented. The...
The study on the liver deformation during the needle inserted into the target lesion, plays an important role in the robot-assisted liver tumor coagulation therapy system, which impacts the operation simulation, the pre-operative surgical planning, the treatment accuracy, and the success rate. To this end, this paper presents a quasi-static finite element method to analyze the deformation of the soft...
A humanoid neck design with low motion noise yields a cable-driven parallel manipulator to imitate two axis rotational motion of a human neck. The fixed base and moving platform of the manipulator are connected by four cables and a column compression spring. The four cables are actuated separately, while the spring can support weight on the moving platform. Although similar manipulators exist in literature,...
To further understand the nitrogen removal mechanism in leachate treatment using aged-refuse-based bioreactor, 10 year aged refuse was used as adsorbent, ammonium chloride as adsorbate. The adsorption isotherms and thermodynamics, and adsorption mechanism were studied. The results show that: (1) The isothermal adsorption process of NH4+ on aged refuse can be fitted by Freundlich equations with a high...
In order to distinguish minor differences of particulate morphologies and dielectric properties, a new method of particulate separation by different dielectrophoretic holding force is developed in this paper. The ability for particulate captive involving electric field distribution is studied, and two kinds of negative dielectrophoretic traps are designed correspondingly. It's found that the traps...
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