Design and Analysis of Novel Actuation Mechanism with Controllable Stiffness

Santos, Erivelton G. dos; Richter, Hanz

doi:10.3390/act8010012

Cited by 6 publications

(6 citation statements)

References 32 publications

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“…Nonlinear models for accurate stiffness estimation of a largedeflection beam were previously presented in [37] [38]. The lowcomplexity methods, such as the pseudo-rigid-body model and the simple stiffness equation [39] based on the elliptic integration solution (EIS) [40], were also proposed.…”

Section: Stiffness Model Considering Non-zero Slopes Of Dual Roller-pairs Supportmentioning

confidence: 99%

Work in the Time of Covid-19: Actuators and Sensors for Rehabilitation Robotics

et al. 2022

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Section: Stiffness Model Considering Non-zero Slopes Of Dual Roller-pairs Supportmentioning

confidence: 99%

Work in the Time of Covid-19: Actuators and Sensors for Rehabilitation Robotics

et al. 2022

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“…The reaction in the machine due to the bending moment M (Figure 5a), is calculated analytically using Equation (13), where the components Mx and My are obtained from Equations ( 14) and (15), respectively. The angle of rotation ϕM, due to the rotation speed of the collet chuck holder is obtained by Equation (16), where the value of the initial angle ρM0 is calculated by means of Equation (17). In Equations ( 6)-( 8), F a is the reaction in the machine due to the axial forces F v and F vax , which represent the feed forces of turning and drilling, respectively.…”

Section: 𝑘 = 𝑘mentioning

confidence: 99%

“…However, the elastic strains in the contact elements make it possible that not all centrifugal force will reduce the clamping force, and even that part of centrifugal force may deform the clamping system [9][10][11][12]. Recently, authors have proposed analytical solutions and mathematical models to study the behavior of components and engineering elements [13][14][15][16][17].…”

Section: Introductionmentioning

confidence: 99%

Mathematical Analysis of the Process Forces Effect on Collet Chuck Holders

et al. 2021

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Chuck holders are widely used for jobs with high precision. A chuck holder consists of a nut with a tapered surface and a thin-slotted clamping sleeve typically made of hardened steel and named a collet. Chuck holders are, essentially, wedge mechanisms. In this paper, we investigated the reactions and strains due to the forces during the chip removal process in the contact elements or jaws of the collet by means of mathematical analysis. Deflections in the jaws of the collet arise with a high influence from the precision of the workpieces. The cutting or process forces cause an axial force, a radial force, a torsional moment, and a bending moment on the chuck collet, and, consequently, displacements and inclinations of the clamping system are caused. Therefore, the proposed analytical models are based on elasticity and contact theories. The mathematical model for determining the deflections of the clamping system force was developed and implemented using MATLAB. The results showed that the variation in the clamping force during rotation in a collet chuck holder mainly depends on the stiffness of the collet chuck holder and the stiffness of the workpiece. The results indicated that the collet should be vulcanized to minimize the deformations that affect the final product. The deflections of a collet chuck holder due to process forces depend strongly on the clearances, wedge angle, and stiffness of the collet.

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“…The key challenges now are control, movement, and stiffness modulation. Control of stiffness is highly essential in soft robots [1]- [4].…”

Section: Introductionmentioning

confidence: 99%

Jelly-Z: Twisted and coiled polymer muscle actuated jellyfish robot for environmental monitoring

et al. 2022

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Silent underwater actuation and object detection are desired for certain applications in environmental monitoring. However, several challenges need to be faced when addressing simultaneously the issues of actuation and object detection using vision system. This paper presents a swimming underwater soft robot inspired by the moon jellyfish (Aurelia aurita) species and other similar robots; however, this robot uniquely utilizes novel artificial muscles and incorporates camera for visual information processing. The actuation characteristics of the novel artificial muscles in water are presented which can be used for any other applications. The bio-inspired robot, Jelly-Z, has the following characteristics: (1) The integration of three 60 mm-long twisted, and coiled polymer fishing line (TCPFL) muscles in a silicone bell to achieve contraction and expansion motions for swimming; (2) A Jevois camera is mounted on Jelly-Z to perform object detection while swimming using a pre-trained neural network; (3) Jelly-Z weighs a total of 215 g with all its components and is capable of swimming 360 mm in 63 seconds. The present work shows, for the first time, the integration of camera detection and TCPFL actuators in an underwater soft jellyfish robot, and the associated performance characteristics. This kind of robot can be a good platform for monitoring of aquatic environment either for detection of objects by estimating the percentage of similarity to pre-trained network or by mounting sensors to monitor water quality when fully developed.

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Design and Analysis of Novel Actuation Mechanism with Controllable Stiffness

Cited by 6 publications

References 32 publications

Work in the Time of Covid-19: Actuators and Sensors for Rehabilitation Robotics

Work in the Time of Covid-19: Actuators and Sensors for Rehabilitation Robotics

Mathematical Analysis of the Process Forces Effect on Collet Chuck Holders

Jelly-Z: Twisted and coiled polymer muscle actuated jellyfish robot for environmental monitoring

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