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Force guided assemblies using a novel parallel manipulator

D.M. Morris, R. Hebbar, W.S. Newman
Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164)  
In this paper we present recent experimental results using a novel parallel manipulator operating under Natural Admittance Control performing difficult mechanical assemblies.  ...  The example assemblies are components from an automotive automatic transmission. Success depends on appropriate force responsiveness, rather than precise position control.  ...  not act as a guide to proper assembly.  ... 
doi:10.1109/robot.2001.932572 dblp:conf/icra/MorrisHN01 fatcat:ljvo2optuvghliimty6lg534mi

Design of a Novel Force Feedback Master Manipulator

Hong Jia, Yunxiang Jiang, Peng Sun, Yiwen Zhao
2015 IFAC-PapersOnLine  
This paper presents a novel master manipulator which specifically used in the operation of internal fixation of the pedicle screw.  ...  The analysis shows that this novel master manipulator meets the requirements in this specific spinal surgery.  ...  ; point 4 assembled the handle which used to simulate the end point of the MIS robot; and point 5 is the cable guide.  ... 
doi:10.1016/j.ifacol.2015.12.336 fatcat:wrtdves7d5cctm5zba3nmb6xqi

Co-manipulation with multiple probabilistic virtual guides

Gennaro Raiola, Xavier Lamy, Freek Stulp
2015 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)  
To this end, we propose a framework for multiple probabilistic virtual guides, and demonstrate a concrete implementation of such guides using kinesthetic teaching and Gaussian mixture models.  ...  Our approach enables non-expert users to design virtual guides through demonstration. Also, they may demonstrate novel guides, even if already known guides are active.  ...  To exploit the best of both worlds, co-manipulation enables robots and humans to solve manipulation/assembly tasks together.  ... 
doi:10.1109/iros.2015.7353107 dblp:conf/iros/RaiolaLS15 fatcat:bqbbqcelonhnfmlxggcj4wfebe

Editorial Recent Development in Nanoscale Manipulation and Assembly

N. Xi, W.J. Li
2006 IEEE Transactions on Automation Science and Engineering  
"CAD Guided Automated Nano-Assembly Using Atomic Force Microscopy" presents a new approach to integrate computer-aided design with the atomic force microscopy-based nanoassembly.  ...  for parallel assembly of CNTs [8] .  ... 
doi:10.1109/tase.2006.878878 fatcat:px3ckck2ojepjfx3cpbsqhekg4

Introduction [chapter]

Shanmugamurthy Lakshmanan
2014 Nanoscopic Electrofocusing for Bio-Nanoelectronic Devices  
This book will give an overview of how this novel technology can be manipulated to make nanoscale devices using a variety of nanoparticles.  ...  field-guided assembly.  ... 
doi:10.1088/978-1-6270-5429-4ch1 fatcat:gngsk4ddtjc7hmto5y3f77k3i4

Self-Assembly in Micro- and Nanofluidic Devices: A Review of Recent Efforts

Hwa Seng Khoo, Cheng Lin, Shih-Hao Huang, Fan-Gang Tseng
2011 Micromachines  
Emphasis is placed on the salient aspects of this technology in terms of the types of micro-and nanomaterials being assembled, the principles and methodologies, as well as their novel applications.  ...  Self-assembly in micro-and nanofluidic devices has been the focus of much attention in recent years.  ...  The assembled CNT is finally aligned parallel to the flow direction by fluidic shear force.  ... 
doi:10.3390/mi2010017 fatcat:ydgvmkiquzbdvnllz7mgbgzjfe

Large-area optoelastic manipulation of colloidal particles in liquid crystals using photoresponsive molecular surface monolayers

A. Martinez, H. C. Mireles, I. I. Smalyukh
2011 Proceedings of the National Academy of Sciences of the United States of America  
We characterize the strength of optically guided elastic forces and discuss the potential uses of this noncontact manipulation in fabrication of novel optically-and electrically-tunable composites from  ...  This permits the centimeter-scale, massively parallel manipulation of particles and complex colloidal structures that can be dynamically controlled by changing illumination or assembled into stationary  ...  We characterize the strength of optically guided elastic forces and discuss the potential uses of this noncontact manipulation in fabrication of novel optically-and electrically-tunable composites from  ... 
doi:10.1073/pnas.1112849108 pmid:22160673 pmcid:PMC3248499 fatcat:m32garmkezb5daqqoxxolfdwdy

Optimal design of a 3-PUPU parallel robot with compliant hinges for micromanipulation in a cubic workspace

Yuan Yun, Yangmin Li
2011 Robotics and Computer-Integrated Manufacturing  
In this paper, a novel macro/micro 3-DOF parallel platform is proposed for micro positioning applications.  ...  Finally, based on the analysis of parasitic rotations and usable workspace of micro motion, an optimization for the parallel manipulator is presented.  ...  A dual parallel manipulator using flexure hinges will be developed, which synthesizes both micro positioning manipulation in a large workspace and active vibration isolation for future possible use in  ... 
doi:10.1016/j.rcim.2011.05.001 fatcat:u6sxbdcxqjfg7k4u6jrubb544e

Variable Compliance Control for Robotic Peg-in-Hole Assembly: A Deep Reinforcement Learning Approach [article]

Beltran-Hernandez Cristian Camilo, Damien Petit, Ixchel G. Ramirez-Alpizar, Kensuke Harada
2020 arXiv   pre-print
Industrial robot manipulators are playing a more significant role in modern manufacturing industries.  ...  Though peg-in-hole assembly is a common industrial task which has been extensively researched, safely solving complex high precision assembly in an unstructured environment remains an open problem.  ...  [17] used DDPG combined with guided policy search (GPS) [18] to learn high-precision assembly tasks. Luo et al. [19] also used GPS to learn a peg-in-hole tasks on a deformable surface.  ... 
arXiv:2008.10224v2 fatcat:qqsyum7m6falxdjsuiw662676a

Virtual and Physical Prototyping of Reconfigurable Parallel Mechanisms with Single Actuation

Alexey Fomin, Daniil Petelin, Anton Antonov, Victor Glazunov, Marco Ceccarelli
2021 Applied Sciences  
The paper presents novel models of reconfigurable parallel mechanisms (RPMs) with a single active degree-of-freedom (1-DOF).  ...  The designing and assembling algorithms are developed using the detailed computer-aided design (CAD) model, which was further used to carry out kinetostatic analysis considering complex geometry of mechanism  ...  Authors of [16] show a 3-DOF parallel manipulator designed as a tripod. This manipulator can be used as a leg for walking systems.  ... 
doi:10.3390/app11157158 fatcat:p6a65vfswvbivjsh2id6o4vufu

Accelerating Robot Learning of Contact-Rich Manipulations: A Curriculum Learning Study [article]

Cristian C. Beltran-Hernandez, Damien Petit, Ixchel G. Ramirez-Alpizar, Kensuke Harada
2022 arXiv   pre-print
Based on this study, we propose a method that significantly outperforms previous work, which uses DR only (No CL is used), with less than a fifth of the training time (samples).  ...  This paper presents a study for accelerating robot learning of contact-rich manipulation tasks based on Curriculum Learning combined with Domain Randomization (DR).  ...  The inner loop has an adaptive compliance controller; we choose to use a parallel position-force controller that was proven to work well for this kind of contact-rich manipulation tasks [23] .  ... 
arXiv:2204.12844v2 fatcat:sktvyti53jcj3hzhi3vx7l63yq

Hybrid Parallel Robot for the Assembling of ITER [chapter]

Huapeng Wu, Heikki Handroos, Pekka Pessi
2008 Parallel Manipulators, towards New Applications  
The parallel manipulators have many potential advantages compared with the conventional serial link manipulators.  ...  Stewart [1] presented the novel idea of sixdegree-of-freedom parallel robot in 1960's.  ...  Hybrid Parallel Robot for the Assembling of ITER, Parallel Manipulators, towards New Applications, Huapeng Wu (Ed.), ISBN: 978-3-902613-40-0, InTech, Available from:  ... 
doi:10.5772/5439 fatcat:miya27rl2naanhnv7vf44bkuce

Directed Self-Assembly: Expectations and Achievements

Prashant Kumar
2010 Nanoscale Research Letters  
Directed self-assembly seems to be a promising technique in this regard; which can work as a bridge between the top-down and bottom-up approaches.  ...  This article reviews how directed self-assembly as a technique has grown up and outlines its future prospects.  ...  Open Access This article is distributed under the terms of the Creative Commons Attribution Noncommercial License which permits any noncommercial use, distribution, and reproduction in any medium, provided  ... 
doi:10.1007/s11671-010-9696-9 pmid:20730077 pmcid:PMC2920426 fatcat:zhhq3w5d55bchkkcmk66ig7iae

Establishing Digital Recognition and Identification of Microscopic Objects for Implementation of Artificial Intelligence (AI) Guided Microassembly [article]

Tuo Zhou, Shih-Yuan Yu, Matthew Michaels, Fangzhou Du, Lawrence Kulinsky, Mohammad Abdullah Al Faruque
2021 arXiv   pre-print
The research in this paper presents a novel phenomenological approach to directed micro-assembly through the use of artificial intelligence to correlate micro-particle movement via dielectrophoretic and  ...  Alternatively, parallel self-assembly or directed-assembly techniques can be employed by utilizing forces dominant at the micro and nano scales such as electro-kinetic, thermal, and capillary forces.  ...  An alternative method for micro-assembly is guided, or directed, assembly in which many microparts can be assembled in parallel.  ... 
arXiv:2107.10823v1 fatcat:vlh4rvpbjbgwpj6wc7v6uvjtvm

Template-assisted assembly of electrospun fibers

Yiquan Wu, Zexuan Dong, Scott Wilson, Robert L. Clark
2010 Polymer  
The template-assisted electrospinning approach is demonstrated using polycaprolactone (PCL) fibers to produce patterns including alphanumeric characters and a printed electronic circuit chip, with feature  ...  Ordinarily, the electrospinning process generates one-dimensional fibers which assemble into nonwoven membrane structures due to instabilities in the fluid jet.  ...  The electrostatic force was a key factor in guiding the charged fibers to the desired locations.  ... 
doi:10.1016/j.polymer.2010.04.039 fatcat:zyhz6isatbd65crwmdp2fnuiq4
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