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
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...
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...
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...
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...
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...
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...
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...
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...
Año de publicación: 2023
Development of a novel synthesis method of a rigid-body four-bar linkage into a compliant mechanism
The four-bar linkage mechanism is widely used in various machinery applications. This study presents a synthesis method to transform a rigid-body four-bar mechanism into a compliant mechanism using four leaf-type...
Año de publicación: 2023
The four-bar linkage mechanism is widely used in various machinery applications. This study presents a synthesis method to transform a rigid-body four-bar mechanism into a compliant mechanism using four leaf-type...
Año de publicación: 2023
Analytical modelling of a dynamic vibration absorber for Parkinson disease
Parkinson is the most common neurodegenerative disease. It is characterized by the presence of involuntary tremor of human arms. Current treatments as pharmacological and surgery can be invasive for patients...
Año de publicación: 2023
Parkinson is the most common neurodegenerative disease. It is characterized by the presence of involuntary tremor of human arms. Current treatments as pharmacological and surgery can be invasive for patients...
Año de publicación: 2023
Compliant Finger Gripper Based on Topology Optimization
We present the design of a compliant finger based on the topology optimization method through Hill Climber stochastic search. The compliant finger is composed of an arrangement of beams, whose...
Año de publicación: 2023
We present the design of a compliant finger based on the topology optimization method through Hill Climber stochastic search. The compliant finger is composed of an arrangement of beams, whose...
Año de publicación: 2023