Bio-mimetic design of finger mechanism with contact aided compliant mechanism

Moon, Yong-Mo

doi:10.1016/j.mechmachtheory.2006.04.014

Cited by 53 publications

(19 citation statements)

References 1 publication

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“…A variation of this joint was used to create an artificial disc implant for the human spine designed to mimic the motion and stiffness characteristics of a human spinal disc [10]. The ability to scale the CORE and mechanisms similar to it has resulted in their use in medical devices for minimally invasive surgery [11] and robotic components such as a bio-mimetic finger [12].…”

Section: Contact-aided Rolling Jointsmentioning

confidence: 99%

Curved-folding-inspired deployable compliant rolling-contact element (D-CORE)

Nelson

Lang²,

Magleby

et al. 2016

Mechanism and Machine Theory

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a r t i c l e i n f o a b s t r a c t Available online xxxxThis work describes a deployable compliant rolling-contact element joint (D-CORE joint) that employs curved-folding origami techniques to enable transition from a flat to deployed state. These deployable joints can be manufactured from a single sheet of material. Two fundamental configurations of the D-CORE are presented. The first configuration allows for motion similar to that of a Jacob's ladder when the joint is in a planar state while achieving the motion of a CORE when in the deployed state. The second configuration constrains all degrees of freedom to create a static structure when the joint is in the planar state and allows for the motion of a CORE in the deployed state. Curved-folding origami techniques can be used with both configurations to control the cam radius and range of motion of the D-CORE. Physical models are demonstrated in Tyvek®, polycarbonate, polypropylene, and metallic glass. A deployable translating platform constructed of an inversion of the D-CORE is also shown.

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Section: Contact-aided Rolling Jointsmentioning

confidence: 99%

Curved-folding-inspired deployable compliant rolling-contact element (D-CORE)

Nelson

Lang²,

Magleby

et al. 2016

Mechanism and Machine Theory

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“…While a semi-compliant mechanism requires additional fabrication tasks such as assembly of flexible members, a fully compliant mechanism is more cost effective because no additional tasks are required to complete the compliant mechanism. Even though compliant mechanisms, either semi-compliant or fully compliant, have found numerous engineering applications, a fully compliant mechanism is commonly preferred in milli-and micro-domain applications where the assembly of a mechanism is topologically sophisticated [2][3][4][5][6]. Sreetharan et al demonstrated a MEMS fabrication technique incorporated with origami folding approach to fabricate and assemble a monolithic flapping wing robotic insect [7].…”

Section: Introductionmentioning

confidence: 99%

3D Printed Flexure Hinges for Soft Monolithic Prosthetic Fingers

et al. 2016

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Mechanical compliance is one of the primary properties of structures in nature playing a key role in their efficiency. This study investigates a number of commonly used flexure hinges to determine a flexure hinge morphology, which generates large displacements under a lowest possible force input. The aim of this is to design a soft and monolithic robotic finger. Fused deposition modeling, a low-cost 3D printing technique, was used to fabricate the flexure hinges and the soft monolithic robotic fingers. Experimental and finite element analyses suggest that a nonsymmetric elliptical flexure hinge is the most suitable type for use in the soft monolithic robotic finger. Having estimated the effective elastic modulus, flexion of the soft monolithic robotic fingers was simulated and this showed a good correlation with the actual experimental results. The soft monolithic robotic fingers can be employed to handle objects with unknown shapes and are also potential low-cost candidates for establishing soft and one-piece prosthetic hands with light weight. A three-finger gripper has been constructed using the identified flexure hinge to handle objects with irregular shapes such as agricultural products. AbstractMechanical compliance is one of the primary properties of structures in nature playing a key role in their efficiency. This study investigates a number of commonly used flexure hinges in order to determine flexure hinge morphology which generates larger displacements under the lowest force input. The aim of this is to design a soft and monolithic robotic finger. Fused deposition modelling (FDM), a low cost 3D printing technique, was used in order to fabricate the flexure hinges and the soft monolithic robotic fingers. Experimental and finite element analyses suggest that a non-symmetric elliptical flexure hinge is the most suitable type for use in the soft monolithic robotic finger. Having estimated the effective elastic modulus, flexion of the soft monolithic robotic fingers was simulated and this showed a good correlation with the actual experimental results. The soft monolithic robotic fingers can be employed to handle objects with unknown shapes and are also potential low cost candidates for establishing soft and one-piece prosthetic hands with light weight. A 3-finger gripper has been constructed using the identified flexure hinge to handle objects with irregular shapes such as agricultural products.

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“…The compliant mechanism is fabricated with very flexible hinge or other flexure joint. The integration of compliant mechanism and parallel mechanism can provide an effective solution especially in precision and dexterity [11][12][13][14]. Besides, simulation driven design (SDD) as an effective method has been widely applied for the rapid prototype development.…”

Section: Introductionmentioning

confidence: 99%

Workspace Representation and Optimization of a Novel Parallel Mechanism with Three-Degrees-of-Freedom

Gao

Zhang

2011

Sustainability

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Abstract:The development of a new parallel mechanism based on simulation driven design is a rapid approach to discover the unique features or advantages of a conceptual model. In this research, one novel parallel mechanism which can generate three degrees-of-freedom translations is proposed. The kinematic model and Jacobian matrix is derived. The workspace generation and mapping is investigated based on simplified boundary searching method. The particle swarm algorithm is applied to search for the optimal volume of workspace.

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Bio-mimetic design of finger mechanism with contact aided compliant mechanism

Cited by 53 publications

References 1 publication

Curved-folding-inspired deployable compliant rolling-contact element (D-CORE)

Curved-folding-inspired deployable compliant rolling-contact element (D-CORE)

3D Printed Flexure Hinges for Soft Monolithic Prosthetic Fingers

Workspace Representation and Optimization of a Novel Parallel Mechanism with Three-Degrees-of-Freedom

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