Wyniki wyszukiwania - BazTech

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Design and test of a compact compliant gripper using the Scott–Russell mechanism

Zhu Jiaxiang, Hao Guangbo

Archives of Civil and Mechanical Engineering

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2020

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Vol. 20, no. 3

254--265

EN

This paper presents the design, modeling, fabrication, and test of a monolithic compliant gripper for micro-manipulation applications. A compact compliant mechanism that enables in-principle straight-line parallel jaw motion is obtained, by combining the Scott–Russell mechanism and the parallelogram mechanism. The right-circular corner-filleted (RCCF) flexure hinge is adopted to achieve a large displacement of lumped-compliance joints. A pseudo-rigid-body model (PRBM) method with the help of the virtual work principle is performed to obtain parametric analytical models including the amplification coefficient and kinetostatics. Finite element analysis (FEA) is conducted to validate the analytical model and capture adverse parasitic motions of jaws. A monolithic prototype was fabricated, the test results of which show satisfactory performances.

2

Analytical modeling of dual actuated compliant beam microgripper system

Zaidi N. A., Bazaz S. A.

Journal of Theoretical and Applied Mechanics

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2014

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Vol. 52 nr 2

459--468

EN

This paper presents the analytical modeling for the design of a microgripper system that comprises dual jaw actuation mechanism with real-time contact sensing. The interdigitated lateral comb-drive based electrostatic actuator is used to move the gripper arms. Simultane- ous contact sensing is achieved through a transverse comb based capacitive sensor, to detect the contact between the jaws and microobject. The detailed analytical modeling of the mi- crogripper reveals that the stresses induced in the structure is well below the maximum yield stress of 7000MPa for single crystal silicon. The fabricated microgripper produced a displacement of 16 μm at gripper jaws for the applied actuation voltage of 45V, which is approximately the same as predicted by the analytical model.

3

Micro-studies of mineral processing fundamentals

Simons St., Rossetti D., Spyridopoulos M., Pepin X.

Physicochemical Problems of Mineral Processing

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2002

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Vol. 36

159-172

EN

Since many mineral processes rely on the manipulation of interfacial properties, such as hydrophobocity, surface tension and wettability, there is a great deal of interest in being able to relate the micro-scale properties of the solid/fluid species to the macro-scale behaviour of the processes themselves. In order to develop this understanding, it is necessary to be able to directly measure and observe such properties, a task which can be non-trivial due to the conditions that can be encountered on the plant scale. Over several years, a range of unique devices, collectively known as Micro-Force Balances (MFBs), have been designed and constructed in the author’s laboratory, which can measure and observe micro-scale interactions between solid particles in both gaseous and liquid media, at ambient and high temperatures. Mineral processing applications such as granulation, flotation and spherical agglomeration have been the subjects of studies to date. This paper presents an overview of the MFB designs and the significant findings in relation to these applications.

PL

W szeregu procesach przeróbczych wykorzystuje się właściwości międzyfazowe takie jak hydrofobowość, napięcie powierzchniowe lub zwilżalność dla osiągnięcia zamierzonego celu. Jest interesujące znalezienie korelacji między właściwościami granic międzyfazowych w skali mikro, a realizacją procesów przeróbczych w skali makro. W celu lepszego poznania i zrozumienia tych zależności, konieczny jest bezpośredni pomiar oraz obserwacja tych właściwości. Szereg lat doświadczeń doprowadziły nas do zaprojektowania i budowy szeregu unikalnych aparatów o wspólnej nazwie Micro- Force Balance (MFB). Dzięki tym aparatom możemy mierzyć i obserwować oddziaływania między cząstkami ciała stałego w fazie gazowej i ciekłej, w temperaturze pokojowej oraz w podwyższonej. Przedmiotem badań z wykorzystaniem tych aparatów były takie procesy przeróbcze jak granulacja, flotacja, aglomeracja sferyczna. Przedstawiona praca zawiera opis działania aparatów oraz znaczące odkrycia dokonane w trakcie badań wyżej wzmiankowanych procesów.