Design and Control of Robotic Hands

The application of dexterous robotic hands out of research laboratories has been limited by the intrinsic complexity that these devices present. This is directly reflected as an economically unreasonable cost and a low overall reliability. Within the research reported in this thesis it is shown how the problem of complexity in the design of robotic hands can be tackled, taking advantage of modern technologies (i.e. rapid prototyping), leading to innovative concepts for the design of the mechanical structure, the actuation and sensory systems. The solutions adopted drastically reduce the prototyping and production costs and increase the reliability, reducing the number of parts required and averaging their single reliability factors. In order to get guidelines for the design process, the problem of robotic grasp and manipulation by a dual arm/hand system has been reviewed. In this way, the requirements that should be fulfilled at hardware level to guarantee successful execution of the task has been highlighted. The contribution of this research from the manipulation planning side focuses on the redundancy resolution that arise in the execution of the task in a dexterous arm/hand system. In literature the problem of coordination of arm and hand during manipulation of an object has been widely analyzed in theory but often experimentally demonstrated in simplified robotic setup. Our aim is to cover the lack in the study of this topic and experimentally evaluate it in a complex system as a anthropomorphic arm hand system.

Analisi della correlazione tra i parametri di processo e le prestazioni dei materiali polimerici ottenuti tramite fused deposition modeling

Questa tesi si propone di realizzare una caratterizzazione del polimero ABS ottenuto con tecnica Fused Deposition Modeling in modo da ottenere dati utili alla realizzazione di parti strutturali tramite rapid prototyping.

Energy harvesting from piezoelectric devices embedded in a 3D printed wing

This thesis work has been carried out at Clarkson University in Potsdam NY, USA and involved the design of a low elongation wing, consisting of parts made by polylactide (PLA) using the fused deposition model (FDM) technology of Rapid Prototyping, then assembled together in a thin aluminum spar. The aim of the research is to evaluate the feasibility of collecting electrical energy by converting mechanical energy from the vibration of the wing flutter. With this aim piezoelectric stripes were glued in the inner part of the wing, as well as on the aluminum spar, as monomorphic configuration. During the phases of the project, particular attention was given to the geometry and the materials used, in order to trigger the flutter for low flow velocity. The CAD software SolidWorks® was used for the design of the wing and then the drawings were sent to the Clarkson machine shop in order to to produce the parts required by the wing assembly. FEM simulations were performed, using software MSC NASTRAN/PATRAN®, to evaluate the stiffness of the whole wing as well as the natural vibration modes of the structure. These data, in a first approximation, were used to predict the flutter speed. Finally, experimental tests in the Clarkson wind tunnel facility were carried out in order to validate the results obtained from FEM analysis. The power collected by the piezoelectrics under flutter condition was addressed by tuning the resistors downstream the electronic circuit of the piezoelectrics.

Getting in touch-3D printing in Forensic Imaging

With the increasing use of medical imaging in forensics, as well as the technological advances in rapid prototyping, we suggest combining these techniques to generate displays of forensic findings. We used computed tomography (CT), CT angiography, magnetic resonance imaging (MRI) and surface scanning with photogrammetry in conjunction with segmentation techniques to generate 3D polygon meshes. Based on these data sets, a 3D printer created colored models of the anatomical structures. Using this technique, we could create models of bone fractures, vessels, cardiac infarctions, ruptured organs as well as bitemark wounds. The final models are anatomically accurate, fully colored representations of bones, vessels and soft tissue, and they demonstrate radiologically visible pathologies. The models are more easily understood by laypersons than volume rendering or 2D reconstructions. Therefore, they are suitable for presentations in courtrooms and for educational purposes.

Anisotropic Mechanical Properties of ABS Parts Fabricated by Fused Deposition Modelling

In recent years, layered manufacturing (LM) processes have begun to progress from rapid prototyping techniques towards rapid manufacturing methods, where the objective is now to produce finished components for potential end use in a product (Caulfield et al., 2007). LM is especially promising for the fabrication of specific need, low volume products such as replacement parts for larger systems. This trend accentuates the need for a thorough understanding of the associated mechanical properties and the resulting behavior of parts produced by layered methods. Not only must the base material be durable, but the mechanical properties of the layered components must be sufficient to meet in-service loading and operational requirements, and be reasonably comparable to parts produced by more traditional manufacturing techniques. This chapter presents the details of a study completed to quantitatively analyze the potential of fused deposition modelling to fully evolve into a rapid manufacturing tool. The project objective is to develop an understanding of the dependence of the mechanical properties of FDM parts on raster orientation and to assess whether these parts are capable of maintaining their integrity while under service loading. The study examines the effect of fiber orientation, i.e. the direction of the polymer beads relative to the loading direction of the part, on a variety of important mechanical properties of ABS components fabricated by fused deposition modeling. Tensile, compressive, flexural, impact, and fatigue strength properties of FDM specimens are examined, evaluated, and placed in context in comparison with the properties of injection molded ABS parts.

Präzisionsguss auf Basis von RP-Matritzen

Einige mit geringen Schichtstärken arbeitende Concept Modellierer und Rapid Prototyping Anlagen können Modelle für das Feingießverfahren mit verlorenem Modell erzeugen. Verkörpern die verlorenen Modelle die Geometrie von Formeinsätzen für Spritzgießwerkzeuge, können über den Feinguss Formeinsätze aus Aluminium hergestellt werden. Untersuchungen zielten dabei auf die detailgetreue Umsetzung filigraner Teile mit Freiformgeometrien. Kleine Abmessungen im Grenzbereich zwischen klassischem Formenbau und Mikrofertigung wurden dabei realisiert. Das Fräsen dieser Formeinsätze oder Elektroden ist zum Teil nicht möglich oder führt zu erhöhtem Aufwand. Gleichzeitig konnten sehr kurze Durchlaufzeiten erreicht werden. Auf demselben Weg konnten auch Senkerodierelektroden gegossen werden, die beim Aufbau von Werkzeugen höherer Lebensdauer genutzt wurden. Werden unterschiedliche Varianten oder mehrere identische Einsätze oder Elektroden zum Beispiel für Mehrfachwerkzeuge benötigt, werden die Zeitvorteile noch deutlicher. Die Funktion beider dargestellter Wege konnte durch den Spritzguss von Versuchsserien erfolgreich demonstriert werden.

Formflexible Werkzeuge für den Spritzguss – Lösungsansatz zur wirtschaftlichen Anwendung des Spritzgießens bei kleinen Losgrößen

Die derzeitige Marktentwicklung hin zu individualisierten Produkten führt auch im Werkzeug- und Formenbau zu reduzierten Stückzahlen. Die Wirtschaftlichkeit des Spritz- oder Druckgießens ist eingeschränkt durch hohe Werkzeugkosten, die teilweise nur auf eine geringe Anzahl von Bauteilen umgelegt werden können. Lösungsmöglichkeiten durch Modularisierung bzw. Standardisierung von Werkzeugsegmenten bieten nur eine eingeschränkte Wiederverwendbarkeit der Werkzeuge. Aus dieser Situation heraus werden am iwb (Institut für Werkzeugmaschinen und Betriebswissenschaften) Anwenderzentrum Augsburg der Technischen Universität München (TUM) formflexible Werkzeuge für den Spritzguss entwickelt, die dem Anspruch genügen, verschiedene Geometrien mit dem gleichen Werkzeug abzuformen. Bei dem im Folgenden beschriebenen Ansatz wird die Formflexibilität durch ein einstellbares Nadelpaket realisiert, das beliebig oft justiert werden kann. Die so gewonnene Wiederverwendbarkeit des Werkzeugkonzepts garantiert den wirtschaftlichen Einsatz des Spritzgießens bei kleinen Losgrößen und stellt eine neue Möglichkeit des Prototypenwerkzeugbaus im Anwendungsgebiet Spritzgießen dar.