Related papers: Soft Pneumatic Grippers: Topology optimization, 3D…
This work develops a control-centric framework for a custom 4-DOF rigid-body manipulator by coupling a reduced-order Pontryagin's Maximum Principle (PMP) controller with a physics-informed Gradient Descent stage. The reduced PMP model…
Topology optimization offers great opportunities to design permanent magnetic systems that have specific external field characteristics. Additive manufacturing of polymer bonded magnets with an end-user 3D printer can be used to manufacture…
This paper proposes a self-support topology optimization method that considers distortion to improve the manufacturability of additive manufacturing. First, a self-support constraint is proposed that combines an overhang angle constraint…
This paper deals with combination of two modern engineering methods in order to optimise the shape of a representative casting product. The product being analysed is a sling, which is used to attach pulling rope in timber transportation.…
Grasping deformable objects with varying stiffness remains a significant challenge in robotics. Estimating the local stiffness of a target object is important for determining an optimal grasp pose that enables stable pickup without damaging…
Soft robots achieve functionality through tight coupling among geometry, material composition, and actuation. As a result, effective design optimization requires these three aspects to be considered jointly rather than in isolation. This…
This manuscript presents an approach for simultaneously optimizing the connectivity and elevation of grid-shell structures acting in pure compression (or pure tension) under the combined effects of a prescribed external loading and the…
This work puts forward a form finding problem of designing a least-volume vault that is a surface structure spanning over a plane region, which via pure compression transfers a vertically tracking load to the supporting boundary. Through a…
The manipulation of garments poses research challenges due to their deformable nature and the extensive variability in shapes and sizes. Despite numerous attempts by researchers to address these via approaches involving robot perception and…
Rigid link flapping mechanisms remain the most practical choice for flapping wing micro-aerial vehicles (MAVs) to carry useful payloads and onboard batteries for free flight due to their long-term durability and reliability. However, MAVs…
Soft grippers have excellent adaptability for a variety of objects and tasks. Jamming-based variable stiffness materials can further increase soft grippers' gripping force and capacity. Previous universal grippers enabled by granular…
Fabricating existing and popular open-source adaptive robotic grippers commonly involves using multiple professional machines, purchasing a wide range of parts, and tedious, time-consuming assembly processes. This poses a significant…
Fixtures for constraining the movement of parts have been extensively investigated in robotics, since they are essential for using robots in automated manufacturing. This paper deals with the design and optimized synthesis of a special type…
One of the trendsetting themes in soft robotics has been the goal of developing the ultimate universal soft robotic gripper. One that is capable of manipulating items of various shapes, sizes, thicknesses, textures, and weights. All the…
In the present paper, an integrated paradigm for topology optimization on complex surfaces with arbitrary genus is proposed. The approach is constructed based on the two-dimensional (2D) Moving Morphable Component (MMC) framework, where a…
Grasping deformable objects is not well researched due to the complexity in modelling and simulating the dynamic behavior of such objects. However, with the rapid development of physics-based simulators that support soft bodies, the…
Shape optimization is a challenging task in many engineering fields, since the numerical solutions of parametric system may be computationally expensive. This work presents a novel optimization procedure based on reduced order modeling,…
Soft robotic manipulators are attractive for a range of applications such as medical interventions or industrial inspections in confined environments. A myriad of soft robotic manipulators have been proposed in the literature, but their…
Robots' behavior and performance are determined both by hardware and software. The design process of robotic systems is a complex journey that involves multiple phases. Throughout this process, the aim is to tackle various criteria…
Manipulating deformable objects in robotic cells is often costly and not widely accessible. However, the use of localized pneumatic gripping systems can enhance accessibility. Current methods that use pneumatic grippers to handle deformable…