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An interesting about MAV and a research for flapping wing aero vehicle has been increased. It is required that take-off and landing abilities to lift up a vehicle by flapping motion to achieve a special purpose for flapping wing aero vehicle. An airfoil has to generate lift force more than a weight of the body to work take-off from the ground without additional force. MAV can generate enough lift...
Master-slave surgical robots have been studied and developed to support surgeons. Robotic functions such as motion scaling and hand shaking correction can extend the ability of surgeons. However, some problems are remaining in robotic surgery. Operation time which can become the burden to surgeons is still long. Surgeons must assess the situation, decide the next task correctly, and achieve tasks...
Piezoelectric ultrasonic motors (PUMs) are based on the concept of driving the runner by a mechanical vibration excited on the stator via the converse piezoelectric effect. They exhibit merits of small size, simple structure, quick response, high accuracy and resolution, self-locking when power off and a lack of electromagnetic radiation. The linear PUMs become the research focus in recent years as...
Simulation of the planar magnetic actuation of ferromagnetic bodies is proposed and experimentally verified in the framework of the system for precise positioning of miniature passive robots with two degrees of freedom. Major goal of presented development is to balance computational effort of the simulation with complexity of computational problem. Proposed methodology is developed for efficient simulation...
We describe the concept and first prototype of a novel mechatronic design of a robotic gripper, which aims at being mounted on a humanoid robot to achieve firm (i.e. locked) and robust grasps. Such grasps could ideally support complex multi-contact motions, such as ladder climbing, or manipulation of complex tools, with energy efficiency. For this purpose, we propose a solution by designing a smart...
This paper presents the design, mathematical model, and evaluation of a novel variant of a variable stiffness actuator. The actuator combines a cam and a variable lever mechanism. The lever length changes through the rotation of the follower and results in the change of the mechanism stiffness. The design of the actuator results in a nearly linear torque-deflection characteristic, earning it its name:...
This paper considers to develop a prototype master-slave robotic system for teleoperated ultrasonography. Six DOF motions for ultrasonography are provided through Stewart-Gough mechanisms for both master/slave devices. As a slave robot, a ultrasound probe is installed inside of the platform and contacts with patients skin through the hole in the base frame to minimize the size of the robot. The master...
The ability to change stiffness is a capability exhibited through the animal kingdom, with many recent advances in tunable stiffness in the area of robotics. In this paper, we propose a mechanism design that provides the ability to make modular subcomponents with tunable stiffness by creating a bi-stable mechanism that exhibits different stiffnesses in each of the stable configurations. The design...
From being soft, flexible and producing movement by contracting, soft linear actuators are said to have musclelike properties. Due to these similarities, they are often called “artificial muscle actuator.” However, the strain produced by these actuators is generally insufficient to be utilized in a large range of applications. Some solutions have been developed, but they sacrifice force to increase...
Inspired by flying squirrels, we put forward a novel air posture adjustment manner, the wave gliding gait (WGG) model based on flexible menmbrance deformation driven by the high frequency and low amplitude locomotion of limbs. Firstly, we extract the WGG model according to the analysis of the flying squirrel's gliding posture adjustment characteristics. Then, the concept prototype of the WGG model...
Tethered robots often experience entangling of their cables with obstacles in uncertain disaster environments. This paper proposes a spherical tether handling device that unfastens a robot's tether during surveys by releasing the tether and carrying it aside. By using a differential mechanism, the device drives shells and rollers that hold the tether. On flat surfaces, the device moves forward by...
This paper designs a guide rail for a wall-climbing robot based on passive suction cups. The designed guide rail can guarantee stable climbing of a wall-climbing robot. Firstly, to design the parameters of the guide rail, properties of the utilized passive suction cup are experimentally studied. Then a guide rail is designed to distribute the forces of the attached suction cups. It guarantees that...
This paper introduces a current research project carried out in the Robert Gordon University for developing the prototype of the vibro-impact capsule robot for pipeline inspection. The project aims to address the technical bottlenecks which have been encountered by current pipeline technologies with a particular focus on oil industry. In order to verify the concept, a dummy capsule prototype with...
In minimally invasive surgery (MIS) the aspect of miniaturization is getting more and more demanding. On the other hand, it is also important to assure high stability and large actuation forces at the end effector. Here we present the design and the development of a 1 degree of freedom (DOF) rotational joint, which combines a foldable mechanism and a fluidic actuation system for obtaining force magnification...
Motion paths of cable-driven hexapods must carefully be planned to ensure that the lengths and tensions of all cables remain within acceptable limits, for a given wrench applied to the platform. The cables cannot go slack—to keep the control of the robot—nor excessively tight—to prevent cable breakage—even in the presence of bounded perturbations of the wrench. This paper proposes a path-planning...
In-space assembly can enable new types of spacecraft and structures which are too large or fragile to be carried on a rocket in an assembled form, and robotic systems can make in-space assembly feasible and cost-effective. Such systems should be able to assemble large and complex structures while imposing minimal launch mass and mission risk. We propose an autonomous robotic limb, henceforth referred...
This paper presents the thruster modeling for a Hovering Autonomous Underwater Vehicle developed by Underwater, Control, and Robotics Group. Bollard-pull experiments are done to find the relationship between axial forces generated by thrusters and input signal given to Arduino Uno board in degree, taking into account the effect of thruster-thruster and thruster-hull interaction. Experiments results...
Soft robotics and under-actuation were recently demonstrated as good approaches for the implementation of humanoid robotic hands. Nevertheless, it is often difficult to increase the number of degrees of actuation of heavily under-actuated hands without compromising their intrinsic simplicity. In this paper we analyze the Pisa/IIT SoftHand and its underlying logic of adaptive synergies, and propose...
This paper presents the development and design of an exoskeleton for the hand, utilising a physical phenomena known as granular jamming, where pressure within a soft membrane is varied to cause a granular material to change from a solid to fluid-like state. Experimentation and simulation is performed to discover and analyse the relationship between chamber size and the generation of resistive forces...
Last 15 years, a wide range of self-healing (SH) materials has been developed and recently these materials are increasingly used in applications in multiple fields, like the automotive industry and aerospace. However, so far this material technology is not yet explored in robotics. The introduction of these materials in robotics will potentially reduce the over-dimensioning of current robotic systems,...
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