Human-like characteristics for high degree of freedom robotic door-opening end-effector

Gray, Jeremy P.; Campagna, Frank

doi:10.1117/12.886139

Cited by 4 publications

(1 citation statement)

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“…A whippletree system which is illustrated in Figure 2-16 is a commonly used model to represent a distributed load. Through a series of linkages, a whippletree mechanism distributes the force evenly and can be utilized in both tension and compression [23]. While effective, the whippletree system would require sufficient stiffness when utilizing large loads [21].…”

Section: Distributed Load Vs Point Loadmentioning

confidence: 99%

Design and Analysis of a Dynamic Loading System for a Morphing Winglet

Buchkazanian¹

2021

Preprint

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The following thesis paper investigates the possible methods to perform a dynamic load test on a morphing winglet. A morphing winglet design capable of deflecting in the cant direction was developed by a joint partnership between Ryerson University and Bombardier Aerospace. In order to validate the model and complete a proof of concept, a loading fixture was required to test the structural integrity of the winglet under a defined load. Upon completion of an enumeration study of planar four-bar linkages, a passive R-P-R-P mechanism was designed to apply a constant perpendicular load throughout the cant motion. A design of the half size loading fixture was developed, optimized and manufactured to integrate with an existing cant module. The dynamic loading model was validated by producing a positive correlation between the theoretical analysis and the experimental results, leading to a successful proof of concept for a full scale test.

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Section: Distributed Load Vs Point Loadmentioning

confidence: 99%

Design and Analysis of a Dynamic Loading System for a Morphing Winglet

Buchkazanian¹

2021

Preprint

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Design, Synthesis, and Implementation of a Dynamic Loading Mechanism for Morphing Winglets

Buchkazanian

Campos

et al. 2022

Proceedings of the 2022 USCToMM Symposium on Mechanical Systems and Robotics

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A Dynamic Loading Mechanism for a Morphing Winglet

Buchkazanian

Campos

Fengfeng.

2022

Journal of Mechanisms and Robotics

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A loading mechanism for a variable cant angle morphing winglet is proposed in this paper. The mechanism provides a method of loading a morphing winglet with the simulated aerodynamic lift force by maintaining its application direction always orthogonal to the surface of the winglet throughout the range of motion. The loading mechanism is developed by type synthesis of four-bar linkages through enumeration of prismatic and revolute joints. The final design is a R-P-R-P four-bar linkage modified by merging the middle P-R joint together to form a planar joint named Shark-fin. The Shark-fin shape is optimized to minimize its weight effect on the overall loading system. A half-scale prototype was built as a reference to address several implementation issues including the neutral loading condition. Afterwards, a full-size dynamic loading mechanism was successfully constructed and implemented to load test a full-size morphing winglet

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Human-like characteristics for high degree of freedom robotic door-opening end-effector

Cited by 4 publications

References 0 publications

Design and Analysis of a Dynamic Loading System for a Morphing Winglet

Design and Analysis of a Dynamic Loading System for a Morphing Winglet

Design, Synthesis, and Implementation of a Dynamic Loading Mechanism for Morphing Winglets

A Dynamic Loading Mechanism for a Morphing Winglet

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