Systematic mapping of synthesis methods for compliant grippers using PRISMA
Systematic design, development and applications of Compliant Grippers (CGs) have surged in the past decade. The works are diverse but information is dispersed. This paper provides a systematic review of 1009 peer reviewed manuscripts in the last ten years, sourced from the Scopus database. Keywords search on CG design, analytical methods, gripper size and design verification. 239 papers are mapped onto applications, types of workpieces, actuation technologies, focusing onto CG design methodologies. Actuation methods are classified into indirect and direct. The Preferred Reporting Items for Systematic Reviews and Meta-Analysis (PRISMA) protocol is followed. Key findings include: (i) CGs are mostly designed with direct mechanical load actuation, the corresponding synthesis methods follow well defined processes; (ii) Most CGs cater to convex, regular and small objects; (iii) much focus on their application is on research and development followed by manufacturing and assembly, healthcare, electronics and semiconductors and food processing; (iv) fluidic actuation is gaining prominence but not as much as direct actuation; and (v) systematic synthesis methods are needed for other existing and emerging technologies like controlled adhesion, smart materials and jamming.
Año de publicación: 2025
Systematic design, development and applications of Compliant Grippers (CGs) have surged in the past decade. The works are diverse but information is dispersed. This paper provides a systematic review of 1009 peer reviewed manuscripts in the last ten years, sourced from the Scopus database. Keywords search on CG design, analytical methods, gripper size and design verification. 239 papers are mapped onto applications, types of workpieces, actuation technologies, focusing onto CG design methodologies. Actuation methods are classified into indirect and direct. The Preferred Reporting Items for Systematic Reviews and Meta-Analysis (PRISMA) protocol is followed. Key findings include: (i) CGs are mostly designed with direct mechanical load actuation, the corresponding synthesis methods follow well defined processes; (ii) Most CGs cater to convex, regular and small objects; (iii) much focus on their application is on research and development followed by manufacturing and assembly, healthcare, electronics and semiconductors and food processing; (iv) fluidic actuation is gaining prominence but not as much as direct actuation; and (v) systematic synthesis methods are needed for other existing and emerging technologies like controlled adhesion, smart materials and jamming.
Año de publicación: 2025
Omnidirectional Wheelchair with Suspension System for Mobility on Uneven Terrains
Wheelchairs play a crucial role in society by providing mobility and autonomy to individuals with physical disabilities, essential for their social inclusion. However, conventional wheelchairs often face significant limitations in narrow spaces and uneven terrains. The development of omnidirectional wheelchairs with suspension systems, as addressed in this work, is essential to tackle these challenges and offer greater independence to individuals with disabilities. These innovations can enhance quality of life by enabling access to previously inaccessible places and facilitating mobility in areas where, for example, sidewalks are deteriorated or nonexistent. The wheelchair was designed considering the challenges that conventional models face in terms of maneuverability and mobility in uneven terrains with small obstacles. The design process is briefly described, with a special focus on system requirements, conceptual design, hardware architecture, and the overall proposed design, along with the proposed control strategy. An analysis of the Mecanum-wheeled locomotion system when one of the wheels encounters an obstacle is also presented. It was concluded that the proposed design met the initial requirements, and that the suspension system allowed the wheelchair to navigate uneven terrains without experiencing significant changes in pitch or roll angles while keeping all four wheels in contact with the ground.
Año de publicación: 2025
Wheelchairs play a crucial role in society by providing mobility and autonomy to individuals with physical disabilities, essential for their social inclusion. However, conventional wheelchairs often face significant limitations in narrow spaces and uneven terrains. The development of omnidirectional wheelchairs with suspension systems, as addressed in this work, is essential to tackle these challenges and offer greater independence to individuals with disabilities. These innovations can enhance quality of life by enabling access to previously inaccessible places and facilitating mobility in areas where, for example, sidewalks are deteriorated or nonexistent. The wheelchair was designed considering the challenges that conventional models face in terms of maneuverability and mobility in uneven terrains with small obstacles. The design process is briefly described, with a special focus on system requirements, conceptual design, hardware architecture, and the overall proposed design, along with the proposed control strategy. An analysis of the Mecanum-wheeled locomotion system when one of the wheels encounters an obstacle is also presented. It was concluded that the proposed design met the initial requirements, and that the suspension system allowed the wheelchair to navigate uneven terrains without experiencing significant changes in pitch or roll angles while keeping all four wheels in contact with the ground.
Año de publicación: 2025
Analysis of the relative displacements in a thick Origami with double-hinge technique for thickness accommodation
Origami, the art of folding paper, has been extensively explored for its potential to produce complex structures and enable rapid and precise movements with few folds. The flexibility and low thickness of paper make it ideal for folding, although most engineering applications require stiffer and thicker materials when drawing inspiration from Origami. For that, several techniques have been developed over the years and the double-hinge technique is one of the least explored techniques for thick Origami, even though it shows a major advantage to obtain a fully flat surface in the unfolded state. This advantage makes it ideal when developing solar panels where flat surfaces are required to maximize the absorbed energy. In this work, the Miura Ori pattern, based on the degree-4 vertex coupled with the double-hinge thickness accommodation technique, is analyzed to obtain relationships between the kinematics, thickness, sector angles, and periodicity. It is found that by releasing certain degrees-of-freedom, the double-hinge technique can be used to fold Origami patterns, with flat-foldability and preserving the Origami motion. The findings of this research contribute to a deeper understanding of thickness implications in the double-hinge technique for Origami-based thickness accommodations. This study presents a novel model that has not been previously explored, establishing key insights that are crucial for future emerging applications.
Año de publicación: 2025
Origami, the art of folding paper, has been extensively explored for its potential to produce complex structures and enable rapid and precise movements with few folds. The flexibility and low thickness of paper make it ideal for folding, although most engineering applications require stiffer and thicker materials when drawing inspiration from Origami. For that, several techniques have been developed over the years and the double-hinge technique is one of the least explored techniques for thick Origami, even though it shows a major advantage to obtain a fully flat surface in the unfolded state. This advantage makes it ideal when developing solar panels where flat surfaces are required to maximize the absorbed energy. In this work, the Miura Ori pattern, based on the degree-4 vertex coupled with the double-hinge thickness accommodation technique, is analyzed to obtain relationships between the kinematics, thickness, sector angles, and periodicity. It is found that by releasing certain degrees-of-freedom, the double-hinge technique can be used to fold Origami patterns, with flat-foldability and preserving the Origami motion. The findings of this research contribute to a deeper understanding of thickness implications in the double-hinge technique for Origami-based thickness accommodations. This study presents a novel model that has not been previously explored, establishing key insights that are crucial for future emerging applications.
Año de publicación: 2025
Origami-Inspired Photovoltaic Modules—Development of Ecofriendly Solutions for Naval and Mining Operations
In recent years, ecofriendly and renewable energy solutions have gained relevance mainly to lessen the effects of climate change. Governments and companies across the world have commitments to reduce fuel consumption and emissions as part of the 2030 Sustainable Development Goals. Solar energy systems have great importance as a renewable energy source; however, they often have large space requirements to be effective, e.g., large areas covered by solar panels, as well as low efficiency and strong dependance on the weather. On the other hand, origami, the art of folding paper, can be a source of inspiration for new technologies and solutions for modern problems. In this paper, origami-inspired solar panels are presented as a potential solution for naval and mining operations. Prototype panels are manufactured based on the Miura-Ori pattern. Using this pattern, the photovoltaic modules can be folded by just one movement, thus reducing their footprint by up to 90%. The prototype photovoltaic modules are then tested on land and on board a vessel, where their efficiency and resistance can be tested. It is shown that naval and mining operations, where fuel consumption can be extremely high and available space is a major constraint, benefit greatly from this kind of development.
Año de publicación: 2025
In recent years, ecofriendly and renewable energy solutions have gained relevance mainly to lessen the effects of climate change. Governments and companies across the world have commitments to reduce fuel consumption and emissions as part of the 2030 Sustainable Development Goals. Solar energy systems have great importance as a renewable energy source; however, they often have large space requirements to be effective, e.g., large areas covered by solar panels, as well as low efficiency and strong dependance on the weather. On the other hand, origami, the art of folding paper, can be a source of inspiration for new technologies and solutions for modern problems. In this paper, origami-inspired solar panels are presented as a potential solution for naval and mining operations. Prototype panels are manufactured based on the Miura-Ori pattern. Using this pattern, the photovoltaic modules can be folded by just one movement, thus reducing their footprint by up to 90%. The prototype photovoltaic modules are then tested on land and on board a vessel, where their efficiency and resistance can be tested. It is shown that naval and mining operations, where fuel consumption can be extremely high and available space is a major constraint, benefit greatly from this kind of development.
Año de publicación: 2025
3D Capsule Compliant Gripper Based on Shape Optimization for Surgical Manipulation: Enhancing Precision in Lymph Node Isolation
Compliant grippers hold great promise in improving precision and safety in minimally invasive surgery (MIS), offering versatile solutions for tissue manipulation while minimizingtrauma. A novel focus on a capsule-shaped compliant gripper introduces innovativedesign methodologies, including shape optimization and consideration of axillary lymphnode dimensions. By integrating compliant beams internally and optimizing their shape,this gripper offers enhanced precision and adaptability in tissue manipulation, addressingspecific challenges in delicate surgical interventions such as lymph node dissection inbreast cancer surgery. An isogeometric approach for the analysis of geometrically nonlinear beam structures enables a seamless integration of exact geometry in computer-aided design (CAD) into the analysis framework. It incorporates frictionless beam contact conditions based on a regularized penalty law, which enables an efficient and accurate simulation of the compliant grippers. Optimization results demonstrate the efficacy of themethodology, producing a compliant beam configuration that applies a mean pressure of204.93 Pa, with a maximized contact area facilitating form closure gripping. Experimentalvalidation using a test bench confirms the consistency of the contact areas predicted by simulations, with force sensor measurements showing good agreement with simulation results in most cases. Minor discrepancies, particularly in higher-pressure regions, are attributed to sensor limitations but do not significantly impact the overall findings. Continued research and refinement of these methodologies are essential for furthering the field of compliant gripper design and its application in medical and surgical contexts.
Año de publicación: 2025
Compliant grippers hold great promise in improving precision and safety in minimally invasive surgery (MIS), offering versatile solutions for tissue manipulation while minimizingtrauma. A novel focus on a capsule-shaped compliant gripper introduces innovativedesign methodologies, including shape optimization and consideration of axillary lymphnode dimensions. By integrating compliant beams internally and optimizing their shape,this gripper offers enhanced precision and adaptability in tissue manipulation, addressingspecific challenges in delicate surgical interventions such as lymph node dissection inbreast cancer surgery. An isogeometric approach for the analysis of geometrically nonlinear beam structures enables a seamless integration of exact geometry in computer-aided design (CAD) into the analysis framework. It incorporates frictionless beam contact conditions based on a regularized penalty law, which enables an efficient and accurate simulation of the compliant grippers. Optimization results demonstrate the efficacy of themethodology, producing a compliant beam configuration that applies a mean pressure of204.93 Pa, with a maximized contact area facilitating form closure gripping. Experimentalvalidation using a test bench confirms the consistency of the contact areas predicted by simulations, with force sensor measurements showing good agreement with simulation results in most cases. Minor discrepancies, particularly in higher-pressure regions, are attributed to sensor limitations but do not significantly impact the overall findings. Continued research and refinement of these methodologies are essential for furthering the field of compliant gripper design and its application in medical and surgical contexts.
Año de publicación: 2025
Reinforcing Bus Living Space with Recycled Carbon Fibers from Expired Prepreg in the Aircraft Industry
Due to increasing mobility and energy conservation needs, improving bus and coach safety without adding weight is essential. Many crashes with fatal outcomes for vehicle occupants are associated with the rollover of the vehicle, revealing the structural weakness of the steel pillars between windows, which must resist high levels of bending during rollovers. This study aims to reinforce these pillars with expired carbon fiber prepreg from the aircraft industry, improving safety and reducing environmental waste. To manufacture the pillars, shot-blasted hollow S275 steel tubes with a side length of 25 mm and a thickness of 1.5 mm were used. Bidirectional GG600T woven carbon fiber, CF, and aircraft-grade recycled carbon fiber-reinforced plastic, rCFRP, prepreg M21EV/IMA/3 were used as composite reinforcements. The first composite was made from a CF weave using the rigid epoxy resin Sicomin® 8500/Sicomin® SD8601. The rCFRP composite was frayed, and a new composite was made with the same rigid epoxy resin. Both composites were joined to the steel tube using a tough structural adhesive (SikaPower® 1277). A third composite was obtained using the frayed rCFRP and the structural adhesive as a polymer matrix. All composites were treated with an APPT (atmospheric-pressure plasma torch) before being joined to the steel pillar with the structural adhesive. The comparison of the three reinforcements showed that the steel reinforced with the recycled prepreg composite manufactured with the rigid adhesive performed best, with a 50% increase in specific bending strength and only a 32% increase in weight. It also absorbed 71% more energy, which shows that this novel option for upcycling can noticeably increase the crashworthiness of structures.
Año de publicación: 2024
Due to increasing mobility and energy conservation needs, improving bus and coach safety without adding weight is essential. Many crashes with fatal outcomes for vehicle occupants are associated with the rollover of the vehicle, revealing the structural weakness of the steel pillars between windows, which must resist high levels of bending during rollovers. This study aims to reinforce these pillars with expired carbon fiber prepreg from the aircraft industry, improving safety and reducing environmental waste. To manufacture the pillars, shot-blasted hollow S275 steel tubes with a side length of 25 mm and a thickness of 1.5 mm were used. Bidirectional GG600T woven carbon fiber, CF, and aircraft-grade recycled carbon fiber-reinforced plastic, rCFRP, prepreg M21EV/IMA/3 were used as composite reinforcements. The first composite was made from a CF weave using the rigid epoxy resin Sicomin® 8500/Sicomin® SD8601. The rCFRP composite was frayed, and a new composite was made with the same rigid epoxy resin. Both composites were joined to the steel tube using a tough structural adhesive (SikaPower® 1277). A third composite was obtained using the frayed rCFRP and the structural adhesive as a polymer matrix. All composites were treated with an APPT (atmospheric-pressure plasma torch) before being joined to the steel pillar with the structural adhesive. The comparison of the three reinforcements showed that the steel reinforced with the recycled prepreg composite manufactured with the rigid adhesive performed best, with a 50% increase in specific bending strength and only a 32% increase in weight. It also absorbed 71% more energy, which shows that this novel option for upcycling can noticeably increase the crashworthiness of structures.
Año de publicación: 2024
3D Capsule Compliant Gripper Based on Shape Optimization for Surgical Manipulation: Enhancing Precision in Lymph Node Isolation
Compliant grippers hold great promise in improving precision and safety in Minimally Invasive Surgery (MIS), offering versatile solutions for tissue manipulation while minimizing trauma. A novel focus on a capsule-shaped compliant gripper introduces innovative design methodologies, including shape optimization and consideration of axillary lymph node dimensions. By integrating compliant beams internally and optimizing their shape and size, this gripper offers enhanced precision and adaptability in tissue manipulation, addressing specific challenges in delicate surgical interventions such as lymph node dissection in breast cancer surgery. An isogeometric approach for the analysis of geometrically nonlinear beam structures enables a seamless integration of exact geometry in CAD (Computer-Aided Design) into the analysis framework. It incorporates frictionless beam contact conditions based on a regularized penalty law, which enables an efficient and accurate simulation of the compliant grippers. Optimization results demonstrate the efficacy of the methodology in shape optimizing a set of compliant beams tailored for delicate tissue manipulation. Continued research and refinement of these methodologies are essential for furthering the field of compliant gripper design and their application in medical and surgical contexts.
Año de publicación: 2024
Compliant grippers hold great promise in improving precision and safety in Minimally Invasive Surgery (MIS), offering versatile solutions for tissue manipulation while minimizing trauma. A novel focus on a capsule-shaped compliant gripper introduces innovative design methodologies, including shape optimization and consideration of axillary lymph node dimensions. By integrating compliant beams internally and optimizing their shape and size, this gripper offers enhanced precision and adaptability in tissue manipulation, addressing specific challenges in delicate surgical interventions such as lymph node dissection in breast cancer surgery. An isogeometric approach for the analysis of geometrically nonlinear beam structures enables a seamless integration of exact geometry in CAD (Computer-Aided Design) into the analysis framework. It incorporates frictionless beam contact conditions based on a regularized penalty law, which enables an efficient and accurate simulation of the compliant grippers. Optimization results demonstrate the efficacy of the methodology in shape optimizing a set of compliant beams tailored for delicate tissue manipulation. Continued research and refinement of these methodologies are essential for furthering the field of compliant gripper design and their application in medical and surgical contexts.
Año de publicación: 2024
Analytical Modelling of an Active Vibration Absorber for a Beam
Attenuation of mechanical vibrations is an ongoing field of research in engineering aiming at reducing damage and improving performance in the presence of dynamical forces. Different alternatives have been proposed over time; the active vibration absorber can be highlighted as an alternative which can absorb the vibration from system in real time. In this study, an active vibration absorber was modelled as an electromechanical device. It was applied to a cantilever beam, mathematically modelled as a continuous beam. A set of differential equations representing the dynamical behaviour of the cantilever beam and active vibration absorber was obtained and it was simulated in Matlab Simulink®. Results indicated that the active vibration absorber is able to significantly reduce the vibration amplitudes of a system, especially in resonance conditions. The analytical model and procedure developed here can easily spread to any more complex system.
Año de publicación: 2023
Attenuation of mechanical vibrations is an ongoing field of research in engineering aiming at reducing damage and improving performance in the presence of dynamical forces. Different alternatives have been proposed over time; the active vibration absorber can be highlighted as an alternative which can absorb the vibration from system in real time. In this study, an active vibration absorber was modelled as an electromechanical device. It was applied to a cantilever beam, mathematically modelled as a continuous beam. A set of differential equations representing the dynamical behaviour of the cantilever beam and active vibration absorber was obtained and it was simulated in Matlab Simulink®. Results indicated that the active vibration absorber is able to significantly reduce the vibration amplitudes of a system, especially in resonance conditions. The analytical model and procedure developed here can easily spread to any more complex system.
Año de publicación: 2023
On the bending collapse behavior of rectangular hollow steel shapes of various thicknesses
Rectangular hollow steel shapes are widely used in numerous engineering areas due to their availability and price. In large vehicles, such as buses, these shapes also contribute to the overall crashworthiness of the vehicle, as they absorb most of the kinetic energy of an impact, and dissipate it as localized plastic deformation during a process known as bending collapse. Since a correct calculation of the crashworthiness of a structure is vital to ensure the safety of the occupants of a vehicle, special care must be taken to address the bending collapse behavior, as it is a major energy absorption mechanism. This research aims to investigate the effects and influence of thickness of the hollow shape on the bending collapse characteristics, and thus on the crashworthiness of a vehicle. Furthermore, regulations regarding crashworthiness often require some sort of experimental validation of the zones that undergo bending collapse. However, since there is no standardized test for bending collapse, the results from two types of experimental setups are compared, to study the influence of the setup on the bending collapse behavior. The results provide a detailed understanding of the failure modes of these shapes under bending loads. Additionally, the research provides insights into the design and optimization of rectangular hollow steel shapes, which will be useful to engineers and designers in the selection of thicknesses that are most appropriate for specific applications.
Año de publicación: 2023
Rectangular hollow steel shapes are widely used in numerous engineering areas due to their availability and price. In large vehicles, such as buses, these shapes also contribute to the overall crashworthiness of the vehicle, as they absorb most of the kinetic energy of an impact, and dissipate it as localized plastic deformation during a process known as bending collapse. Since a correct calculation of the crashworthiness of a structure is vital to ensure the safety of the occupants of a vehicle, special care must be taken to address the bending collapse behavior, as it is a major energy absorption mechanism. This research aims to investigate the effects and influence of thickness of the hollow shape on the bending collapse characteristics, and thus on the crashworthiness of a vehicle. Furthermore, regulations regarding crashworthiness often require some sort of experimental validation of the zones that undergo bending collapse. However, since there is no standardized test for bending collapse, the results from two types of experimental setups are compared, to study the influence of the setup on the bending collapse behavior. The results provide a detailed understanding of the failure modes of these shapes under bending loads. Additionally, the research provides insights into the design and optimization of rectangular hollow steel shapes, which will be useful to engineers and designers in the selection of thicknesses that are most appropriate for specific applications.
Año de publicación: 2023
On the Use of Carbon Fiber Composites for the Enhancement of the Rollover Resistance of Steel Buses
The increasing use of composites in vehicles in recent years is one of the current trends in the automotive industry. In particular, fiber composites are being used as reinforcements for the main structural elements of vehicles, due to their outstanding specific mechanical properties and low weight. When combined with metal parts, fiber composites can significantly enhance the crashworthiness of vehicle structures, by increasing their energy absorption capabilities and resistance to plastic deformations and permanent damage. This work presents CFRP reinforcements as a case study for enhancing the bending collapse behavior and crashworthiness of bus structures. The required calculations are based on a simplified “concept model” that includes the bending collapse behavior of the structural components, based on theoretical models calibrated with experimental results. The results demonstrate that the use of CFRP reinforcements improves the rollover crashworthiness of a bus structure, and need not be applied to the entire structure, but only to the critical parts where bending collapse is most likely to occur in a rollover accident.
Año de publicación: 2023
The increasing use of composites in vehicles in recent years is one of the current trends in the automotive industry. In particular, fiber composites are being used as reinforcements for the main structural elements of vehicles, due to their outstanding specific mechanical properties and low weight. When combined with metal parts, fiber composites can significantly enhance the crashworthiness of vehicle structures, by increasing their energy absorption capabilities and resistance to plastic deformations and permanent damage. This work presents CFRP reinforcements as a case study for enhancing the bending collapse behavior and crashworthiness of bus structures. The required calculations are based on a simplified “concept model” that includes the bending collapse behavior of the structural components, based on theoretical models calibrated with experimental results. The results demonstrate that the use of CFRP reinforcements improves the rollover crashworthiness of a bus structure, and need not be applied to the entire structure, but only to the critical parts where bending collapse is most likely to occur in a rollover accident.
Año de publicación: 2023