Keyword: mechanism design
This work aims at developing a robot hand that is specifically designed to perform a handshake with a person. The hand includes the capability to `feel’ the forces applied by the human user. Therefore, it can also be used as a haptic handshaking system connecting two people performing a remote handshake with haptic feedback.
Based on the Miura-ori origami pattern a mechanism family with naturally given slim shape may be evolved. Kinematic synthesis allows task-specific design, which is demonstrated in a car door guidance task. The result is a spatial car door guidance linkage that satisfies particularly given space requirements of the task.
A novel 4-screw robotic manipulator (FSR manipulator) used in automated storage and retrieval system (AS/RS) is designed. Microplates, which have a projection, are mounted on the four screws. Mathematical modeling, force analysis, static analysis and simulations are conducted. Compared with the existing robot hands, the FSR manipulator is simpler in mechanical structure and control system.
A novel parallel kinematic mechanism (PKM) with Schönflies motion has been proposed under the guidance of a graphical type synthesis method. This PKM is composed of four identical arms and a single platform, and has high rotational capability.
At a layer-based manufacturing method using composite microstructures, fabrication method for embedding an elastic component at an angled position is developed. Sheet metal is used as an elastic component, which is stamped after the layering and curing process, thereby changing the neutral position of the spring. By using this fabrication method, a small-scale bi-stable jumping mechanism is fabricated and can jump to a height 175mm with an initial takeoff velocity of 1.93m/s.
Using integrated manufacturing processes with soft constituent materials, a new paradigm of soft, smart surgical devices can be realized to drastically reduce complication risks and enable safer procedures. We have designed, prototyped, and tested a ‘soft’, atraumatic, deployable surgical grasper that can be used during robolaparoscopic surgery to provide a safe, compliant intermediary between delicate organs and the sharp, rigid robotic forceps that are used to grasp and manipulate these organs on an ad-hoc basis. Multi-jointed, conformable fingers with embedded pressure sensors can conform to complicated geometry, thereby distributing forces and providing an inherently safe means of manipulating and retracting anatomy.