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Proceedings Papers

Mechatronic Design and Physical Prototyping of a Three-Fingered Gripper for Underwater Manipulation

Mario Baggetta, Giovanni Berselli, Gianluca Palli, Claudio Melchiorri
Proc. ASME. SMASIS2022, ASME 2022 Conference on Smart Materials, Adaptive Structures and Intelligent Systems, V001T03A014, September 12–14, 2022
Paper No: SMASIS2022-92010
DOI: https://doi.org/10.1115/SMASIS2022-92010
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Topics: Design, Grippers, Autonomous underwater vehicles, Tendons, Degrees of freedom, Dimensions, Engineering prototypes, Mechanical structures, Mechatronics, Robotics
Proceedings Papers

Design of a Compliant Industrial Gripper Driven by a Bistable Shape Memory Alloy Actuator

Dominik Scholtes, Stefan Seelecke, Gianluca Rizzello, Paul Motzki
Proc. ASME. SMASIS2020, ASME 2020 Conference on Smart Materials, Adaptive Structures and Intelligent Systems, V001T04A001, September 15, 2020
Paper No: SMASIS2020-2204
DOI: https://doi.org/10.1115/SMASIS2020-2204
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Topics: Actuators, Design, Grippers, Shape memory alloys, Bearings, Engineering prototypes, Sensors, Additive manufacturing, Bending (Stress), Density
Proceedings Papers

A Three-Row Opposed Gripping Mechanism With Radial Configuration for Wall-Climbing Robots

Chao Xie, Xuan Wu, Xiaojie Wang
Proc. ASME. SMASIS2019, ASME 2019 Conference on Smart Materials, Adaptive Structures and Intelligent Systems, V001T06A002, September 9–11, 2019
Paper No: SMASIS2019-5549
DOI: https://doi.org/10.1115/SMASIS2019-5549
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Topics: Robots, Linkages, Surface roughness, Gears, Grippers, Motor drives, Stress, Trajectories (Physics)
Proceedings Papers

Analytical Modeling of a Multifunctional Segmented Lithium Ion Battery Unimorph Actuator

Cody Gonzalez, Jun Ma, Mary Frecker, Christopher Rahn
Proc. ASME. SMASIS2018, Volume 2: Mechanics and Behavior of Active Materials; Structural Health Monitoring; Bioinspired Smart Materials and Systems; Energy Harvesting; Emerging Technologies, V002T06A009, September 10–12, 2018
Paper No: SMASIS2018-8123
DOI: https://doi.org/10.1115/SMASIS2018-8123
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Topics: Actuators, Lithium-ion batteries, Modeling, Anodes, Deflection, Circuits, Composite materials, Copper, Copper foil, Deformation
Proceedings Papers

Vacuum Gripper System Based on Bistable SMA Actuation

Felix Welsch, Susanne-Marie Kirsch, Paul Motzki, Marvin Schmidt, Stefan Seelecke
Proc. ASME. SMASIS2018, Volume 1: Development and Characterization of Multifunctional Materials; Modeling, Simulation, and Control of Adaptive Systems; Integrated System Design and Implementation, V001T04A014, September 10–12, 2018
Paper No: SMASIS2018-7980
DOI: https://doi.org/10.1115/SMASIS2018-7980
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Topics: Grippers, Vacuum, Wire, Membranes, Springs, Design, Electronics, Feedback, Heating, Levers
Proceedings Papers

Parametric Design of a Soft Gripper Actuated Using the Electrostrictive PVDF-Based Terpolymer

Wei Zhang, Jonathan Hong, Saad Ahmed, Zoubeida Ounaies, Mary Frecker
Proc. ASME. SMASIS2018, Volume 1: Development and Characterization of Multifunctional Materials; Modeling, Simulation, and Control of Adaptive Systems; Integrated System Design and Implementation, V001T01A006, September 10–12, 2018
Paper No: SMASIS2018-7966
DOI: https://doi.org/10.1115/SMASIS2018-7966
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Topics: Grippers, Parametric design, Deflection, Design, Finite element analysis, Actuators, Grasping, Biomedicine, Compliant mechanisms, Deformation
Proceedings Papers

Study of a Bioinspired Wall-Climbing Robot: Contact Mechanism and Performance

Xuan Wu, Gaowei Liu, Xiaojie Wang, Yanwei Liu, Tao Mei
Proc. ASME. SMASIS2017, Volume 1: Development and Characterization of Multifunctional Materials; Mechanics and Behavior of Active Materials; Bioinspired Smart Materials and Systems; Energy Harvesting; Emerging Technologies, V001T06A002, September 18–20, 2017
Paper No: SMASIS2017-3729
DOI: https://doi.org/10.1115/SMASIS2017-3729
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Topics: Biomimetics, Robots, Adhesives, Deformation, Engineering prototypes, Finite element methods, Ceilings, Design, Displacement, Grippers
Proceedings Papers

A Novel Mechanical-Mechanism Enhanced Thermomagnetic Tweezer Demonstrating Gripping of Ferromagnetic and Non-Ferromagnetic Objects

Hsin-Min Wang, Tien-Kan Chung, Chin-Chung Chen, Chih-Cheng Cheng, Chu-Yi Lin
Proc. ASME. SMASIS2015, Volume 2: Integrated System Design and Implementation; Structural Health Monitoring; Bioinspired Smart Materials and Systems; Energy Harvesting, V002T04A021, September 21–23, 2015
Paper No: SMASIS2015-9048
DOI: https://doi.org/10.1115/SMASIS2015-9048
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Topics: Ball bearings, Generators, Grippers, Magnets, Temperature
Proceedings Papers

Inverse-Motion-Based Modeling for Electromechanics With Application to Electrostrictive Polyurethane

Anna Ask, Ralf Denzer, Andreas Menzel, Matti Ristinmaa
Proc. ASME. SMASIS2012, Volume 2: Mechanics and Behavior of Active Materials; Integrated System Design and Implementation; Bio-Inspired Materials and Systems; Energy Harvesting, 167-173, September 19–21, 2012
Paper No: SMASIS2012-8049
DOI: https://doi.org/10.1115/SMASIS2012-8049
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Topics: Boundary-value problems, Deformation, Equations of motion, Finite element methods, Grippers, Modeling, Shapes, Stress, Urethane elastomers