Development and simulation of ZJUT hand based on flexible pneumatic actuator FPA

Zhang, Libin; Wang, Zhiheng; Yang, Qinghua; Bao, Guanjun; Qian, Shaoming

doi:10.1109/icma.2009.5246228

Cited by 5 publications

(4 citation statements)

References 9 publications

(7 reference statements)

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“…The other is the coupling linkage mechanism which was used between the middle and distal joints (Zhao et al , 2006). To improve the finger’s performance, a compliant structure was also designed (Zisimatos et al , 2014; Tarvainen et al , 2012; Zhang et al , 2009). The essential property of a compliant finger is that it enables passive response to different forces from different directions.…”

Section: The Mechanical Part Of a Robotic Manipulatormentioning

confidence: 99%

“…Liarokapis et al (2014) used agonist and antagonist forces in their design of the compliant fingers to implement flexion and extension of robot fingers and they also used steady elastomer materials and cables through low-friction tubes to implement movement of the fingers, as shown in Figure 1(a2). Zhang et al (2009) used the flexible pneumatic actuator to fabricate every finger and assemble the cyberhand, enabling precision grasp of different sized and shaped objects.…”

Section: The Mechanical Part Of a Robotic Manipulatormentioning

confidence: 99%

See 1 more Smart Citation

How to achieve precise operation of a robotic manipulator on a macro to micro/nano scale

Shi

Wang

et al. 2017

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Purpose The purpose of this paper is to present state-of-the-art approaches for precise operation of a robotic manipulator on a macro- to micro/nanoscale. Design/methodology/approach This paper first briefly discussed fundamental issues associated with precise operation of a robotic manipulator on a macro- to micro/nanoscale. Second, this paper described and compared the characteristics of basic components (i.e. mechanical parts, actuators, sensors and control algorithm) of the robotic manipulator. Specifically, commonly used mechanisms of the manipulator were classified and analyzed. In addition, intuitive meaning and applications of its actuator explained and compared in details. Moreover, related research studies on general control algorithm and visual control that are used in a robotic manipulator to achieve precise operation have also been discussed. Findings Remarkable achievements in dexterous mechanical design, excellent actuators, accurate perception, optimized control algorithms, etc., have been made in precise operations of a robotic manipulator. Precise operation is critical for dealing with objects which need to be manufactured, modified and assembled. The operational accuracy is directly affected by the performance of mechanical design, actuators, sensors and control algorithms. Therefore, this paper provides a categorization showing the fundamental concepts and applications of these characteristics. Originality/value This paper presents a categorization of the mechanical design, actuators, sensors and control algorithms of robotic manipulators in the macro- to micro/nanofield for precise operation.

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Section: The Mechanical Part Of a Robotic Manipulatormentioning

confidence: 99%

Section: The Mechanical Part Of a Robotic Manipulatormentioning

confidence: 99%

How to achieve precise operation of a robotic manipulator on a macro to micro/nano scale

Shi

Wang

et al. 2017

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“…Different types of soft actuators are developed that could generate the bending motion by themselves or by the mechanism that bends, due to their actuation [1,2]. But most of these actuators are not single chamber or the actuator as a single cannot bend, but a combination of them with appropriate mechanism does the necessary bending motion [3][4][5].…”

Section: Introductionmentioning

confidence: 99%

Asymmetric Bellow Flexible Pneumatic Actuator for Miniature Robotic Soft Gripper

Udupa

Sreedharan

Dinesh

et al. 2014

Journal of Robotics

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The necessity of the soft gripping devices is increasing day-by-day in medical robotics especially when safe, gentle motions and soft touch are necessary. In this paper, a novel asymmetric bellow flexible pneumatic actuator (AFPA) has been designed and fabricated to construct a miniaturised soft gripper that could be used to grip small objects. The model of AFPA is designed using solid works and its bending motion is simulated in Abaqus software for optimisation and compared with experimental results. The actuator is fabricated using compression molding process that includes micromachining of the molds. Experiments conducted show the bending characteristics of the actuator at different pressures. The actuator shows excellent bending performance and the eccentricity in its design supports increased bending or curling motion up to a certain extent compared to normal bellows without eccentricity. The effects of profile shape and eccentricity on the actuator performance are analysed and the results are presented.

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“…The literatures of steady on the multi-phase simulation and compare with two simulations are rare currently. The literature [6], using the realizable ε κ − model, compared the steady multi-phase and unsteady simulation single-suction in the use of centrifugal pump. We have not seen any literature studying the internal flows of double-suction centrifugal pump with two simulations and compare.…”

Section: Introductionmentioning

confidence: 99%

The Use of Steady Multi-Phase Position and Unsteady Computational Methods in the Numerical Simulation of Double-Suction Centrifugal Pump

Hằng

Zhang

2011

AMR

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In order to compare the steady multi-phase and unsteady calculation in double-suction centrifugal pump application, this article simulates the internal turbulent flow of the 150S-50 double suction centrifugal pump. Numerical simulation uses realizable turbulence model, simulating with two methods of steady multi-phase and unsteady in 7 cases. Based on the numerical simulation, the head, shaft power, efficiency were calculated, the simulated performance curves of a double suction centrifugal pump is processed. The results show that: The results of unsteady simulation are closer with the experimental data.

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Development and simulation of ZJUT hand based on flexible pneumatic actuator FPA

Cited by 5 publications

References 9 publications

How to achieve precise operation of a robotic manipulator on a macro to micro/nano scale

How to achieve precise operation of a robotic manipulator on a macro to micro/nano scale

Asymmetric Bellow Flexible Pneumatic Actuator for Miniature Robotic Soft Gripper

The Use of Steady Multi-Phase Position and Unsteady Computational Methods in the Numerical Simulation of Double-Suction Centrifugal Pump

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