Development of a novel soft parallel robot equipped with polymeric artificial muscles

This paper presents the design, analysis and fabrication of a novel low-cost soft parallel robot for biomedical applications, including bio-micromanipulation devices. The robot consists of two active flexible polymer actuator-based links, which are connected to two rigid links by means of flexible joints. A mathematical model is established between the input voltage to the polymer actuators and the robot's end effector position. The robot has two degrees-of-freedom, making it suitable for handling planar micromanipulation tasks. Moreover, a number of robots can be configured to operate in a cooperative manner for increasing micromanipulation dexterity. Finally, the experimental results demonstrate two main motion modes of the robot.

Weldability and machinability of duplex stainless steel

This chapter investigates two important processing methods, such as welding and machine of duplex stainless steel. The welding process welding generally degrades the properties of these materials by redistributing the phases during melting and solidification. On the other hand, the redistribution during machining mainly take place combined effect of stress, strain rate and temperature. Mechanism of machining process and several welding methods has been analysed in details. It was found that outcomes of welding processes depend on the welding methods. Most of the cases an appropriate annealing process can be used to restore the expected properties of the weld joints though the parameters of annealing process are different in different welding methods. Nonmetallic inclusions and the low carbon content of duplex stainless steel reduce the machinability of duplex stainless steel. SEM and optical microscopic details of the frozen cutting zone and chips revealed that the harder austenite phase dissipates in the advancement of the cutting tool, being effectively squeezed out of the softer ferrite phase. Abrasion and adhesion were the most common wear modes developed on the flank and rake faces. Adhesion wear being the most prevalent on the flank face, appeared to be initiated by built-up edge formation.

The influence of various seat design parameters: a computational analysis

Nowadays, low back pain becomes a common healthcare problem. Poor or unsuitable seat design is related to the discomfort and other healthcare problems of users. The aim of this study is to investigate the influence of seat design variables on the compressive loadings of lumbar joints. A basis that includes a musculoskeletal human body model and a chair model has been developed using LifeMOD Biomechanics Modeller. Inverse and forward dynamic simulations have been performed for various seat design parameters. The results show that the inclination of backrest and seat pan may or may not decrease the compressive spinal joint forces, depending on other conditions. The medium-level height and depth of seat pan and the medium-level and high-level height of backrest are found to cause the minimum compressive loads on lumbar joints. This work contributes to a better understanding of sitting biomechanics and provides some useful guidelines for seat design.