Continuum robots with their inherent compliance provide the potential for crossing narrow unstructured workspace and safely grasping various objects. However, display gripper increases size of robots, therefore, it tends to get stuck in constrained environments. This paper proposes a versatile continuum robot (CGR) concealable gripper. The CGR can capture large objects respect robot's scale using manipulator grasp end especially workspaces. To perform cooperative operation manipulator,...

Soft robotics have advantages over the traditional rigid ones to achieve bending motion but face with challenges realize rapid and long-distance linear due lack of a suitable actuation system. In this paper, new explosion-based soft robot is proposed generate axial fast extension by explosion pressure. To support predict performance robot, novel dynamic model developed considering change working fluid (molecular numbers) some unavoidable influential factors in combustion process. Then, based...

Parallel kinematic manipulators (PKMs) are increasingly used in a wide range of industrial applications due to the characteristics high accuracy and compact structure. However, most existing PKMs structured with heavy actuators stiffness. In this respect, article proses simple, yet effective, parallel manipulator that distinguishes itself through following basis. First, underactuation: it employs only single motor driving cable actuate its three legs. Second, novel foot location: uses smart...

The cerebral cortex plays an important role in human and other animal adaptation to unpredictable terrain changes, but little was known about the functional network among cortical areas during this process. To address question, we trained 6 rats with blocked vision walk bipedally on a treadmill random uneven area. Whole-brain electroencephalography signals were recorded by 32-channel implanted electrodes. Afterward, scan from all using time windows quantify connectivity within each window...

The shape memory alloy (SMA) is increasingly utilized among many industrial and civil applications as it small in size but mighty output. However, most of the current SMA-based mechanisms face with low controllability or bulk dimension. In this paper, a novel flexible SMA wire-based gripper developed to address these challenges for improving clamping stability stroke confined operation. To achieve this, long wire was spaced smartly within miniature space increase output, further, improve (14...

Abstract Snake robots have been widely used in challenging environments, such as confined spaces. However, most existing snake with large length/diameter ratios low stiffness, and this limits their accuracy utility. To remedy this, a novel ‘macro-micro’ structure aided by new comprehensive stiffness regulation strategy is proposed paper. This improves the positional when operating deep Subsequently, for regulating of system then developed, along kinetostatic model error prediction. The...

Continuum robots are increasingly being used in industrial and medical applications due to their high number of degrees freedom (DoF), large workspace ability operate dexterously. However, the positional accuracy conventional continuum with a backbone structure is usually low stiffness often-lengthy driving cables/tendons. Here, this problem has been solved by integrating additional mechanisms adjustable within robot improve its mechanical performance, thus enabling it be operated payloads....

Based on the Lyapunov theory as breakthrough point, and based fractional order system stability properties of nonlinear system, a kind fractional-order chaotic is proposed to determine whether new theorem stable, used for control synchronization systems, gives mathematical proof process strictly ensure correctness method general applicability. Then achieve projective Lorenz with Liu well four-dimensional hyperchaos systems different structures. In solving balance point index are avoided,...

The flying style of bats has much difference with the birds and insects, which adopt backward folding movement wing when up flapping. wingspan is changed during down flapping, makes effective flapping area net lift increase. Firstly, basing on research bats’ style, mechanism active morphing proposed, then dimensional synthesis carried out trajectory wing, after that, kinematic model build analyzed, analysis result compared ADAMS software. actuated by a single motor, can increase power...

An experimental and numerical investigation into the structural performance of reinforced concrete box sewers with typical corrosion-related extreme defects localized at ceiling was conducted. Firstly, during large-scale laboratory test, some key responses were captured evaluated, including crack width development process (via digital image correlation measurement), deflection, material strains both complete defective boxes. The failure modes load-carrying mechanism throughout specimen...

Abstract Parallel manipulators are increasingly utilized in extensive industrial applications due to their high accuracy, compact structure, and significant stiffness characteristics. However, most of the time, massive actuators involved constructing controlling a parallel manipulator, which burdens structure design controller development. In this paper, novel underactuated positioning system been built by different sets linear motion units (defined as lines) is proposed, enabling actuate...

<p><i>Abstract</i>—Continuum robots are increasingly used in a wide range of industrial applications due to their slender body and high redundancy, making them ideal for intervention confined environments. However, most the existing continuum operate with backbone cantilever configuration, resulting limited accuracy at tip because low stiffness. This paper proposes new method improve stiffness robots, characterized by: (1) modular section adjustable (MSAS), able inflate its...

Abstract The rotational joint plays a vital role in the industrial and civil areas, which is typically utilized to achieve relative rotation between adjacent parts. Generally, structuring conventional involves bulk actuators (e.g., motor hydraulic cylinders) complex structures, bringing difficulty for miniaturing dimension. In this paper, class of novel mechanisms, were constructed by combination compliant mechanisms cartwheel pivot multileaf pivot) intelligent actuator shape memory alloy...

In situ repair and maintenance of high-value industrial equipment is critical if they are to maintain the ability continue vital operations. Conventional single-arm continuum robots have been proven numerous times be successful tools for use in However, often more than one arm needed ensure operation within several scenarios; thus, collaborative multiple arms required. Here, we present design operating principles a dual-arm robot system designed perform tasks settings. presented principle...

<p><i>Abstract</i>—Continuum robots are increasingly used in a wide range of industrial applications due to their slender body and high redundancy, making them ideal for intervention confined environments. However, most the existing continuum operate with backbone cantilever configuration, resulting limited accuracy at tip because low stiffness. This paper proposes new method improve stiffness robots, characterized by: (1) modular section adjustable (MSAS), able inflate its...

Within various unstructured industrial environments, there is often the requirement to conduct remote engineering tasks, such as sampling structure for analysis prior decommissioning. Most existing tools are simply not dexterous enough fulfil this task, and thus new technology required. We describe here a simple, lightweight, water-resistant collaborative dual-arm continuum robot system which can aid in task. To improve kinematic accuracy of system, class flexible hinges have been combined...

This paper studied the fatigue behavior of near alpha titanium alloy TA11 under multiaxial loading conditions with tension - bending vibration, to simulate service stress state applied on engine blades, where a large centrifugal force is superimposed vibration loads. A plate-like specimen was used in tests different ratios between and loads, then, energy based criteria were for correlation test results. The properties specialized are characterized discussed.

This paper studied the effect of ratio between axial tensile force and transversal vibration loads on fatigue behavior failure mode near alpha titanium alloy TA11, to simulate service stress state applied engine blades, where a large centrifugal is superimposed with bending loads. The plate-like specimens were used in tests by special testing device which was designed fabricated present research,where electro-magnetic exciters. By experiments under various multi-axial loading cases different...

The paper presents a new stability theorem based on the Lyapunov theory to synchronize fractional-order chaotic system. It can two different systems in systematic way avoiding solving equilibrium points and exponents. proposed controller has simple structure is designed easily. Two numerical simulations are presented verify simulation results illustrate effectiveness of method.