[PDF] Design And Control Of A Robotic Thumb Using Piezoelectric Actuators eBook

Author : Jacob A. Levinson
Publisher :
Page : 38 pages
File Size : 12,49 MB
Release : 2009
Category :
ISBN :

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Although much more complex and maneuverable than their predecessors, today's anthropomorphic robotic hands still cannot match the dexterity of human hands. While most of these limitations are caused by inadequate sensor and control systems, the use of large, heavy, and stiff actuators can also contribute to dexterity problems. If we expect robotic hands to interact with humans and human objects, joint actuators must allow a compromise of strength and compliance. Piezoelectric (PZT) actuators exhibit a high back driveability which could facilitate this compromise. Although they have low displacement and force output, they are useful in fine control applications. When combined with a DC motor, PZT actuators can produce precise, delicate movements in robotic hands. To develop the novel DC-PZT hybrid system, the force and displacement capabilities of PZT actuators were first characterized with a simple one degree of freedom system. The data from this characterization was analyzed and used to develop a one degree of freedom thumb using a hybrid DC motor/PZT actuator system. To study system performance, a simple position control scheme was implemented for the DC motor and PZT actuators. The experimental results suggest that current PZT actuators, even when combined with a DC motor, cannot produce enough thumb tip force to mirror the functionality of the human hand. That said, improvements to the actuator could make PZT-actuated hands a future possibility.

Author : Werner Schiehlen
Publisher : Springer Science & Business Media
Page : 496 pages
File Size : 45,95 MB
Release : 2011-01-28
Category : Technology & Engineering
ISBN : 3709102774

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The papers in this volume provide a vision of the evolution of the robotics disciplines and indicate new directions in which these disciplines are foreseen to develop. Paper topics include, but are not limited to, novel robot design and robot modules/components, service, education, medical, space, welfare and rescue robots, humanoid robots, bio-robotics, multi-robot, embodied multi-agent systems, challenges in control, modeling, kinematical and dynamical analysis of robotic systems, innovations in sensor systems for robots and perception, and recent advances in robotics. In particular, many contributions on humanoid robots from leading Japanese researchers are included.

Author : S.-Y. Hahn
Publisher : Elsevier
Page : 766 pages
File Size : 25,99 MB
Release : 2013-10-22
Category : Technology & Engineering
ISBN : 1483290565

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This symposium was concerned with advanced computational and design techniques in applied electromagnetic systems including devices and materials. The scope of the proceedings cover a wide variety of topics in applied electromagnetic fields: optimal design techniques and applications, inverse problems, advanced numerical techniques, mechanism and dynamics of new actuators, physics and applications of magnetic levitation, electromagnetic propulsion and superconductivity, modeling and applications of magnetic fluid, plasma and arc discharge, high-frequency field computations, electronic device simulations and magnetic materials.

Author : Subramanian T. Venkataraman
Publisher : Springer Science & Business Media
Page : 349 pages
File Size : 16,78 MB
Release : 2012-12-06
Category : Technology & Engineering
ISBN : 1461389747

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Manipulation using dextrous robot hands has been an exciting yet frustrating research topic for the last several years. While significant progress has occurred in the design, construction, and low level control of robotic hands, researchers are up against fundamental problems in developing algorithms for real-time computations in multi-sensory processing and motor control. The aim of this book is to explore parallels in sensorimotor integration in dextrous robot and human hands, addressing the basic question of how the next generation of dextrous hands should evolve. By bringing together experimental psychologists, kinesiologists, computer scientists, electrical engineers, and mechanical engineers, the book covers topics that range from human hand usage in prehension and exploration, to the design and use of robotic sensors and multi-fingered hands, and to control and computational architectures for dextrous hand usage. While the ultimate goal of capturing human hand versatility remains elusive, this book makes an important contribution to the design and control of future dextrous robot hands through a simple underlying message: a topic as complex as dextrous manipulation would best be addressed by collaborative, interdisciplinary research, combining high level and low level views, drawing parallels between human studies and analytic approaches, and integrating sensory data with motor commands. As seen in this text, success has been made through the establishment of such collaborative efforts. The future will hold up to expectations only as researchers become aware of advances in parallel fields and as a common vocabulary emerges from integrated perceptions about manipulation.

Author : Sanjay S. Pande
Publisher : Springer
Page : 444 pages
File Size : 24,91 MB
Release : 2018-04-18
Category : Technology & Engineering
ISBN : 9811087679

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This book introduces readers to various tools and techniques for the design of precision, miniature products, assemblies and associated manufacturing processes. In particular, it focuses on precision mechanisms, robotic devices and their control strategies, together with case studies. In the context of manufacturing process, the book highlights micro/nano machining/forming processes using non-conventional energy sources such as lasers, EDM (electro-discharge machining), ECM (electrochemical machining), etc. Techniques for achieving optimum performance in process modeling, simulation and optimization are presented. The applications of various research tools such as FEM (finite element method), neural networks, genetic algorithms, etc. to product-process design and optimization are illustrated through case studies. The state-of-the-art material presented here provides valuable directions for product development and future research work in this area. The contents of this book will be of use to researchers and industry professionals alike.

Author : Paul H. Chappell
Publisher : IET
Page : 188 pages
File Size : 43,1 MB
Release : 2016-06-06
Category : Medical
ISBN : 1785611542

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This book describes the technical design characteristics of the main components that go into forming an artificial hand, whether it is a simple design that does not have a natural appearance, or a more complicated design where there are multiple movements of the fingers and thumb. Mechanical components obviously form the structure of any hand, while there are some lesser known ideas that need to be explored such as how to process a slip signal.