Towards Multi Shape Morphing Structures

The bending stiffness of a structure is highly dependent on its shape, and this relation can be utilized to allow for a structure to morph into different shapes during deformation. This paper focuses on shape-morphing into multiple shapes (Multi Shape-Morphing), and presents a design method for a parametric<br/>structure consisting of beams,...

Design and Validation of a Manoeuvering Caging Gripper for Cluttered Environments: A mechanical approach for grasping in cluttered environments

This research proposes and validates a novel grasping principle to be able to set caging grasps in cluttered environments. A prototype is designed making use of manoeuvering fingers which propagate along the object surface and are covered with everting belts to minimize slip and thus friction forces on the object and environment. Using several...

An Adjustable Force Limiting And Sensing Mechanism For Laparoscopic Forceps Graspers

In laparoscopic surgery, surgeons may cause damage to internal tissues due excessive pinch forces while using laparoscopic forceps graspers. Low mechanical efficiency, poor haptic feedback and visual perception errors causes surgeons to be unable to correctly asses pinch forces. In this study, a new force limiting device is designed according to...

Compliant shape adaptive chicory gripping: for robotic sorting processes

This thesis contains the design process of a compliant shape adaptive chicory gripper for robotic sorting processes. The robotic sorting line consists of an input and output conveyor-belt. The input line contains unsorted chicories which are scanned by a robotic vision system. Overhead FlexPicker robots, equipped with chicory grippers, sort the...

A new concept fiber positioner: Exploring the posibilities of an alternative r-theta design

Large multi-object spectroscopy telescopes measure the light from millions of stars and galaxies for the use in astronomical studies. One part of these telescopes is the fiber positioner, where a few thousand of optical fibers need to be individually positioned very accurately. The problem with current fiber positioners is the small patrol area,...

Design for additive manufacturing of decoupled compliant mechanisms: With an example of a monolithic adjustable mount

A biomechanical characterization of spinal motion data for the design of a compliant scoliosis brace

<br/>Adolescent Idiopathic Scoliosis (AIS) is a condition of the spine, often characterized by a three- dimensional spinal deformity. Treatment usually involves interventions like exercise, bracing, or if necessary, surgery. Often bracing is prescribed to stop curve progression so that surgery can be avoided. Traditional scoliosis braces are...

Actuation of an origami inspired curved-crease gripper with a planar bending actuator

A particular design choice in origami engineering is to use curved creases. By folding a curved-crease design, the sheets connected to the crease line have to bend, allowing for novel properties unachievable with straight-crease origami. This thesis explores the design of curved-crease-folding mechanisms with integrated planar bending actuators....

Using Topology Optimization for Actuator Placement within Motion Systems

Topology optimization is a strong approach for generating optimal designs which cannot be obtained using conventional optimization methods. Improving structural characteristics by changing the internal topology of a design domain has been fascinating scientists and engineers for years. Topology optimization can be described as a distribution of...

Dynamically balancing a flexure-based scan stage inside a scanning electron microscope

Delmic's SECOM platform integrates an optical microscope in a scanning electron microscope. A flexure based scan stage has been designed and produced to be used in the next generation of the SECOM platform. However, the reaction forces of the scan stage produce vibrations in the platform. These vibrations negatively affect the position accuracy...

Design of a Hand-Held Spasticity Assessment Instrument for children

Development of a spasticity assessment equipment to be placed on children during examination.

Modeling and design of origami mechanisms with compliant facets

Origami mechanisms are fabricated from a simple sheet material, but can exhibit complex motions in 3D. Advantages are a planar fabrication process and the inherent deployability. Almost all current origami mechanisms are being designed on the premise of rigid facets. In this research, flexible facets are used to incorporate spring behavior. A...

Energy Based Error Formulation for Optimizing Compliant Joint Parallel Manipulators

The conversion of a Rigid Body Parallel Manipulator to a Compliant Joint Parallel Manipulator introduces compliance in the system. The configuration of the compliant manipulator will differ from the configuration described by the rigid-body kinematics due to the off-axis compliance, and hence off-axis deflections, of the Compliant Joints. In...

A Fully Compliant Force Balanced Oscillator

Design of a Compliant, Multi-Phalanx Underactuated Prosthetic Finger

Highly advanced robotic hand prostheses are praised for their impressive grasping and pinching capabilities. Nevertheless, a high demand remains for grasping mechanisms that are cheaper to produce, easier to assemble and lower in overall maintenance. In this paper, the idea of creating a 3D printable underactuated grasper was realized to fulfill...

Design of a Compliant Escapement Mechanism

This thesis describes the design process for an iso-frequent oscillator. Instead of designing the perfect linear spring for a harmonic oscillator, non-linearities in the force deflection behavior of the spring are allowed. These inperfections are then compensated by propper transmission design.

Design of a compliant steerable arthroscopic punch

Meniscectomy is a medical procedure where ruptured meniscal tissue is removed within the knee joint. The con- ventional cutters fail to reach the entire meniscus. Therefore, the focus of this study is to create a cutter with a steerable tip, which allows sideway steering to increase the reacha- bility within the knee joint. Additionally, this...