Preliminary Design of a Three-Finger Underactuated Adaptive End Effector with a Breakaway Clutch Mechanism

Telegenov, Kuat; Tlegenov, Yedige; Hussain, Shahid; Shintemirov, Almas

doi:10.20965/jrm.2015.p0496

Cited by 7 publications

(3 citation statements)

References 22 publications

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“…9 Another potential benefit of a worm-wheel gear is its unique property of self-locking or non-backdrivability that allows it to be driven on the side of input and not back driven on the load side. [10][11][12][13][14] Therefore, actuators do not need to stay powered all the time to hold or lift the loads in a particular position. These promising features make the worm-wheel gear transmission a desirable candidate for several robotic applications, including rescue operations.…”

Section: Introductionmentioning

confidence: 99%

Control of a worm-wheel gear driven rescue robot with friction compensation and its experimental verification

Shoaib,

Kim,

Park

et al. 2023

Advances in Mechanical Engineering

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This paper presents the control of a rescue robot driven by the worm-wheel gear transmission. In the modeling process, the load-dependent friction of the worm-wheel gear is considered, and the governing equations for static and dynamic analyses are formulated. Especially we examine the dependency of break-in joint torques on the loading torque and directionality of motion. The friction parameters of the worm-wheel gear of a physical rescue robot are identified through experimental investigation. A friction compensation controller is then designed based on the modeling results and experimental operating conditions. And the designed controller is applied to a dual-arm rescue robot to validate its effectiveness.

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Section: Introductionmentioning

confidence: 99%

Control of a worm-wheel gear driven rescue robot with friction compensation and its experimental verification

Shoaib,

Kim,

Park

et al. 2023

Advances in Mechanical Engineering

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“…The movement of anyone or both, i.e., extrusion nozzle and the 3D printed object along the three x, y, and z axes is controlled by a computer-controlled mechanism. There are numerous applications for the MatEx process that have been explored in various interests like rapid prototyping, [3,4] educational purposes, [5][6][7] robotics, [8,9] tissue engineering, [10,11] scientific equipment, [12,13] and analyzing mechanical properties, [14][15][16][17][18] etc. However, the reliability standards of most of the MatEx 3D printed parts are low in comparison with other consumer products.…”

Section: Introductionmentioning

confidence: 99%

Toward an Improved Understanding for Design of Material Extrusion Additive Manufacturing Process‐Based 3D Printers—a Computational Study

Singhal

Tyagi

Verma

et al. 2022

Advcd Theory and Sims

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Understanding and improving 3D printing process models are very important for designing building defect‐free 3D printers. Most studies have failed to present detailed process design and modeling of material extrusion (MatEx)‐based additive manufacturing (AM) in a systematic approach that considers all process parameters such as nozzle diameter, nozzle angle, and velocity. It is studied that the accuracy and consistency of a MatEx 3D fabricated product depend on the pressure drop across various nozzle zones. This paper identifies the constraints affecting the performance of the MatEx AM process and presents mathematical modeling related to various process parameters. Also, the paper shows expressions for pinch wheel feed mechanism, liquefier, and nozzle geometry of the MatEx process in terms of independent variables, such as liquefier temperature, nozzle geometry, and feed rate. This will be helpful in computing the precise design parameters of MatEx‐based 3D printers. The complex mathematical expressions developed are pivotal for the effective regulation of the 3D printing process. It not only provides new and better designs for MatEx machines with precise operation and better resolution but also opens the scope for further scientific development to expand the capability of proposed approach for both specific applications and the field.

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“…FDM filaments are commonly made of thermoplastics, for example, acrylonitrile butadiene styrene (ABS), polylactic acid (PLA), polyurethane (PUR), and others. The applications of the FDM technology have been explored in various areas, such as education [3,4], rapid prototyping [5,6], robotics [7,8], scientific tools [9,10], and tissue engineering [11,12]. However, current FDM 3D printed parts have lower reliability standards in comparison with other consumer products [13].…”

Section: Introductionmentioning

confidence: 99%

A dynamic model for current-based nozzle condition monitoring in fused deposition modelling

Tlegenov

Hong

2019

Prog Addit Manuf

Self Cite

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3D printing and particularly fused deposition modelling (FDM) is widely used for prototyping and fabricating low-cost customised parts. However, present fused deposition modelling 3D printers have limited nozzle condition monitoring techniques to minimize nozzle clogging errors. Nozzle clogging is one of the significant process errors in fused deposition modelling 3D printers, and it affects the quality of prototyped parts in terms of mechanical properties and geometrical accuracy. This paper proposes a dynamic model for current-based nozzle condition monitoring in fused deposition modelling, which is briefly described as follows. First, all the process forces in filament extrusion of the fused deposition modelling were identified and derived theoretically, and theoretical equations of the feed rolling forces and flow-through-nozzle forces were derived. In addition, the effect of the nozzle clogging on the current of extruding motor were identified. Second, based on the proposed dynamic model, current-based nozzle condition monitoring method was proposed. Next, sets of experiments on FDM machine using polylactic acid (PLA) material were carried out to verify the proposed theoretical model, and the results were analysed and evaluated. Findings of the present study indicate that nozzle clogging in FDM 3D printing can be monitored by sensing the current of the filament extruding motor. The proposed model can be used efficiently for monitoring nozzle clogging conditions in fused deposition modelling 3D printers as it is based on the fundamental process modelling.

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Preliminary Design of a Three-Finger Underactuated Adaptive End Effector with a Breakaway Clutch Mechanism

Cited by 7 publications

References 22 publications

Control of a worm-wheel gear driven rescue robot with friction compensation and its experimental verification

Control of a worm-wheel gear driven rescue robot with friction compensation and its experimental verification

Toward an Improved Understanding for Design of Material Extrusion Additive Manufacturing Process‐Based 3D Printers—a Computational Study

A dynamic model for current-based nozzle condition monitoring in fused deposition modelling

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