Related papers: Shape, Size, and Fabrication Effects in 3D Printed…
Regrasping on fixtures is a promising approach to reduce pose uncertainty in robotic assembly, but conventional rigid fixtures lack adaptability and require dedicated designs for each part. To overcome this limitation, we propose a soft jig…
Grasp synthesis is a fundamental task in robotic manipulation which usually has multiple feasible solutions. Multimodal grasp synthesis seeks to generate diverse sets of stable grasps conditioned on object geometry, making the robust…
Additive manufacturing technologies are positioned to provide an unprecedented innovative transformation in how products are designed and manufactured. Due to differences in the technical specifications of AM technologies, the final…
The spreading behaviour of cohesive sand powder is modelled by Discrete Element Method, and the spreadability and the mechanical jamming are focused. The empty patches and total particle volume of the spread layer are examined, followed by…
Soft robotic grippers gently and safely manipulate delicate objects due to their inherent adaptability and softness. Limited by insufficient stiffness and imprecise force control, conventional soft grippers are not suitable for applications…
Grasping is essential in robotic manipulation, yet challenging due to object and gripper diversity and real-world complexities. Traditional analytic approaches often have long optimization times, while data-driven methods struggle with…
3D Computer simulations and experiments are employed to study random packings of compressible spherical grains under external confining stress. Of particular interest is the rigid ball limit, which we describe as a continuous transition in…
We describe a combined experimental and theoretical investigation of shape-morphing structures assembled by actuating composite (Janus) fibers, taking into account multiple relevant factors affecting shape transformations, such as strain…
A bonded particle model is used to explore how variations in the material properties of brittle, isotropic solids affect critical behavior in fragmentation. To control material properties, a new model is proposed which includes breakable…
Strength, ductility, and failure properties of metals are tailored by plastic deformation routes. Predicting these properties requires modeling of the structural dynamics and stress evolution taking place on several length scales. Progress…
Robotic manipulation of flexible objects is widely required in both industrial and service applications. Among such objects, paper-like materials exhibit distinct mechanical characteristics compared to cloth, being more sensitive to…
In established theories of grain coarsening, grains disappear either by shrinking or by rotating as a rigid object to coalesce with an adjacent grain. Here we report a third mechanism for grain coarsening, in which a grain splits apart into…
Graphene can at present be grown at large quantities only by the chemical vapor deposition method, which produces polycrystalline samples. Here, we describe a method for constructing realistic polycrystalline graphene samples for atomistic…
We measure stability of two-dimensional granular mixtures in a rotating drum and relate grain configurations to stability. For our system, the smaller but smoother grains cluster near the center of the drum, while the larger, rougher grains…
The 3D printing process flow requires several inputs for the best printing quality. These settings may vary from sample to sample, printer to printer, and depend upon users' previous experience. The involved operational parameters for 3D…
3D print is a recently developed technique, for single-unit production, and for structures that have been impossible to build previously. The current work presents a method to 3D print polymer bonded isotropic hard magnets with a low-cost,…
We design, fabricate and test heterogeneous architected polycrystals, composed of hard plastomers and soft elastomers, which thus show outstanding mechanical resilience and energy dissipation simultaneously. Grain boundaries that separate…
In this study, we attempt to characterize the shape of three different types of grains commonly used in the iron and steel-making industry, namely pellet, sinter and iron ore lump. We choose particles over the entire size ranges used in…
Multiscale phenomena which include several processes occuring simultaneously at different length scales and exchanging energy with each other, are widespread in magnetism. These phenomena often govern the magnetization reversal dynamics,…
With simulation and experiment we examine the effect of grain anisotropy on the angle of repose in a two-dimensional geometry. We find that the structure of the granular packing can be directly controlled by changing the aspect ratio of the…