Haptics interface for modelling and simulation of flexible cables

Virtual reality systems are becoming a must for product and process design, training practices and ergonomic analysis in many manufacturing industries. The automotive sector is considered to be the leader in applying virtual reality (VR) solutions for real-world, non-trivial, problems. Although, a number of commercial 3D engineering tools for digital mockups exist, most of them lack intuitive direct manipulation of the digital mockups. The majority of these 3D engineering tools are constrained to the interaction mainly with rigid objects which is just half the story. To bridge this gap, we have developed a haptics interface for modelling and simulation of flexible objects. The graphical and haptic user interface developed allows the creation of multiple one dimensional (1D) flexible objects, such as hoses, cables and harnesses. The user is required to provide the mechanical properties of the material such as Young's modulus, Poisson's ratio, material density, damping factors, as well as dimensional properties such as length, and inner and outer diameters of the flexible object. Flexilution solver is employed to estimate and simulate the dynamic behaviour of flexible objects in response to external user interaction, whereas Nvidia's generic physics engine is used to simulate the behaviour of rigid objects. A generic communication interface is developed to accommodate a variety of devices without the reconfiguration of the simulation platform.

Optical microsensor for counting food substance particles in lab-on-a-chips

Integrated optical detection is considered to be an important operation in lab-on-a-chips. This paper presents an optical fiber-based micro-sensor that is capable of detecting food substance particles in a lab-on-a-chip. The system consists of a microcontroller and associated circuitry, a laser emitter, a laser receiver, fiber optic cables, a microfluidics chip, and the food substance samples to be tested. When the particles flow through the microfluidic channel in the chip, the receiver’s output voltage varies due to the particles blocking the passage of the laser ray. The changes in the collected signals are analyzed to count the number of particles. Experiments are conducted on several food substance samples including talcum powder, ground ginger, and soy sauce. The experimental results are presented and discussed.

Kinematic analysis and workspace determination of hexarot-a novel 6-DOF parallel manipulator with a rotation-symmetric arm system

Parallel mechanisms possess several advantages such as the possibilities for high acceleration and high accuracy positioning of the end effector. However, most of the proposed parallel manipulators suffer from a limited workspace. In this paper, a novel 6-DOF parallel manipulator with coaxial actuated arms is introduced. Since parallel mechanisms have more workspace limitations compared to that of serial mechanisms, determination of the workspace in parallel manipulators is of the utmost importance. For finding position, angular velocity, and acceleration, in this paper, inverse and forward kinematics of the mechanism are studied and after presenting the workspace limitations, workspace analysis of the hexarot manipulator is performed by using MATLAB software. Next, using the obtained cloud of points from simulation, the overall borders of the workspace are illustrated. Finally, it is shown that this manipulator has the important benefits of combining a large positional workspace in relation to its footprint with a sizable range of platform rotations.

Fabrication of multifunctional graphene decorated with bromine and nano-Sb₂O₃ towards high-performance polymer nanocomposites

Despite great advances, it remains highly attractive but challenging to create high-performance polymeric materials combining excellent flame-retardancy and outstanding thermal, mechanical and electrical properties. We herein demonstrate a novel strategy for fabricating a multifunctional nano-additive (Br-Sb2O3@RGO) based on graphene decorated with bromine and nano-Sb2O3. Cone calorimetric tests show that incorporating 10 wt% Br-Sb2O3@RGO into thermoplastic polyurethane (TPU) strikingly prolongs the time to ignition and decreases the peak heat release rate by 72%. Besides, tensile strength and Young's modulus are enhanced by 37% and 820%, respectively. Meanwhile, the electric conductibility is increased by eleven orders of magnitude relative to the TPU matrix. This work provides a promising strategy for addressing the critical bottleneck with the existing flame retardants that only enhance flame retardancy at the expense of mechanical properties of polymeric materials. As-prepared high-performance TPU composites are expected to find many applications, especially in aerospace, tissue engineering, and cables and wires.