Search results for "Robot"
showing 10 items of 1036 documents
Switchable surface structured hydrogel coatings
2017
Switchable surface structures based on hydrogels are an emerging field in material science, microfluidics, soft robotics and anti-fouling. Here, we describe a novel method that uses a photo-cross-linkable terpolymer to create a hydrogel coating with a switchable surface structure. The terpolymer is based on poly(N-isopropylacrylamide) (PNIPAm) and it is shown that simple coating technologies like slit die coating can be used under ambient conditions. It is also shown that the swelling ratio of the coating is controlled by the energy dose of ultraviolet (UV) light. Simple and complex surface structures were created using respectively single or multiple UV illumination steps through masks and…
Wavelength-Gated Adaptation of Hydrogel Properties via Photo-Dynamic Multivalency in Associative Star Polymers.
2020
Abstract Responsive materials, such as switchable hydrogels, have been largely engineered for maximum changes between two states. In contrast, adaptive systems target distinct functional plateaus between these maxima. Here, we demonstrate how the photostationary state (PSS) of an E/Z‐arylazopyrazole photoswitch can be tuned by the incident wavelength across a wide color spectrum, and how this behavior can be exploited to engineer the photo‐dynamic mechanical properties of hydrogels based on multivalent photoswitchable interactions. We show that these hydrogels adapt to the wavelength‐dependent PSS and the number of arylazopyrazole units by programmable relationships. Hence, our material des…
A theoretical approach to pneumatic muscle mechanics
2013
The mechanical response of pneumatic artificial muscles is analyzed assuming the inextensibility of the sheathing braids and taking into account the stress field inside the rubber bladder, which is regarded as a Mooney-Rivlin hyperelastic material. The end effects are simulated by heuristically profiling the meridian section. After estimating the constitutive parameters by traction tests on rubber specimens, the theoretical results are compared with experiments and a satisfactory accordance may be detected.
A homography formulation to the 3pt plus a common direction relative pose problem
2014
International audience; In this paper we present an alternative formulation for the minimal solution to the 3pt plus a common direction relative pose prob-lem. Instead of the commonly used epipolar constraint we use the homog-raphy constraint to derive a novel formulation for the 3pt problem. This formulation allows the computation of the normal vector of the plane defined by the three input points without any additional computation in addition to the standard motion parameters of the camera. We show the working of the method on synthetic and real data sets and compare it to the standard 3pt method and the 5pt method for relative pose estima-tion. In addition we analyze the degenerate condi…
Robotic path planning for non-destructive testing – A custom MATLAB toolbox approach
2016
AbstractThe requirement to increase inspection speeds for non-destructive testing (NDT) of composite aerospace parts is common to many manufacturers. The prevalence of complex curved surfaces in the industry provides motivation for the use of 6 axis robots in these inspections. The purpose of this paper is to present work undertaken for the development of a KUKA robot manipulator based automated NDT system. A new software solution is presented that enables flexible trajectory planning to be accomplished for the inspection of complex curved surfaces often encountered in engineering production. The techniques and issues associated with conventional manual inspection techniques and automated s…
A cooperative mobile robot and manipulator system (Co-MRMS) for transport and lay-up of fibre plies in modern composite material manufacture
2021
AbstractComposite materials are widely used in industry due to their light weight and specific performance. Currently, composite manufacturing mainly relies on manual labour and individual skills, especially in transport and lay-up processes, which are time consuming and prone to errors. As part of a preliminary investigation into the feasibility of deploying autonomous robotics for composite manufacturing, this paper presents a case study that investigates a cooperative mobile robot and manipulator system (Co-MRMS) for material transport and composite lay-up, which mainly comprises a mobile robot, a fixed-base manipulator and a machine vision sub-system. In the proposed system, marker-base…
Comprehensive simulation of cooperative robotic system for advanced composite manufacturing : a case study
2021
Composite materials are widely used because of their light weight and high strength properties. They are typically made up of multi-directional layers of high strength fibres, connected by a resin. The manufacturing of composite parts is complex, time-consuming and prone to errors. This work investigates the use of robotics in the field of composite material manufacturing, which has not been well investigated to date (particularly in simulation). Effective autonomous material transportation, accurate localization and limited material deformation during robotic grasping are required for optimum placement and lay-up. In this paper, a simulation of a proposed cooperative robotic system, which …
Dynamic DNA Origami Devices
2018
DNA nanotechnology provides an excellent foundation for diverse nanoscale structures that can be used in various bioapplications and materials research. Among all existing DNA assembly techniques, DNA origami proves to be the most robust one for creating custom nanoshapes. Since its invention in 2006, building from the bottom up using DNA advanced drastically, and therefore, more and more complex DNA-based systems became accessible. So far, the vast majority of the demonstrated DNA origami frameworks are static by nature; however, there also exist dynamic DNA origami devices that are increasingly coming into view. In this review, we discuss DNA origami nanostructures that exhibit controlled…
Common defects of parts manufactured through single point incremental forming
2021
Single point incremental forming is one of the most intensely researched die-less manufacturing process. This process implies the usage of a CNC equipment or a serial robot which deforms a sheet metal with the help of a relatively simple tool that follows an imposed toolpath. As every cold metal forming process, besides the many given advantages it has also some drawbacks. One big drawback in comparison with other cold metal forming processes is the low accuracy of the deformed parts. The aim of this research is to investigate the sheet metal bending mechanism through finite element method analysis. The results shows that the shape of the retaining rings has a big influence over the final g…
Educational Robotics for Reducing Early School Leaving from the Perspective of Sustainable Education
2019
Early School Leaving (ESL) is a problem for many countries and some have pledged to reduce the number of children leaving school early to below 10% by 2020. Between October 2015 and September 2017, Italy, Greece and Latvia implemented an Erasmus+ project that used robotics to reduce the risk of ESL. The effectiveness of the teaching and learning materials developed during the project and the pedagogical strategies used were examined in groups at high-risk of ESL and in the work of the teachers participating in the project. In this paper, the use of robotics to reduce the risks of early school leaving is analysed from the perspective of sustainable education. Mixed methods were used to evalu…