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The following article presents our attempt to design and build a simple, low-cost, impedance controlled, multifinger gripper having two phalanges in each finger. The paper discusses two different approaches of creating its mechanical construction, comparing the strengths and weaknesses of both solutions, as well as electronic design and software architecture of the controller. The results of basic...
In magnetic tape drives, lateral in-plane vibration of the tape leads to misalignment between data tracks and read/write head's position resulting in reduced storage capacity. To attenuate this lateral tape motion (LTM), surface guides—which include grooved, porous or roughened rollers—are used. The axial motion of the tape over the roller surface switches between two states: a sticking state when...
For the study between macro and micro friction force test and experimentation, a novel micro force testing apparatus is built up in this paper. In this apparatus the force sensing system is the key component, which determines the measuring accuracy and scope. The structure of force sensing system is designed and optimized on the basis of the theoretical calculation and finite element analysis. The...
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