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Applied Sciences
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Application of Compliant Mechanisms in Robotics
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Application of Compliant Mechanisms in Robotics

A special issue of Applied Sciences (ISSN 2076-3417). This special issue belongs to the section "Robotics and Automation".

Deadline for manuscript submissions: closed (20 September 2022) | Viewed by 15157

Special Issue Editors

Prof. Dr. Guimin Chen

E-Mail Website
Guest Editor
State Key Laboratory for Manufacturing Systems Engineering and Shaanxi Key Lab of Intelligent Robots, Xi’an Jiaotong University, Xian 710049, China
Interests: compliant mechanisms and soft robots
Prof. Dr. Giovanni Berselli

E-Mail Website
Guest Editor
Department of Mechanical, Energy, Management and Transportation Engineering, University of Genova, 16145 Genova, Italy
Interests: compliant mechanisms; smart-material-based transducers; variable stiffness actuators
Special Issues, Collections and Topics in MDPI journals
Prof. Dr. Chi Zhang

E-Mail Website
Guest Editor
Institute of Advanced Manufacturing Technology, Ningbo Institute of Materials Technology & Engineering, CAS, Ningbo 315211, China
Interests: advanced robotics and precision systems

Special Issue Information

Dear Colleagues,

Compliant mechanisms are devices that achieve some or all the motion through the deflections of their flexible members. On the one hand, because the motion is produced by deflections, clearance and friction are eliminated and very high-precision motion can be obtained. On the other hand, the redundant degree-of-freedom of deflections offers devices the capability of passive adaptation to a variety of objects of different shapes and safe interaction with unstructured environment. These features of compliant mechanisms offer new opportunities and also new challenges for robotic designs.

In this Special Issue of Applied Sciences, we aim to discuss the state of the art of compliant mechanisms and their applications in robotics, with the focus being on compliant mechanism designs that can be utilized in actuators, transmissions, or end-effectors to improve the performances of robotic systems. Devising sensors or other key elements in robots incorporating compliant designs are also of concern in this Special Issue. The Special Issue will publish original research articles, review articles, and short communications.

Prof. Dr. Guimin Chen
Prof. Dr. Giovanni Berselli
Prof. Dr. Chi Zhang
Guest Editors

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Please visit the Instructions for Authors page before submitting a manuscript. The Article Processing Charge (APC) for publication in this open access journal is 2400 CHF (Swiss Francs). Submitted papers should be well formatted and use good English. Authors may use MDPI's English editing service prior to publication or during author revisions.

 

Keywords

  • compliant mechanism
  • compliant joint
  • variable stiffness actuator
  • series elastic actuator
  • origami-inspired design
  • exoskeleton
  • soft robot

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Published Papers (5 papers)

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Research

28 pages, 13006 KiB  
Article
Constant Force Control of Centrifugal Pump Housing Robot Grinding Based on Pneumatic Servo System
by Xueman Su, Yueyue Xie, Lili Sun and Benchi Jiang
Appl. Sci. 2022, 12(19), 9708; https://doi.org/10.3390/app12199708 - 27 Sep 2022
Cited by 3 | Viewed by 1937
Abstract
In order to solve the problem of constant force control in the robot grinding process of a centrifugal pump housing a circular inner surface, this study used the force–position hybrid control mode based on a pneumatic servo system to realize the constant control [...] Read more.
In order to solve the problem of constant force control in the robot grinding process of a centrifugal pump housing a circular inner surface, this study used the force–position hybrid control mode based on a pneumatic servo system to realize the constant control of grinding force. In this process, the manipulator realizes the position and pose control of the end grinding device, and the end grinding device realizes the constant force control in the grinding process. The mathematical model of the pneumatic system is established and linearized by using the gas balance state equation, the adiabatic equation of the isentropic process, and the Sanville flow equation. The balance equation of the cylinder piston was established by using Newton’s second law, the transfer function of the contact force between the grinding device and workpiece was obtained, and the stability of the pneumatic control system was determined by the Hurwitz criterion. The PID algorithm was used to improve the displacement response speed of the system and eliminate the impact and oscillation in the force response. The feasibility, stability, and robustness of the system were verified by simulation experiments. This method has the advantages of simple control, a small amount of calculation, and a fast response, as well as providing a feasible scheme for the popularization and application of robot grinding technology. Full article
(This article belongs to the Special Issue Application of Compliant Mechanisms in Robotics)
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15 pages, 3519 KiB  
Article
A Novel Compliant 2-DOF Ejector Pin Mechanism for the Mass Transfer of Robotic Mini-LED Chips
by Hongcheng Li, Chengsi Huang, Zhihang Lin, Zhishen Liao, Shiyu Shu, Canlin Lai and Hui Tang
Appl. Sci. 2022, 12(11), 5423; https://doi.org/10.3390/app12115423 - 27 May 2022
Cited by 3 | Viewed by 2276
Abstract
The continuous development of mini-LEDs has led to higher requirements for chip transfer technology, which makes it difficult for the intermittent transfer method with a mechanical ejector pin to meet these requirements. To solve this problem, a novel compliant 2-DOF ejector pin mechanism [...] Read more.
The continuous development of mini-LEDs has led to higher requirements for chip transfer technology, which makes it difficult for the intermittent transfer method with a mechanical ejector pin to meet these requirements. To solve this problem, a novel compliant 2-DOF ejector pin mechanism for the mass transfer of robotic mini-LED chips is proposed in this paper. The compliance matrix method and the Newton method are employed for system kinematic modeling and dynamics modeling, respectively. The static and dynamic analyses of the mechanism are carried out via ANSYS Workbench, and the results of FEA are demonstrated the effectiveness of theoretical calculation. Then, an ILC is utilized to control the device via a parameters regulation approach in the frequency domain. Finally, an open-loop test and a trajectory tracking test for the prototype are carried out verify the effectiveness of proposed device. The test results indicate that the working stroke of the mechanism reaches 120 μm, the natural frequency of the device is 250.85 Hz, the coupling rate is less than ±0.5% and the tracking errors of 10 Hz, 20 Hz and 30 Hz sinusoidal signals are all within ±1.5%. According to the results of theoretical analyses, FEA and test, it has been proved that the designed mechanism for the mass transfer of mini-LED chips is superiority and effective. Full article
(This article belongs to the Special Issue Application of Compliant Mechanisms in Robotics)
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24 pages, 12076 KiB  
Article
Design of an Eye-in-Hand Smart Gripper for Visual and Mechanical Adaptation in Grasping
by Li-Wei Cheng, Shih-Wei Liu and Jen-Yuan Chang
Appl. Sci. 2022, 12(10), 5024; https://doi.org/10.3390/app12105024 - 16 May 2022
Cited by 2 | Viewed by 3344
Abstract
With the advancement of robotic technologies, more and more tasks in industrial and commercial applications rely on the use of robots to assist or even replace humans. To fulfill the needs of grasping and handling different objects, the development of a universal grasping [...] Read more.
With the advancement of robotic technologies, more and more tasks in industrial and commercial applications rely on the use of robots to assist or even replace humans. To fulfill the needs of grasping and handling different objects, the development of a universal grasping device acting as an end-effector to a robotic manipulator has been one of the main robotic research and development focuses. Therefore, this study was aimed at the development of a general robotic gripper with three fingers for adaptive actuation and an eye-in-hand vision system. With the adaptive actuation feature, each finger of the robotic gripper contained multiple degrees of freedom that allowed the finger to change its shape to wrap around an object’s geometry adaptively for stable grasping. With the eye-in-hand configuration in the adaptive gripper, it offered advantages including occlusion avoidance, intuitive teleoperation, imaging from different angles, and simple calibration. This study proposed and integrated a plug-and-play gripper module, controller module, and visual calculation module all in the model smart gripper, of which the gripper was further validated by calibrated experiments. The proposed gripper featured mechanical adaptation and visual servoing adaptivity to achieve 100% gripping success rate when gripping a moving target of any shape that was carried by conveyor belt with moving speed less than 70 mm/s. By integrating mechanical and visual adaptivity, the proposed gripper enabled the inclusion of intelligence in robotic applications and can further be used in smart manufacturing and intelligent robotic applications. Full article
(This article belongs to the Special Issue Application of Compliant Mechanisms in Robotics)
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14 pages, 5437 KiB  
Article
Design and Performance Analysis of Lamina Emergent Torsional Joints Based on Double-Laminated Material Structure
by Buchuan Ma, Lifang Qiu, Beiying Liu, Yue Yu, Ningning Liu and Guimin Chen
Appl. Sci. 2022, 12(5), 2642; https://doi.org/10.3390/app12052642 - 3 Mar 2022
Cited by 1 | Viewed by 1803
Abstract
Flexibility and accuracy are two key aspects of the performances of compliant joints. In order to obtain high flexibility while maintain high accuracy, this paper proposes a design method to improve the tensile stiffness of Lamina Emergent Torsional (LET) joint by utilizing double-laminated [...] Read more.
Flexibility and accuracy are two key aspects of the performances of compliant joints. In order to obtain high flexibility while maintain high accuracy, this paper proposes a design method to improve the tensile stiffness of Lamina Emergent Torsional (LET) joint by utilizing double-laminated material structure. The joint is made of a LET joint and a layer of flexible H18 aluminum foil fixing on it (called double-laminated LET, DL-LET). The kinetostatic model for the joint is given, and the equations needed to calculate the equivalent spring constant are derived. The model is verified using finite element analysis (FEA). The results obtained through two different ways coincide with each other very well. The results show that DL-LET and LET joints have similar bending stiffness, while the tensile stiffness of the DL-LET joint is much larger than that of the LET joint. The results are validated by tensile tests. Finally, to further demonstrate the extension of this idea, a DL-Triple-LET joint is presented and compared to the Triple-LET joint. Full article
(This article belongs to the Special Issue Application of Compliant Mechanisms in Robotics)
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17 pages, 4665 KiB  
Article
Modeling and Evaluation of a Novel Hybrid-Driven Compliant Hand Exoskeleton Based on Human-Machine Coupling Model
by Qiaoling Meng, Zhijia Shen, Zhiyang Nie, Qingyun Meng, Zhiyu Wu and Hongliu Yu
Appl. Sci. 2021, 11(22), 10825; https://doi.org/10.3390/app112210825 - 16 Nov 2021
Cited by 17 | Viewed by 3348
Abstract
This paper presents the modeling design method for a novel hybrid-driven compliant hand exoskeleton based on the human-machine coupling model for the patients who have requirements on training and assisting. Firstly, the human-machine coupling model is established based on the kinematics characteristics of [...] Read more.
This paper presents the modeling design method for a novel hybrid-driven compliant hand exoskeleton based on the human-machine coupling model for the patients who have requirements on training and assisting. Firstly, the human-machine coupling model is established based on the kinematics characteristics of human fingers and the Bernoulli beam formula. On this basis, the variable stiffness flexible hinge (VSFH) is used to drive the finger extension and the cable-driven mechanism is used to implement the movement of the finger flexion. Here, a hand orthosis is designed in the proposed hand exoskeleton to act as the base and maintain the function position of the hand for patients with hand dysfunction. Then, a final design prototype is fabricated to evaluate the proposed modeling method. In the end, a series of experiments based on the prototype is proceeded to evaluate its capabilities on stretching force for extension, bio-imitability, finger flexion capability, and fingertip force. The results show that the prototype has a significant improvement in all aspects of the ability mentioned above, and has good bionics. The proposed design method can be utilized to implement the rapid design of the hybrid-driven compliant hand exoskeleton with the changed requirements. The novel modeling method can be easily applied in personalized design in rehabilitation engineering. Full article
(This article belongs to the Special Issue Application of Compliant Mechanisms in Robotics)
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