Design Of Arm Research Articles

Design and analysis of lower control arm of suspension system

In automotive suspension, a control arm is a hinged suspension link between the chassis and the suspension or hub that carries the wheel. The chassis end of a control arm usually rubber busing, is attached by a single pivot. It controls the position of the tyre end in only a single degree of freedom, maintaining the radial distance from the chassis mount.The single bushing does not control the arm from moving back and forth; this motion is constrained by a separate link or radius rod. Wishbones are triangular and have two widely spaced chassis bearings, which constrain the tyre end of the wishbone from moving back and forth, controlling two degrees of freedom, and without requiring additional links. Most control arms form the lower link of a suspension with few designs using them as the upper link, usually with a lower wishbone. The lower arm should be sturdy, in many cases reported by the users of a particular vehicle, fluttering noise heard over the humps.This paper calculates the forces acting on the lower arm of a four-wheeler with critical loading conditions as the Finite Element Analysis carried for the McPherson type suspension system. The static analysis performed to determine the location of maximum deflection and stress distribution while the vehicle is stationary and moving over the hump at different speeds. The free-free and constrained modal analysis performed on the suspension arm to find the natural frequency. The fatigue analysis performed to find the life of the arm. Further, by performing topological optimization leads to reduction in the weight.

Small-scale Robot Arm Design with Pick and Place Mission Based on Inverse Kinematics

Robot arm is often used in industry with various tasks, one of which is a pick and place. Rapid prototyping of robot arms is needed to facilitate the development of many industrial tasks, especially on a laboratory scale. This study aims to design a small-scale three degree of freedom (3-DoF) robot arm for pick and place mission using the inverse kinematics method. The mechanical robotic arm system is designed using Solidworks with four servo motors as the actuator. Arduino Mega 2560 is used as a microcontroller in which the inverse kinematic method is embedded. This method is used to move the robot based on the coordinates of the destination pick and place. The test results show that the robot arm can carry out the pick and place mission according to the target coordinates given with the largest average error of about 5 cm. While the error generated between the calculation and computation results is around 3%.

Small-scale Robot Arm Design with Pick and Place Mission Based on Inverse Kinematics

Robot arm is often used in industry with various tasks, one of which is a pick and place. Rapid prototyping of robot arms is needed to facilitate the development of many industrial tasks, especially on a laboratory scale. This study aims to design a small-scale three degree of freedom (3-DoF) robot arm for pick and place mission using the inverse kinematics method. The mechanical robotic arm system is designed using Solidworks with four servo motors as the actuator. Arduino Mega 2560 is used as a microcontroller in which the inverse kinematic method is embedded. This method is used to move the robot based on the coordinates of the destination pick and place. The test results show that the robot arm can carry out the pick and place mission according to the target coordinates given with the largest average error of about 5 cm. While the error generated between the calculation and computation results is around 3%.

A gravity balancing assistant arm design in 3-D for rehabilitation of stroke patients

A gravity balancing assistant arm design in 3-D is a mechanical mechanism consisted of springs, rigid rods, joints and sliders, which can be modified to the geometry and inertia of the arm of stroke patients. This mechanism is designed without any controllers and motors, based solely on mechanical principles, to achieve a relative balance of gravitational potential energy and elastic potential energy, thereby reducing the burden on the arm of a stroke patient to facilitate rehabilitation. To achieve this function, first, the center of gravity of the patient’s arm will be positioned, and then the mounting position of the spring on the assistant arm will be determined. In this paper, the following objectives will be achieved: (i) the calculation of the gravitational potential energy and the elastic potential energy in the mechanism (ii) the simplification of the potential energy equation and the elimination of the coefficient of the items related to the angle. (iii) The comparison between 2-D and 3-D cases of the mechanism. (iv) The motion process of simulating the mechanism using MATLAB (v) Using MATLAB to create the energy plots (vi) Using SolidWorks to construct the prototype of the mechanism (vii) Describe the practical application and future extensions of this mechanism.

Are different pulp treatment techniques and associated medicaments effective for the treatment of extensive decay in primary teeth?

Data sources Cochrane Oral Health's Trials Register and Central Register of Controlled Trials, Medline Ovid, Embase Ovid, Web of Science, Open Grey, US National Institutes of Health Ongoing Trials Register and World Health Organisation International Clinical Trials Registry Platform. There were no restrictions on language or publication dates.Study selection Two reviewers selected randomised clinical trials (RCTs) comparing different pulp interventions in extensively decayed primary teeth, which combined a pulp treatment technique and a medicament.Data extraction and synthesis Data were extracted independently by two reviewers recording year of publication, country of origin, inclusion/exclusion criteria, description of interventions, sample size, mean age, duration of follow-up and outcome data. Risk of bias was assessed by two reviewers. Meta-analysis was performed on RCTs comparing different medicaments for the same pulp technique or different pulp treatment techniques with each other.Results Eighty-seven RCTs were included in qualitative synthesis, yielding 59 studies for meta-analysis. The 87 RCTs involved 7,140 randomised teeth with 17 split-mouth RCTs and 70 parallel arm design. In total, 125 different comparisons were examined using clinical and radiological failure rates; 75 compared different pulpotomy agents or techniques, 25 compared different pulpectomy agents, four compared pulpotomy and pulpectomy, and 21 compared different agents for direct pulp capping. Where possible, data were compared for 6, 12 and 24 months. For pulpotomy, mineral trioxide aggregate (MTA) appears least likely to fail over those time periods. For pulpectomy, results were inconclusive comparing failure rates between various agents; however, two RCTs found a lower failure rate for zinc oxide-eugenol (ZOE) compared with Vitapex. For direct pulp capping, there was a low number of studies undertaking the same comparisons; calcium silicates (eg MTA and Biodentine) hold future promise.Conclusions Overall, evidence quality ranged from moderate to very low. For pulpotomy, MTA may be the best pulpotomy medicament in primary molars. Formocresol is effective but generally accepted as toxic. Biodentine, enamel matrix derivatives, laser application or Ankaferd Blood Stopper (a plant-based haemostatic agent used to control gastrointestinal bleeds) appear to be second choices. If all of these are unavailable, an application of sodium hypochlorite may be the safest option. For pulpectomy, evidence was inconclusive; however, ZOE paste may be more effective than Vitapex, but no further conclusions could be made. For direct pulp capping, the evidence was of low to very low quality. The best alternative may be a tricalcium silicate, especially MTA. Future RCTs may change these findings.

Liquid metal motor.

SummaryLiquid metal has demonstrated an enormous potential for developing soft functional devices and machines. However, current liquid metal enabled machines suffer from several issues, such as the requirement of a liquid environment, generation of weak actuating forces, and insufficient maneuverability. To overcome these restrictions, here, a motor is developed based on the electrical actuation of liquid metal droplets without the need for conventional electromagnets. The approach is distinguished by (1) the encapsulation of electrolyte and multiple liquid metal droplets within an enclosed system, and (2) the creation of stable and continuous torque outside a liquid environment. In addition, a liquid metal electrical brush is introduced to operate the motor with low friction and low wear. The unique driving mechanism endows the motor with several advantages, including low friction, no sparking, low noise, versatile working environment, and being built from soft materials that could offer new opportunities for developing soft robotics.

Design of robotic manipulator for space applications

The paper illustrates the various design parameters implemented on our robotic manipulator that enables its usage in an alien environment and for space exploration. The robotic manipulator features a light weight variable configuration arm design, high precision actuating parts, a customized power distribution grids, tele-motion control system and an unorthodox approach for obtaining inverse kinematic values. The high configurability of this arm enables it to perform different tasks efficiently under a single platform. The 6 DOF freedom arm is custom designed to specific configurations in order to provide considerable advantage over conventional manipulators used in space applications. The arm is equipped with 2 types of end effectors in an adaptive manner such that it can be utilized in grasping both symmetric to asymmetric objects.

Design and Implementation of Humanoid Robotic Arm

Robotics has been acknowledged process of main stream in the industrial automation domain for decades. It is gradually making its headway into the domain of military, medical and vehicle application domain. But only problem we might face is in controlling, the aim of this project is to enhance the interactivity. In Activities we have shown all the activities going around in the places where the basic activities are eating and cooking. In Environment we have shown the surroundings or environment where the activities are taking place. In Interaction we have shown the interaction between the person/object by which the activities are done. In Object section we have put the objects/tools connected to activities. In User we have shown the user that are involved in the activities in the given environment. For a controlling robotic arm in open source by adding a virtual world input by enabling the user to interact with the real world and making the entire process Eco friendly. Besides the research, humanoid robots are being developed to perform human tasks like personal assistance, through which they should be able to assist the sick and elderly, and dirty or dangerous jobs. Humanoids are also suitable for some procedurally-based vocations, such as reception-desk administrators and automotive manufacturing line workers. In essence, since they can use tools and operate equipment and vehicles designed for the human form, humanoids could theoretically perform any task a human being can, so long as they have the proper software. Ultrasonic actuators are designed to produce movements in a micrometer order at ultrasonic frequencies (over 20 kHz). They are useful for controlling vibration, positioning applications and quick switching. However, the complexity of doing so is immense.In our project we are designing humanoid robot. Which are activated through gesture. For gesture recognized we use MATLAB image processing technique. For wireless data transmission we use cc2500RF module as well as Bluetooth module. Here servo motor is used for arm controlling. DC motor used for platform movement. All this hardware control by ATmega328 microcontroller.

DIPG-64. INTERNATIONAL PRECLINICAL DRUG DISCOVERY AND BIOMARKER PROGRAM INFORMING AN ADOPTIVE COMBINATORIAL TRIAL FOR DIFFUSE MIDLINE GLIOMAS

INTRODUCTIONDMG-ACT (DMG- multi-arm Adaptive and Combinatorial Trial) aims to implement a highly innovative clinical trial design of combinatorial arms for patients with diffuse midline gliomas (DMGs) at all disease stages that is adaptive to pre-clinical data generated in eight collaborating institutions. The goals of the team are to: i) rapidly identify and validate promising drugs for clinical use, and ii) predict biomarkers for promising drugs.METHODSIn vitro (n=15) and in vivo (n=8) models of DMGs across seven institutions were used to assess single and combination treatments with ONC201, ONC206, marizomib, panobinostat, Val-083, and TAK228. In vivo pharmacokinetic assays using clinically relevant dosing of ONC201, ONC206, and panobinostat were performed. Predictive biomarkers for ONC201 and ONC206 were identified using extensive molecular assays including CRISPR, RNAseq, ELISA, FACS, and IHC.RESULTSInhibitory concentrations (IC50) were established and validated across participating sites. In vivo validation of single and combination drug assays confirmed drug efficacy as increased survival for: ONC201 (p=0.01), ONC206 (p=0.01), ONC201+ONC206 (p=0.02), and ONC201+panobinostat (p=0.01). Marizomib showed toxicity in murine/zebrafish PDXs models. Murine pharmacokinetic analysis showed peak brain levels of ONC201 and ONC206 above pre-clinical IC50. Molecular testing and analyses of existing drug screen across 537 cancer cell lines validated mitochondrial stress and ATF4 as the main targets induced by ONC201/6.CONCLUSIONThorough preclinical testing in a multi-site laboratory setting is feasible and identified ONC201 in combination with ONC206 as promising therapeutics for DMGs. Preclinical and correlative-clinical studies are ongoing.

Design and application of moxibustion mechanical arm

Traditional moxibustion treatment mainly relies on doctors using specific techniques to stimulate the patient's acupoints with ignited moxa sticks. In view of the poor reproducibility, and different methods of different doctors, difficult to carry out quantitative and qualitative research work in clinical research, a moxibustion mechanical arm was designed. The hardware modules of the mechanical arm are composed of power, micro controller STM32, position servos, moxibustion strip thruster, human-computer interaction panel and sensors; the software parts are composed of main control program and interrupt service program. The use of this moxibustion mechanical arm will enhance the system's multi-task adaptability and could perform a variety of moxibustion methods including circling moxibustion and sparrow-pecking moxibustion. The data collected in real time will be transmitted to PC through bluetooth, displayed on OLED, and the system operation modes could be switched by button. Clinical trials showed that moxibustion mechanical arm had the same treatment effects with traditional moxibustion. Meanwhile, its convenience of ope-ration, repeatability of treatment, doctors and patients's treatment experience are all better than those of traditional moxibustion.

Novel Bionic Design Method for Skeleton Structures Based on Load Path Analysis

Biological structures have excellent mechanical performances including lightweight, high stiffness, etc. However, these are difficult to apply directly to some given complex structures, such as automobile frame, control arm, etc. In this study, a novel bionic design method for skeleton structures with complex features is proposed by the bio-inspired idea of “main-branch and sub-branch”. The envelope model of a given part is established by analyzing the structural functions and working conditions, and the load path is extracted by the load-transferred law as the structural main-branch. Then, the selection criterion of bionic prototype is established from three aspects: load similarity, structural similarity and manufacturability. The cross-sections with high similarities are selected as the structural sub-branch. Finally, the multi-objective size optimization is carried out and a new model is established. The bionic design of a control arm is carried out by the method: structural main-branch is obtained by the load path analysis and structural sub-branch is occupied by the fish-bone structure. The design result shows that the structural stiffness is increased by 62.3%, while the weight is reduced by 24.75%. The method can also be used for other fields including automobile, aerospace and civil engineering.

DDRE-03. INTERNATIONAL PRECLINICAL DRUG DISCOVERY AND BIOMARKER PROGRAM INFORMING AN ADOPTIVE COMBINATORIAL TRIAL FOR DIFFUSE MIDLINE GLIOMAS

Abstract INTRODUCTION DMG-ACT (DMG- multi-arm Adaptive and Combinatorial Trial) aims to implement a highly innovative clinical trial design of combinatorial arms for patients with diffuse midline gliomas (DMGs) at all disease stages that is adaptive to pre-clinical data generated in ten collaborating institutions. Novel drug and drug combination were tested, predictive biomarkers were identified and incorporated in clinical trial design. METHODS In vitro (n=15) and in vivo (n=8) models of DMGs across ten institutions were used to assess single and combination treatments with ONC201, ONC206, marizomib, panobinostat, 5-Azacytidine, Val-083, GDC0084 and TAK228. In vivo drug toxicity screenings were conducted using larval zebrafish model and murine PDX models. Predictive biomarkers for ONC201 and ONC206 were identified using meta-analysis, and extensive molecular assays including CRISPR, RNAseq, FACS, and IHC. RESULTS Inhibitory concentrations (IC50) were established and validated multiple preclinical models. ONC201 and ONC206, ONC201 and TAK228, ONC201 and GDC0084 showed synergism. In vivo survival assays showed increased survival for: ONC201 (p=0.01), ONC206 (p=0.01), ONC201+ONC206 (p=0.02), and ONC201+panobinostat (p=0.01). Marizomib showed toxicity in murine/zebrafish PDXs models. Murine pharmacokinetic analysis showed peak brain levels of ONC201 and ONC206 above pre-clinical IC50. Molecular testing and analyses of existing drug screen across 537 cancer cell lines validated mitochondrial protease ClpP and ATF4 as ONC201/6 targets. Predictive biomarkers of response to drug were identified. CONCLUSION Thorough preclinical testing in a multi-site laboratory setting is feasible and identified ONC201 in combination with ONC206, TAK228 and GDC0084 as promising therapeutics for DMGs.

Large-Scale Vision-Based Tactile Sensing for Robot Links: Design, Modeling, and Evaluation

The sense of touch allows individuals to physically interact with and better perceive their environment. Touch is even more crucial for robots, as robots equipped with thorough tactile sensation can more safely interact with their surroundings, including humans. This article describes a recently developed large-scale tactile sensing system for a robotic link, called TacLINK, which can be assembled to form a whole-body tactile sensing robot arm. The proposed system is an elongated structure comprising a rigid transparent bone covered by continuous artificial soft skin. The soft skin of TacLINK not only provides tactile force feedback but can change its form and stiffness by inflation at low pressure. Upon contact with the surrounding environment, TacLINK perceives tactile information through the three-dimensional (3-D) deformation of its skin, resulting from the tracking of an array of markers on its inner wall by a stereo camera located at both ends of the transparent bone. A finite element model (FEM) was formulated to describe the relationship between applied forces and the displacements of markers, allowing detailed tactile information, including contact geometry and distribution of applied forces, to be derived simultaneously, regardless of the number of contacts. TacLINK is scalable in size, durable in operation, and low in cost, as well as being a high-performance system, that can be widely exploited in the design of robotic arms, prosthetic arms, and humanoid robots, etc. This article presents the design, modeling, calibration, implementation, and evaluation of the system.

A Novel Cable-Driven 7-DOF Anthropomorphic Manipulator

Safety design of robot arm is important for human-robot interaction. In this article, an anthropomorphic seven-DOF cable-driven manipulator, including a three-DOF shoulder joint module, a one-DOF elbow joint module, and a three-DOF wrist joint module, is proposed for human-robot interaction. These three joint modules are connected serially and the motion transmission is realized by rope. The joint stiffness and workspace of joint module are numerically analyzed and compared to that of the human arm joint. A protype of manipulator is machined and used to evaluate the joint stiffness and workspace of the joint module through experiments. The mass of the designed manipulator is approximately 4.8 kg, which is similar to that of a human arm. The stiffness of elbow joint is 185.25 N·m/rad in positive direction and 133.75 N·m/rad in negative direction, which is smaller than that of the human elbow joint. The stiffness of wrist joint is 48.25 N·m/rad. The stiffness of shoulder joint under two configurations is 138 and 124 N·m/rad. The workspace matching index (WMI) is used to evaluate the workspace of joint module by comparing to that of the human arm joint. The WMI of the developed shoulder joint is approximately 40% of the human shoulder joint due to the structure constraint. While the workspaces of the developed elbow joint and wrist joint are the same with that of human joint.

Humanoid gesture control ARM with manifold actuation by embedded system

The design and implementation of humanoid gesture control robotic arm with multiple actuations is proposed. Utilization of gesture based design is made here. The design is made such a way that five separate movable fingers, flexion and extension installed wrist with tilt feature. Human palm movements are imitated in robotic arm using the motion glove. To develop the processing of arms with additional movement, to improve the aesthetics both for the safety and to look as less artificial. Already in this field metallic and plastic variants are used. The dimensions are made with the help of human palm dimensions. A human design is not sufficient. It also need the movements that is done by actual human [1]. In this paper we propose the number of movements done by the arm is made to 120 [2].

A compact, modular, multi-wavelength (200–850nm) rotating-analyzer ellipsometer for optical constant characterization of nanostructured materials

We have developed a compact modular rotating-analyzer ellipsometer (RAE) with a spectrum range of 200–850 nm. Spectroscopic ellipsometry is a non-destructive characterization based on an optical method. It is used widely to obtain the dielectric constant, thickness, and surface roughness of thin films. Our homemade RAE comprises standard modular components that are available on the market, such as (i) a deuterium–halogen DH-2000-BAL light source made by Ocean Optics, (ii) a Rochon prism with an α-BBO substrate from Edmund optics for the polarizer and analyzer, and (iii) a Red Tide USB650UV mini detector from Ocean Optics and a compact ellipsometer arm design to ensure its ease-of-use and future development. Data acquisition is automated and can be controlled using a computer program, and all the moving parts are motorized. The dielectric constant of Au film with a thickness of 300 nm has been measured for calibration of the apparatus. The result was compared with reference measurements that used a commercial ellipsometer, and showed considerable accuracy with a similarity of ∼95%.

Design of an affordable IoT open-source robot arm for online teaching of robotics courses during the pandemic contingency

This article explains the design and construction of an affordable, open-source robot arm for online teaching of robotics courses. The main goal of the proposed robotic prototype is to deal with the current situation of pandemic contingency, where students and instructors cannot attend laboratory facilities in person. The robotic system has four main components: an electromechanical robot arm structure, a control system, a Wi-Fi communications module, and a human-machine interface. The IoT (Internet of Things) robot arm can be used to demonstrate important robotics topics such as direct and inverse kinematics, which are shown by programming simple and complex motions using the Denavit-Hartenberg (DH) methodology. The capabilities of the robotic system are empowered by IoT technology, which is demonstrated with an HMI interface deployed in a smartphone using wireless Wi-Fi communication through an ESP32 microcontroller. The arm's purpose is to be a low-cost and replicable robot that aids the comprehension of robotics design through project-based learning, from the theoretical aspects to the actual coding and construction of a prototype.

An Euler–Bernoulli beam model for soft robot arms bent through self-stress and external loads

Soft robot arms remain challenging to model effectively. The arm’s primary deformation is bending, coupled with extension or compression, but the strains experienced can be high, the materials are generally nonlinear, and the deformations are large. Existing work has focused on models intended to improve control, which rely on post-manufacturing empirical characterization of each arm design. This article presents a quasi-static model based on Euler–Bernoulli beam theory that generalizes across a broad set of arm designs. The model is implemented for fluid-driven soft arms constructed with McKibben actuators. Actuators are treated as active materials, and their force is characterized as a nonlinear function of pressure and uniaxial strain. The model is validated for multiple soft arms under external loads, and further use is demonstrated through an investigation of the soft arms’ loaded workspace. Higher load capacities are shown to be concentrated at the arms’ midlines. Distal taper is examined in an example arm design, and is shown to improve range of motion and load resistance when compared to a constant width arm. The model can be used to evaluate variations on the number and arrangement of actuators in an arm, and it is proposed as a first order design and analysis method for soft robot arms.

Rank-Order of Body Shapes Reveals Internal Hierarchy of Body Image.

How do individuals rank body shapes? Does this relate to the body part one is most dissatisfied with? Our study investigates whether one can generalize regarding how women represent the body. Three BMI-calibrated images from the Photographic Figure Rating Scale, representative of thin (BMI = 14.72), medium (BMI = 20.33), and large (BMI = 29.26) shapes, were divided into torso, legs and arms, and saved as individual images on a black background. Of 27 possible composite images, 8 were chosen based on a Torso (thin vs. large) × Leg (thin/large vs. medium) × Arm (thin vs. large) design. Our 44 female participants ordered these from thinnest to largest. This was first according to torso, then leg, and finally arm: 41 individuals agreed on the thinnest image (thin torso, thin legs, thin arms), followed by a second image (thin torso, thin legs, large arms, n = 26; or thin torso, medium legs, thin arms, n = 10). One participant differed markedly in her choice of the first image (large torso, medium legs, thin arms). Interestingly, she scored 10 on the EDI-2 scale of Bulimic Tendencies, revealing high risk for bulimia, suggesting that our task might be useful for studying eating disorders. Our juxtaposition of two analytic procedures—partial order scalogram analysis (POSAC) and cluster analysis—enables one to uncover such outliers in a data set. Importantly, the 2D POSAC space clearly reveals the hierarchical structure of the body image.

Estimation of the mechanical stiffness constant of MEMS-based parallel-plate micro-actuators

The fabrication and testing of a parallel plate MEMS electrostatic micro-actuator is reported. The device consists of stationary bulk silicon and movable membrane chips with three spring-like x-beam configurations fabricated from a silicon on insulator (SOI) wafer. A SU-8 photoresist layer was deposited on the stationary chip to act as a spacer since its thickness determines the electrostatic force that can be applied. This in turn has an effect on the displacement of the micro-actuator. We investigated the effects of the applied voltage on the displacement of movable x-beam membranes for different arm designs with similar surface areas. We achieved maximum stable displacements of 8.75 µm and 9.89 µm for spacer thicknesses of 28 µm and 33 µm at 95 VDC and 128 VDC, respectively, for a serpentine arm design. Beyond these voltages, we found the displacement of the micro-actuator tended to be non-uniform and unstable. We also estimated the mechanical stiffness constants of our x-beam designs from the snap-in conditions. Our estimates for various spacer thicknesses were within 5% of one another.