Article
Computer Science, Information Systems
Quang Minh Ta, Gulam Dastagir Khan, Xiang Li, Chien Chern Cheah
Summary: In this article, a platform for achieving dexterous manipulation in the micro-world is demonstrated by developing a micro multi-fingered hand actuated by optical traps. The system consists of coordinated micro fingers with three degrees of freedom in a 2-dimensional space, enabling grasping, rotating, moving, levering, and rolling of objects at micron scale. This approach establishes a foundation for achieving dexterous robotic manipulation of objects at a micro-scale through the coordination of multiple micro-fingers.
Article
Engineering, Mechanical
Daoming Wang, Yan Xiong, Bin Zi, Sen Qian, Zhengyu Wang, Weidong Zhu
Summary: This paper presents the design, analysis and experiment of a passively adaptive five fingered underactuated dexterous hand (UADH). The UADH has the ability to powerfully grasp objects with different shapes and sizes. Experimental results demonstrate its good dexterity, adaptability, and strong fingertip grasping ability.
MECHANISM AND MACHINE THEORY
(2021)
Article
Engineering, Mechanical
Xizhe Zang, Chao Wang, Pu Zhang, Gangfeng Liu, Xuehe Zhang, Jie Zhao
Summary: In this paper, a novel multi-fingered bionic hand with variable stiffness is proposed for robotic grasp. The hand is composed of modular fingers with variable stiffness mechanism and a flexible thumb with a dual-link independent mechanism. A grasping control method based on position control and force control is proposed. Experimental results show the effectiveness of the designed hand and the proposed control method.
JOURNAL OF MECHANISMS AND ROBOTICS-TRANSACTIONS OF THE ASME
(2023)
Article
Robotics
Bai-Yang Sun, Xuan Gong, Jiejunyi Liang, Wen-Bin Chen, Zhi-Liang Xie, Chuang Liu, Cai-Hua Xiong, Caihua Xiong
Summary: This article discusses how to use a small number of actuators to give a multifingered robotic hand similar grasping and manipulation abilities as a human hand. It introduces a design principle for a five-fingered robotic hand with only two actuators, capable of replicating the grasping and manipulation abilities of a human hand.
IEEE TRANSACTIONS ON ROBOTICS
(2022)
Article
Engineering, Mechanical
Jarl Beckers, Tom Verstraten, Bjorn Verrelst, Francesco Contino, Joeri Van Mierlo
Summary: This paper proposes a new design of a slider-crank mechanism, which achieves continuous movement and minimizes the loads transmitted through the mechanical structure through local linear actuation. The study indicates that operating at the resonance frequency of the system yields optimal results.
MECHANISM AND MACHINE THEORY
(2021)
Article
Automation & Control Systems
Farshad Khadivar, Kunpeng Yao, Xiao Gao, Aude Billard
Summary: This paper presents a novel approach for the online tactile surface exploration of unknown objects with a multidegree of freedom robotic hand. The proposed method actively maximizes the entropy of the acquired data while dynamically balancing the exploration's global knowledge and local complexity. Experimental results indicate that our method can efficiently guide a multi-finger robotic hand to explore objects of arbitrary shapes with significant improvements in data efficiency and finger compliance.
ROBOTICS AND AUTONOMOUS SYSTEMS
(2023)
Article
Engineering, Mechanical
Ruiying Zhao, Jin Yu, Hao Yang, Ye-Hwa Chen
Summary: The paper introduces a novel analytical modeling and dynamic manipulation control method for a multi-fingered hand robot, which involves explicit dynamics modeling and decoupling of grasping forces. By considering the hand robot and the object as an entire system, and formulating servo constraints based on the manipulation task, the robot can achieve the desired task without relying on force feedback sensors.
NONLINEAR DYNAMICS
(2022)
Article
Engineering, Mechanical
Wei An, Jun Wei, Xiaoyu Lu, Jian S. Dai, Yanzeng Li
Summary: The study focused on the dimensional synthesis of a novel metamorphic multi-fingered hand, exploring geometric design for maximizing precision manipulation workspace. Four non-dimensional design parameters were introduced to determine palm size, and their influence on workspace for full-actuated and under-actuated fingers of metamorphic hand was analyzed through discretization method. The research suggested a symmetrical structure of the palm for the largest workspace of multi-fingered hand and showed significant enhancement in workspace for underactuated fingers with the metamorphic palm.
CHINESE JOURNAL OF MECHANICAL ENGINEERING
(2021)
Article
Chemistry, Multidisciplinary
Chun-Tse Lee, Jen-Yuan (James) Chang
Summary: This paper presents a modified immigration genetic algorithm based on workspace analysis to solve the inverse kinematic problems of multi-finger anthropomorphic hands. By generating a database of finger workspaces and providing optimal wrist angles, unnecessary computations of the immigration genetic algorithm are reduced, significantly improving the algorithm's convergence.
APPLIED SCIENCES-BASEL
(2021)
Article
Robotics
Satoshi Funabashi, Tomoki Isobe, Fei Hongyi, Atsumu Hiramoto, Alexander Schmitz, Shigeki Sugano, Tetsuya Ogata
Summary: Researchers have developed a control method based on graph convolutional network to process tactile information from multi-fingered hands with complex shapes, achieving stable manipulation. They collected data using distributed tri-axial tactile sensors and trained the robot hand by transferring human dexterous manipulation skills. The effectiveness of the method was confirmed through experiments.
IEEE ROBOTICS AND AUTOMATION LETTERS
(2022)
Article
Physics, Multidisciplinary
Jianchao Han, Lei Liang, Huibo Zhang, Yang Zhao
Summary: The internal gear mechanism is commonly used in micro-nano satellites for its compact structure and high precision transmission. However, the vibration coupling caused by small clearance coupling becomes more pronounced in low speed, light load, and zero gravity conditions. By establishing coupled and collision force models and conducting comparative simulations and experiments, the accuracy of the gear dynamics model considering small clearance coupling is verified.
Article
Robotics
Jiaole Wang, Junnan Xue, Sishen Yuan, Jiewen Tan, Shuang Song, Max Q-H Meng
Summary: This letter proposes an accurate kinematic model of MARC in a nonlinearly-coupled multi-field and utilizes energy minimization to determine the shape of MARC. An initial value algorithm is introduced to handle the two equilibrium states of MARC and achieve fast convergence. Experimental results demonstrate the effectiveness of the proposed algorithm in estimating the shape of MARC under complexly coupled forces.
IEEE ROBOTICS AND AUTOMATION LETTERS
(2021)
Article
Engineering, Multidisciplinary
Dawei Liu, Tao Zhang, Yuetong Cao
Summary: A mechanical drive method based on non-circular gear drive was proposed to solve the nonlinear expansion/contraction drive problem in multi-joint cable drive mechanisms. By constructing a multi-joint single-DOF bending mechanism and establishing the corresponding relationships between joint bending angle, cables' extension/retraction amount and non-circular gear transmission ratio, multi-DOF drive decoupling was achieved, and a method to eliminate non-circular gear backlash was proposed. Experimental results showed that the mechanism could achieve coordinated bending motion by precisely controlling the line extension/contraction through non-circular gears.
Article
Chemistry, Multidisciplinary
Milos Sedak, Bozidar Rosic
Summary: This research addresses the constrained multi-objective nonlinear optimization problem of planetary gearboxes using a hybrid metaheuristic algorithm. The proposed algorithm successfully obtains solutions of the non-convex Pareto set for optimizing weight, efficiency, and preventing premature gear failure. Compared to other well-known algorithms, it shows improved optimization performance in obtaining Pareto solutions.
APPLIED SCIENCES-BASEL
(2021)
Article
Engineering, Mechanical
Zaigang Chen, Jieyu Ning, Guojun Yang, Zhihui Chen, Jizhong Yang, Wanming Zhai
Summary: This study developed a dynamic model for the rack railway vehicle and track system to evaluate their dynamic behaviors on large-slope lines. The research found that the vibration responses of the wheelset and the rack are mainly influenced by the gear-rack mesh excitations, and the presence of gear-rack engagement reduces wheel loads.
VEHICLE SYSTEM DYNAMICS
(2023)
Article
Engineering, Industrial
Xiaoliang Yan, Reed Williams, Elena Arvanitis, Shreyes Melkote
Summary: This paper extends prior work by developing a semantic segmentation approach for machinable volume decomposition using pre-trained generative process capability models, providing manufacturability feedback and labels of candidate machining operations for query 3D parts.
JOURNAL OF MANUFACTURING SYSTEMS
(2024)
Article
Engineering, Industrial
Jing Huang, Zhifen Zhang, Rui Qin, Yanlong Yu, Guangrui Wen, Wei Cheng, Xuefeng Chen
Summary: In this study, a deep learning framework that combines interpretability and feature fusion is proposed for real-time monitoring of pipeline leaks. The proposed method extracts abstract feature details of leak acoustic emission signals through multi-level dynamic receptive fields and optimizes the learning process of the network using a feature fusion module. Experimental results show that the proposed method can effectively extract distinguishing features of leak acoustic emission signals, achieving higher recognition accuracy compared to typical deep learning methods. Additionally, feature map visualization demonstrates the physical interpretability of the proposed method in abstract feature extraction.
JOURNAL OF MANUFACTURING SYSTEMS
(2024)