Article
Agricultural Engineering
Shibo Cai, Chun' E. Tang, Lufeng Pan, Guanjun Bao, Wenyu Bai, Qinghua Yang
Summary: Soft robotics offer promising solutions for grasping unstructured and fragile objects, with their flexibility and adaptability allowing grippers to naturally conform to various objects. Inspired by nature, the bionic design not only enhances gripping stability and reliability, but also enables the grasping of multiple objects in one snatch, particularly suitable for agricultural products and food processing.
INTERNATIONAL JOURNAL OF AGRICULTURAL AND BIOLOGICAL ENGINEERING
(2021)
Article
Robotics
Muhammad Aqib, Abid Imran, Khurram Khan, Muhammad Arsalan, Sajjad Manzoor, Kang Long, Byung-Ju Yi
Summary: This paper presents a multifunctional underactuated two fingered adaptive grippers for grasping a wide range of objects in different working scenarios. The proposed design combines a multijointed closed-chain mechanism and a multijointed double parallelogram mechanism to achieve various grasping techniques. A mathematical model is developed to analyze the stability of the gripper design, and simulations and experiments are conducted to validate its grasping capabilities.
JOURNAL OF FIELD ROBOTICS
(2023)
Article
Materials Science, Multidisciplinary
Yunfang Yang, Xiao Zhang, Perla Maiolino, Yan Chen, Zhong You
Summary: This study proposes a novel approach to constructing metamaterials based on the kinematics of linkages, where a modular mechanism is tessellated to create a material with constant negative Poisson's ratios and a clearly defined deformation path.
MATERIALS & DESIGN
(2023)
Article
Robotics
Tetsuyou Watanabe, Kota Morino, Yoshitatsu Asama, Seiji Nishitani, Ryo Toshima
Summary: This letter introduces a novel small gripper capable of grasping various types of small-sized items from flat surfaces for the assembly of small devices. It uses a single actuator to achieve two grasping modes: parallel-grip and turn-over modes. The gripper can handle thin thicknesses and light weights, overcoming the limitations of traditional parallel grippers.
IEEE ROBOTICS AND AUTOMATION LETTERS
(2021)
Article
Robotics
Wilson Ruotolo, Dane Brouwer, Mark R. Cutkosky
Summary: This study introduces an anthropomorphic end effector that combines adhesive principles with a multiphalange, multifinger design, using an elastic foundation model and grasping theory for kinematic changes. Tests on a prototype named farmHand confirmed shear load sharing and demonstrated adhesive manipulation beyond pick and place tasks.
Article
Robotics
Hiromi Yasuda, Kyle Johnson, Vicente Arroyos, Koshiro Yamaguchi, Jordan R. Raney, Jinkyu Yang
Summary: Inspired by geometric patterns in nature, the leaf-like origami structure exhibits unique transitions between open and closed shapes. It replicates the autonomous grasping observed in biological systems and shows both uniform and nonuniform grasping motions due to its bistable energy landscape.
Article
Robotics
Yi Yang, Katherine Vella, Douglas P. Holmes
Summary: This article introduces a soft gripper based on kirigami design, which determines the cutting pattern by evaluating the mechanics and geometry of the shell, achieving precise and rapid grasping, while also being scalable and material independent in design.
Article
Chemistry, Analytical
Van Pho Nguyen, Sunil Bohra Dhyan, Boon Siew Han, Wai Tuck Chow
Summary: In robotics, achieving stable grasping of objects requires emphasis on soft interactions. This research introduces a novel gripper design with a hybrid mechanism using granular pouches to enable universal object grasping. Experimental results showed high success rates in gripping objects weighing less than 210 g, highlighting the adaptability and soft interaction capabilities of the gripper. This work presents a promising solution for manipulating various objects with stability and soft interaction capabilities.
Article
Chemistry, Analytical
Chaiwuth Sithiwichankit, Ratchatin Chanchareon
Summary: This study presents a comprehensive approach for sensing object stiffness using pincer grasping of soft pneumatic grippers (SPGs). Inspired by the haptic sensing of human hands, the study aims to imitate object perception through grasping. The main challenge lies in the compliance of soft pneumatic actuators (SPA), which makes it difficult to determine the association between gripper performance and object reaction.
Article
Robotics
Chang Liu, Samuel J. Wohlever, Maria B. Ou, Taskin Padir, Samuel M. Felton
Summary: Origami structures can transform their form and function by changing the direction of their folds, enabling multifunctional robots. The origami gripper presented in this article can dynamically change its kinematic behavior in less than a second, demonstrating predictable and repeatable transformation for different designs and orientations. With sufficient stiffness, it is capable of quickly reconfiguring between multiple grasping modes and picking up objects with distinct geometries, showing the potential for complex and functional machines.
IEEE TRANSACTIONS ON ROBOTICS
(2022)
Article
Automation & Control Systems
HaoTse Hsiao, Jiefeng Sun, Haijie Zhang, Jianguo Zhao
Summary: This article presents a mechanically intelligent and passive (MIP) gripper that can be used for aerial perching or grasping without any actuator. The gripper has a mechanical mechanism for dampening impact and robustly grasping objects. Static models are established to predict the required forces for successful state transitions, and design guidelines are developed for the gripper to be adaptable to different flying robots with varying weights. Experiments validate the models, demonstrating the gripper's capability for aerial perching and grasping.
IEEE-ASME TRANSACTIONS ON MECHATRONICS
(2022)
Article
Automation & Control Systems
Wenyu Zuo, Gangbing Song, Zheng Chen
Summary: This article develops a robotic gripper to study the grasping force control of a rigid gripper with high stiffness. The study utilizes backlash compensation and active disturbance rejection control (ADRC) to reject both continuous and discontinuous disturbances, improving the stability and robustness of the gripper.
IEEE-ASME TRANSACTIONS ON MECHATRONICS
(2022)
Article
Robotics
Chenying Liu, Perla Maiolino, Zhong You
Summary: The article introduces a robotic gripper design based on thick panel six-crease waterbomb origami. By redesigning the creases to replace spherical linkages with spatial linkages, motion control complexity is reduced. The prototype gripper made using 3D printing showed feasibility in experiments and demonstrated the capability to grasp non-symmetrical objects.
FRONTIERS IN ROBOTICS AND AI
(2021)
Article
Engineering, Mechanical
Mengqi Wan, Keqin Yu, Jianping Gu, Hao Zeng, Huiyu Sun, Akbar A. Khatibi
Summary: 4D printing is used to develop Tachi-Miura Polyhedron (TMP) origami metamaterials with reconfigurable shapes and programmable mechanical properties. The TMP origami structures can achieve negative Poisson's ratios and switch between monostable and bistable states. By controlling temperature and adjusting structural parameters, shape memory effects can be programmed to achieve desired deformation shapes and mechanical properties. The 4D printed origami metamaterials offer practical solutions in various engineering applications such as self-deployable structures, energy absorption devices, and flexible electronics.
INTERNATIONAL JOURNAL OF MECHANICAL SCIENCES
(2023)
Article
Chemistry, Multidisciplinary
Kaili Xi, Sibo Chai, Jiayao Ma, Yan Chen
Summary: This paper proposes a series of extensible origami structures with generic multi-stability based on non-rigid wrapping origami. It demonstrates that a sequential folding among different layers of the structures is created to generate a continuous rigid origami range and several discrete rigid origami states, which leads to their multi-stability. The effects of design parameters on the mechanical properties of the structures are investigated, enabling properties programmability upon specific needs. This study opens up a new pathway for the development of novel multi-stable origami structures.
Article
Computer Science, Interdisciplinary Applications
Hui Yang, Hongwei Guo, Rongqiang Liu, Sicong Wang, Yongbin Liu
STRUCTURAL AND MULTIDISCIPLINARY OPTIMIZATION
(2020)
Article
Engineering, Multidisciplinary
Bingyan Li, Yuxuan Liu, Rongqiang Liu, Hongwei Guo, Qiang Cong, Qiuhong Lin, Shangling Qiao
MATHEMATICAL PROBLEMS IN ENGINEERING
(2020)
Article
Engineering, Multidisciplinary
Chuang Shi, Lingbin Zeng, Zijie Chen, Hongwei Guo, Yongyong Li, Rongqiang Liu
Summary: A new large space modular expandable cabin mechanism is proposed in this study, and its mechanical model is established and verified through comparative analysis. A scaled prototype is developed to validate the feasibility of the proposed configuration and drive.
MATHEMATICAL PROBLEMS IN ENGINEERING
(2021)
Article
Materials Science, Composites
Guang Yang, Hongwei Guo, Hong Xiao, Huayi Jiang, Rongqiang Liu
Summary: This paper focuses on studying the out-of-plane stiffness of composite skins for a shear variable-sweep wing by developing a nonlinear mathematical model considering different loading conditions. The study validates the accuracy and reliability of the numerical evaluations through a systematic comparison between theoretical solutions and experimental results.
APPLIED COMPOSITE MATERIALS
(2021)
Article
Materials Science, Composites
Guang Yang, Hongwei Guo, Hong Xiao, Rongqiang Liu, Chuang Shi
Summary: This paper investigates the morphing skin for the shear variable-sweep wing, using Kevlar/carbon fiber hybrid composite skins. A nonlinear mathematical model is developed and closed-form solutions are obtained based on classical plate theory and the principle of virtual work. The accuracy and reliability of the numerical evaluations are validated through a systematic comparison with experimental results. The effects of geometric and material parameters on the shear-driving force and critical shear angle of composite skins are studied.
APPLIED COMPOSITE MATERIALS
(2022)
Article
Automation & Control Systems
Chuanyang Li, Jorge Angeles, Hongwei Guo, Dewei Tang, Rongqiang Liu, Zhongbao Qin, Hong Xiao
Summary: The research focuses on a symmetric, double-tripod multiloop mechanism intended for grabbing objects in outerspace. The key issue lies in establishing criteria for selecting the optimum actuation mode from multiple possibilities, and the evaluation procedure includes generalized-force values, power requirement, and actuation-strategy models with optimization.
IEEE-ASME TRANSACTIONS ON MECHATRONICS
(2022)
Article
Engineering, Aerospace
Fan Yang, Hong Xiao, Guang Yang, Hongwei Guo, Rongqiang Liu, Zongquan Deng
Summary: A parametric method was developed in this study to model the large planar deflection of an aircraft's leading edge. By optimizing the number and position of driving points, the magnitude of driving force, and the thickness of the skin, the accuracy of leading-edge bending deformation can be improved.
JOURNAL OF AIRCRAFT
(2023)
Proceedings Paper
Computer Science, Artificial Intelligence
Chuanyang Li, Changhua Hu, Rongqiang Liu, Zhongbao Qin, Huiyin Yan, Hongwei Guo, Hong Xiao
Summary: This study proposes kinematics and dynamics performance indicators for the double-tripod multi-loop mechanism (DTMLM) and analyzes the relationship between these indicators and rod parameters. Through optimization, it is found that the structure with r = 3d(0) is more advantageous for space applications.
INTELLIGENT ROBOTICS AND APPLICATIONS (ICIRA 2022), PT I
(2022)
Proceedings Paper
Automation & Control Systems
Dake Tian, Xiaodong Fan, Lu Jin, Rongqiang Liu, Hongwei Guo
Summary: A lightweight, high folding ratio space deployable antenna mechanism has been researched, with a proposed configuration verified through forward kinematics model and inverse kinematics analysis. Numerical simulation results show the mechanism can change from fully stowed to fully deployed smoothly, with the movement law of key points at the end closely related to the development law of each corner in the mechanism.
INTELLIGENT ROBOTICS AND APPLICATIONS, ICIRA 2021, PT III
(2021)
Article
Computer Science, Information Systems
Shangling Qiao, Lianqing Zhang, Bingyan Li, Rongqiang Liu, Hongwei Guo, Zongquan Deng
Summary: This study presents the pre-bending motion strategy and corresponding analysis of cable driving forces of a 3-DOF underactuated finger, establishing motion models and conducting grasping control strategies. Valid simulations and experiments are conducted to verify the accuracy of the coupled bend inwards motion and control strategy.
Article
Computer Science, Information Systems
Hui Yang, Fengshuai Lu, Hongwei Guo, Rongqiang Liu
Article
Automation & Control Systems
Chuanyang Li, Jorge Angeles, Hongwei Guo, Dewei Tang, Rongqiang Liu, Zhongbao Qin, Hong Xiao
Summary: This article focuses on a symmetric, double-tripod multiloop mechanism (DTMLM) designed for grabbing objects in outer space. The evaluation procedure aims to establish criteria for selecting the optimum actuation mode from multiple possibilities, considering factors such as generalized-force values, power requirement, and actuation-strategy models. The optimization procedure targets modes with uniform distribution of forces and power requirements, as well as the fewest working actuators for a given maneuver.
IEEE-ASME TRANSACTIONS ON MECHATRONICS
(2022)
Article
Computer Science, Information Systems
Mingxing Gao, Hongwei Guo, Rongqiang Liu, Zongquan Deng
