This paper proposes a stretch-retractable single-section (SRSS) continuum manipulator. Its backbone is composed by series of springs. Thus, this manipulator owns feature large-scale ability. With such feature, different from traditional which distal end moves in curved surface, the presented manipulator's has solid work space. The kinematic model including variable parameter length was established, and workspace analyzed, with driving strategy proposed. prototype made out based on concept...

BACKGROUND:Braided stents, such as Pipeline Embolization Device (PED; ev3 Neurovascular, Irvine, CA, USA), are commonly used to treat cerebral aneurysms. However, little information is available on the compression and bending characteristics of stents. OBJECTIVE:This paper investigates how geo metrical parameters braided stents influence their radial characteristics. METHODS:Six groups stent models with different braiding angles, numbers wires wire diameters constructed. Parametric analyses...

To evaluate the influence of deployment strategy on mechanical interaction between braided stent and parent artery intracranial aneurysm (the elasticity arterial wall is considered), finite-element analyses are carried out by referring to computational models flow-diverter device wall. Two implantation strategies used virtually implant into ideal model. One noncompacted method, other method using push-pull technique. During process implantation, changes shape around pressure at contact area...

Purpose The purpose of this paper is to present a novel stretch-retractable single section (SRSS) continuum manipulator which owns three degrees freedom and higher motion range in three-dimension workspace than regular manipulator. Moreover, the accuracy was analyzed based on kinematic model. In addition, experiments were carried out for validation theory. Design/methodology/approach A kinematics model SRSS presented analysis bending, rotating retracting its workspace. To discuss...

The cooperation between two master-slave modular robots is studied in the paper. A cooperative robot system set up with and a dynamic optical meter-OptoTrak. With OptoTrak, position of end actuators measured as feedback, which used to adjust actual positions. tri-layered motion controller designed for robots. kinematics constraints including pose, joint velocity acceleration constraints, can cooperate well. bolt screw assembly experiment executed verify methods.

In recent years, the research and development of piezoelectric pumps have become an increasingly popular topic. Minimization, structure simplification stronger output became focus due to its possible application in MEMS technology. The valveless fishtailing pump with rectangular vibrator, neither a volumetric nor rotating pump, was invented according bionics fish swimming. Assume were still while tail swinging, fluid would flow toward end tail, achieving function as pump. This type creates...

A new fuzzy method for the motion control of underactuated robots is proposed in this paper. The objective to move end-effector from a given position target point. controller present. best rules and optimal membership functions are automatically generated off-line by global optimization genetic algorithm. Because does not make any hypothesis about degree freedom unconsidering rigorous linearizations original nonlinear system, it can be used without modification arms with large number...

Purpose The purpose of this paper is to present a stretched backboneless continuum manipulator, which aims provide sufficient inner room for potential transportation objects or fixture necessary devices, and reduce the number motors reduction weight system. Design/methodology/approach A mathematical model presented manipulator established in paper. To verify theory, position free end was recorded by high-resolution digital camera experiment. According comparison experimental values...

Traditional valveless piezoelectric pumps are difficult to be minimized for its special tubes installed outside the chamber. Moreover, effect of mixing different kinds liquid is not good. In order improve configuration and performance o

The valve-less piezoelectric pump is more suitable for minimization and microminiaturization than the valve pump, especially microelectromechanical system (MEMS) because of its simple structure. However, in order to control flow direction fluid through some assembles have be attached outside chamber. And it no doubt that these will take space hinder further microminiaturization. In this paper, a novel valveless with unsymmetrical corrugation chamber bottom (UCCB) presented. It ingeniously...

This paper describes a novel valveless piezoelectric pump which utilizes the unsymmetrical slopes element (USE) inside chamber to produce net flow. Firstly, pumping principle of proposed is analyzed. The flow resistances take different values when liquid flows in opposite direction, owing asymmetry structure element. As result, produced. Secondly, numerical models are established, and simulation on fields chambers carried out. Finally, experiments implemented verify validity reliability...

A new approach of fast collision-free motion planning for underactuated robots based on genetic algorithm is proposed. The collision avoidance problem formulated and solved as a position-based force control problem. Virtual generalized representing the intrusion arm into obstacle dangerous zone computed in real time using virtual spring-damper model. partly stable controllers are adopted energy fitness function built, then best switching sequence obtained by algorithm. Because proposed...