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Mechanical design, modeling, and identification for a novel antagonistic variable stiffness dexterousfinger

Frontiers of Mechanical Engineering 2022, Volume 17, Issue 3, doi: 10.1007/s11465-022-0691-5

Abstract: Based on the concept of mechanical passive compliance, which is widely implemented in robots for interactions, a finger is dedicated to improving mechanical robustness.The mechanical design of the finger and its stiffness adjusting methods are elaborated.Experimental results of the finger joint stiffness identification and finger impact tests under differentfinger stiffness presets are provided to verify the validity of the model.

Keywords： multifingered hand     mechanism design     robot safety     variable stiffness actuator    

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Analysis of suitable geometrical parameters for designing a tendon-driven under-actuated mechanical finger

Francesco PENTA,Cesare ROSSI,Sergio SAVINO

Frontiers of Mechanical Engineering 2016, Volume 11, Issue 2,   Pages 184-194 doi: 10.1007/s11465-016-0385-y

Abstract:

This study aims to optimize the geometrical parameters of an under-actuated mechanical finger by conductingThe finger is actuated by a flexion tendon and an extension tendon.applying such an optimization, the correct kinematical and dynamical behavior of the closing cycle of the fingerDiagrams are established to identify the optimum values for the tendon guides position of a finger withThe findings of this study can serve as guide for future finger design.

Keywords： tendon-driven fingers     mechanical finger design     under-actuated mechanical systems    

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Analysis and optimal design of an underactuated finger mechanism for LARM hand

Shuangji YAO, Marco CECCARELLI, Giuseppe CARBONE, Qiang ZHAN, Zhen LU

Frontiers of Mechanical Engineering 2011, Volume 6, Issue 3,   Pages 332-343 doi: 10.1007/s11465-011-0229-8

Abstract:

This paper aims to present general design considerations and optimality criteria for underactuatedmechanisms in finger designs.Design issues related to grasping task of robotic fingers are discussed.Optimality criteria of the finger performances are formulated after careful analysis.A numerical case of an underactuated robot finger design for Laboratory of Robotics and Mechatronics

Keywords： robotic finger     underactuated mechanisms     design considerations    

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Soft curvature sensors for measuring the rotational angles of mechanical fingers

Haixiao LIU, Li LI, Zhikang OUYANG, Wei SUN

Frontiers of Mechanical Engineering 2020, Volume 15, Issue 4,   Pages 610-621 doi: 10.1007/s11465-020-0596-0

Abstract: The design, fabrication, and testing of soft sensors that measure elastomer curvature and mechanicalfinger bending are described in this study.Third, several sensors with different specifications are built in accordance with the structural designLastly, the soft sensors are applied to the measurement of mechanical finger bending.Experiments show that soft curvature sensors can effectively reflect mechanical finger bending and can

Keywords： soft sensor     Ga-In-Sn alloy     strain sensing     curvature sensing     mechanical finger bending    

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Analytical approach to robust design of nonlinear mechanical systems

Jian ZHANG, Nengsheng BAO, Guojun ZHANG, Peihua GU

Frontiers of Mechanical Engineering 2009, Volume 4, Issue 2,   Pages 203-214 doi: 10.1007/s11465-009-0022-0

Abstract: The robustness of mechanical systems is influenced by various factors.a model for describing the relationships among functional requirements, structural characteristics, designBased on the robust design principle, an optimization model was developed.For a nonlinear mechanical system, relationships among structural characteristics of the system, designThe characteristics of the system determine how design parameters affect the functional requirements

Keywords： robust     design     nonlinear    

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Analysis of the dynamic hysteresis characteristic of finger seal

LEI Yanni, CHEN Guoding

Frontiers of Mechanical Engineering 2007, Volume 2, Issue 1,   Pages 32-36 doi: 10.1007/s11465-007-0005-y

Abstract: The research about hysteresis characteristic of finger seal (FS), which was carried out based on theThis dynamics model is the basis for the optimization design of FS system.

Keywords： FS     necessary     hysteresis characteristic     optimization     spring    

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Shear-flexural strength mechanical model for the design and assessment of reinforced concrete beams subjected

Antonio MARÍ,Antoni CLADERA,Jesús BAIRÁN,Eva OLLER,Carlos RIBAS

Frontiers of Structural and Civil Engineering 2014, Volume 8, Issue 4,   Pages 337-353 doi: 10.1007/s11709-014-0081-0

Abstract: A mechanical model recently developed for the shear strength of slender reinforced concrete beams withpresented and extended to elements with uniformly distributed loads, specially focusing on practical design

Keywords： shear strength     mechanical model     reinforced concrete     design     assessment     shear tests    

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Structural design and mechanical responses of closely spaced super-span double tunnels in strongly weathered

Jiaxin HE; Shaohui HE; Xiabing LIU; Jinlei ZHENG

Frontiers of Structural and Civil Engineering 2022, Volume 16, Issue 6,   Pages 685-703 doi: 10.1007/s11709-022-0824-2

Abstract: The structural design of the HRT, taking account of the disturbance by the ST construction, was analyzedIt was found that the “yielding principle” design was more feasible than the “resistance principle” designThe mechanical responses of the HRT during ST construction were comprehensively monitored and analyzedFinally, the design and construction optimization were proposed according to the monitoring data and

Keywords： double tunnels     super-span     structural design     mechanical response     numerical simulation     field monitoring    

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Research on integrating customization design for mechanical product

TAI Ligang, LI Dianqi, ZHONG Tingxiu, LI Zhi

Frontiers of Mechanical Engineering 2007, Volume 2, Issue 1,   Pages 89-93 doi: 10.1007/s11465-007-0015-9

Abstract: This paper proposes an integrating rapid customization design system which combines various technologiessuch as Web, knowledge based engineering (KBE), engineering database and Computer Aided Design (CAD)and has been used in elevator design.The system also adopts KBE to manage and reuse product design knowledge, while combining the technologyof product family modeling and technologies of feature modeling and parametric design, based on the

Keywords： engineering database     product     Management     database technology     knowledge    

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Virtual Optimization Design for Mechanical Structures and Its Application

Hu Rufu,Wu Nanxing,Sun Qinghong

Strategic Study of CAE 2004, Volume 6, Issue 10,   Pages 45-47

Abstract:

As a new design pattern, virtual optimization design is a multiple subjects crossed synthetical techniqueand will become the trend of modern mechanical products design.It can avoid the repeated processes from design to trial-manufacture and test.The design cycle is shortened and the cost is reduced.to implement virtual optimization design.

Keywords： mechanical structure     virtual design     optimization design    

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Study of Conceptual Design of Extension for Mechanical Products

Zhao Yanwei

Strategic Study of CAE 2001, Volume 3, Issue 5,   Pages 67-71

Abstract:

On the foundation summing up existing intelligent conceptual design method, this article puts forwardthe research content, characters, path, and method of the conceptual design of extension for mechanicalmethod of extension design in function-principle-layout-configuration.The living example shows that the extension method has been applied in the field of conceptual designfor mechanical products.

Keywords： conceptual design     mechanical product     intelligent CAD     extension    

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Function and principle innovative design of mechanical products based on TRIZ/FA

YUAN Feng, WANG Tai-yong, NIE Hui-juan

Frontiers of Mechanical Engineering 2006, Volume 1, Issue 3,   Pages 350-355 doi: 10.1007/s11465-006-0031-1

Abstract: To achieve Function and principle innovation design of mechanical products, a new process model of function

Keywords： TRI     principle solving     product     principle innovation     ultimate innovation    

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A feasibility study on the design and walking operation of a biped locomotor via dynamic simulation

Mingfeng WANG,Marco CECCARELLI,Giuseppe CARBONE

Frontiers of Mechanical Engineering 2016, Volume 11, Issue 2,   Pages 144-158 doi: 10.1007/s11465-016-0391-0

Abstract:

A feasibility study on the mechanical design and walking operation of a Cassino biped locomotor ismodel is elaborated in SolidWorks® environment in order to characterize a feasible mechanicaldesign.environment with the aims of characterizing and evaluating the dynamic walking performance of the proposed design

Keywords： feasibility study     biped locomotor     biped walking     mechanical design     dynamic simulation     tripod leg mechanism    

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Fault evolution-test dependency modeling for mechanical systems

Xiao-dong TAN,Jian-lu LUO,Qing LI,Bing LU,Jing QIU

Frontiers of Information Technology & Electronic Engineering 2015, Volume 16, Issue 10,   Pages 848-857 doi: 10.1631/FITEE.1500011

Abstract: Tracking the process of fault growth in mechanical systems using a range of tests is important to avoidSo, it is necessary to study the design for testability (DFT).In this paper, to improve the testability performance of mechanical systems for tracking fault growthconsiders fault trackability and predictability is developed to quantify the testability performance of mechanicaland testability analysis method can provide guidance to engineers to improve the testability level of mechanical

Keywords： Mechanical systems     Design for testability (DFT)     Fault evolution-test dependency model (FETDM)    

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Design method and verification of a hybrid prosthetic mechanism with energy-damper clutchable device

Frontiers of Mechanical Engineering 2021, Volume 16, Issue 4,   Pages 747-764 doi: 10.1007/s11465-021-0644-4

Abstract: The kinematic and mechanical performances of the designed parallel mechanism are analyzed to verify theirand effectively decrease the peak power of actuators from 94.74 to 137.05 W while maintaining a good mechanical

Keywords： hybrid transfemoral prosthetic mechanism     energy recycling     wearable mechanical clutched device     mechanical    

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Title Author Date Type Operation

Mechanical design, modeling, and identification for a novel antagonistic variable stiffness dexterousfinger

Journal Article

Analysis of suitable geometrical parameters for designing a tendon-driven under-actuated mechanical finger

Francesco PENTA,Cesare ROSSI,Sergio SAVINO

Journal Article

Analysis and optimal design of an underactuated finger mechanism for LARM hand

Shuangji YAO, Marco CECCARELLI, Giuseppe CARBONE, Qiang ZHAN, Zhen LU

Journal Article

Soft curvature sensors for measuring the rotational angles of mechanical fingers

Haixiao LIU, Li LI, Zhikang OUYANG, Wei SUN

Journal Article

Analytical approach to robust design of nonlinear mechanical systems

Jian ZHANG, Nengsheng BAO, Guojun ZHANG, Peihua GU

Journal Article

Analysis of the dynamic hysteresis characteristic of finger seal

LEI Yanni, CHEN Guoding

Journal Article

Shear-flexural strength mechanical model for the design and assessment of reinforced concrete beams subjected

Antonio MARÍ,Antoni CLADERA,Jesús BAIRÁN,Eva OLLER,Carlos RIBAS

Journal Article

Structural design and mechanical responses of closely spaced super-span double tunnels in strongly weathered

Jiaxin HE; Shaohui HE; Xiabing LIU; Jinlei ZHENG

Journal Article

Research on integrating customization design for mechanical product

TAI Ligang, LI Dianqi, ZHONG Tingxiu, LI Zhi

Journal Article

Virtual Optimization Design for Mechanical Structures and Its Application

Hu Rufu,Wu Nanxing,Sun Qinghong

Journal Article

Study of Conceptual Design of Extension for Mechanical Products

Zhao Yanwei

Journal Article

Function and principle innovative design of mechanical products based on TRIZ/FA

YUAN Feng, WANG Tai-yong, NIE Hui-juan

Journal Article

A feasibility study on the design and walking operation of a biped locomotor via dynamic simulation

Mingfeng WANG,Marco CECCARELLI,Giuseppe CARBONE

Journal Article

Fault evolution-test dependency modeling for mechanical systems

Xiao-dong TAN,Jian-lu LUO,Qing LI,Bing LU,Jing QIU

Journal Article

Design method and verification of a hybrid prosthetic mechanism with energy-damper clutchable device

Journal Article