A5089328213- Soft Robotics and Applications
- Fatigue and fracture mechanics
- Modular Robots and Swarm Intelligence
- Robot Manipulation and Learning
- Mechanical Behavior of Composites
- Innovations in Concrete and Construction Materials
- Additive Manufacturing and 3D Printing Technologies
- Turbomachinery Performance and Optimization
- Heat Transfer Mechanisms
- Composite Structure Analysis and Optimization
- Numerical methods in engineering
- Probabilistic and Robust Engineering Design
- BIM and Construction Integration
- Material Properties and Applications
- Tribology and Lubrication Engineering
- High-Velocity Impact and Material Behavior
- Non-Destructive Testing Techniques
- Structural Health Monitoring Techniques
- Material Properties and Failure Mechanisms
- Building materials and conservation
- Prosthetics and Rehabilitation Robotics
- Teleoperation and Haptic Systems
- Micro and Nano Robotics
- Nanofluid Flow and Heat Transfer
- Aeroelasticity and Vibration Control
Nanyang Technological University
2019-2025
Georgia Institute of Technology
1995-1998
Abstract The manufacturing industry has witnessed advancements in soft robotics, specifically robotic grippers for handling fragile or irregular objects. However, challenges remain balancing shape compliance, structural rigidity, weight, and sensor integration. To address these limitations, a 3D‐printed multimaterial gripper design is proposed. This approach utilizes single, nearly fully automated 3D printing process to create universal with almost no assembly work. By processing functional...
In this work, a novel theoretical model of the void length probability distribution in 3D printed concrete is established based on zigzag analog layer interface. A quasi-exponential predicted and subsequently validated both actual concrete, with different ratios that determine descending rate node intervals decide horizontal scaling distribution. Moreover, relationships between interlayer strength, ratio, quantity voids are also studied model. It found symmetric about ratio 0.5, decrease...
Efficiently picking up multiple objects is an emergent challenge for soft robotics. Our work focused on a novel gripper in one grasping trial. The contacted softly with elastic wires pre-stretch the finger skeletons. This integration created hybrid claw that inherited both stability of skeleton and interaction wire. wiring-claw was designed set conducting experimental evaluations seven kinds objects: craft sticks, glue bottles, tea packs, candy pieces, powder pyramids, spheres. outcomes...
In 3D concrete printing, layer interface and interlayer notch are generated by the layer-by-layer process. Therefore, printed is anisotropic with strength lower than strengths measured in other two directions. order to adequately address this issue, tooth-like adopted present study for higher strength. It found that tooth angle of 45° increases tensile shear 294% 89% respectively, shifts failure mode from pure adhesive a mixture cohesive failures. Moreover, theoretical model developed...
This paper addresses the challenge of providing kinesthetic feedback in bilateral teleoperation by designing a wearable, lightweight (20 g), and compact haptic device, HJ-Haptic, utilizing honeycomb jamming mechanism for object stiffness rendering. The HJ-Haptic device can vary its stiffness, from 1.15 N/mm to 2.64 N/mm, using 30 kPa vacuum pressure. We demonstrate implementation framework, enabling operators adjust grip force based on reliable stiffness. A three-point flexural test...
Our study presents a novel design for cable-driven robotic arm, emphasizing low cost, inertia movement, and long-term cable durability. The arm shares similar specifications with the UR5 featuring total of six degrees freedom (DOF) distributed in 1:1:1:3 ratio at base, shoulder, elbow, wrist, respectively. three DOF wrist joints are driven by system, heavy motors relocated from end-effector to shoulder base. This repositioning results lighter cable-actuated (weighing 0.8 kg), which enhances...
Nowadays, achieving the stable grasping of objects in robotics requires an increased emphasis on soft interactions. This research introduces a novel gripper design to achieve more universal object grasping. The key feature this was hybrid mechanism that leveraged structure provided by multiple granular pouches attached finger skeletons. To evaluate performance gripper, series experiments were conducted using fifteen distinct types objects, including cylinders, U-shaped brackets, M3 bolts,...
Demand of a lightweight robot arm for dexterously handling objects or working with low inertia has become new challenge in robotics. This paper comes up novel design low-inertia comprising 5 degrees freedom (DOF) 2 DOF at the wrist, 1 elbow, shoulder, and base. The wrist is driven by cable system, concurrently, all five motors actuating locate near shoulder center counterbalanced design. A decoupling mechanism without spring components was proposed to enhance stability during loading heavy...
Comparison with the experimental data has been carried out to determine ability of finite element alternating method in predicting fatigue response a cracked metallic panel partially debonded composite patch. A total 15 different specimens are considered this comparison. Some parameters that varied these include disbond location, area, initial crack length, maximum stress loading, and ratio. For all specimens, it found numerical results correlate very well when adhesive nonlinearity is...
In this paper, using a honeycomb-velcro structure to generate novel jamming gripper is explored. Each finger of the consists multi-layers with honeycomb sandwich acting as core wrapped by fabric sheet and sealed latex membrane. This can transit between unjammed (flexible) jammed (rigid) states thanks vacuum pressure. Various materials structure, fabric, reinforcements are investigated seek optimal combinations for making fingers. Then, such fingers deployed in experiments evaluate stiffness...
A numerical study is presented of the residual strength an aircraft fuselage in presence multiple site damage (MSD)/muItiple element damage. The analyses were carried out using a software package that was developed to facilitate automated full-scale panels with widespread fatigue damage, hierarchical approach and elastic-plastic finite alternating method. present shows importance fracture mechanics assessment two-bay longitudinal/circumferential lead cracks, without MSD, interaction between cracks.
Abstract Past experiments have consistently shown that V-shaped rib turbulators are among the best in heat transfer performance. While there is literature on V design various experimental studies, no shows applied any current turbine blades. Instead, straight and angled used. The only offers a marginally better performance over rib, but it has severe stress concentration at tip. In this research, multiple augmentations were analyzed, with addition of spline center exhibiting alleviation tip...