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RISS 인기검색어
- 검색키워드
- 저자 : Md. Omar Faruk Emon (검색결과 2 건)
- 무료
- 기관 내 무료
- 유료
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Effects of Hardness on the Sensitivity and Load Capacity of 3D Printed Sensors
Myoeum Kim,Daryl George Philip,Md. Omar Faruk Emon,Jae-Won Choi 한국정밀공학회 2021 International Journal of Precision Engineering and Vol.22 No.3
One recent success of additive manufacturing (AM; also known as 3D printing) technologies is a 3D printed pressuresensitive sensor (i.e. tactile sensor) with a greater degree of design complexity and multi-material components. Although 3D printed pressure sensors have been realized, there still exists a topic of extensive ongoing research. This study aimed to investigate the effects of hardness of the 3D printed sensors on characteristics such as the sensitivity and load capacity of the sensors. The ultimate goal of this work is to provide guidelines for selecting hardness for 3D printed sensors used in different sensor applications (i.e., soft and highly sensitive humanoid hands vs. less soft and less sensitive industrial robotic hands). A multi-material direct-print photopolymerization (DPP) process was used to produce an entire sensor that consists of insulating layers, electrode layers, and a pressure-sensitive layer. Soft and rigid photopolymers were blended to achieve six different hardness levels such as Shore A of 50, 60, 70, 85, 95 and 98. A carbon nanotube/polymer composite was used to create the electrodes, and 1-ethyl-3-methylimidazolium tetrafluoroborate as an ionic liquid was used with a photopolymer for the pressure-sensitive layer. Sensors of different hardness were tested by applying varying loads using a force gauge, and sensor signals were collected. Soft sensors with Shore A hardness of 50, 60 and 70 showed reliable outputs, where the softer sensor provided better sensitivity and smaller errors but lower load capacity. Sensors with Shore A of 85, 95 and 98 did not show reliable outputs, where the harder insulating layer did not allow the force gauge to press into the sensor, instead causing the gauge to slip over the surface. These findings could be useful for designing customized sensors for applications with different load conditions.
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Additively Manufactured Custom Soft Gripper with Embedded Soft Force Sensors for an Industrial Robot
Savas Dilibal,Haydar Sahin,Josiah Owusu Danquah,Md. Omar Faruk Emon,Jae-Won Choi 한국정밀공학회 2021 International Journal of Precision Engineering and Vol.22 No.4
Soft robotic grippers are required for power grasping of objects without inducing damage. Additive manufacturing can be used to produce custom-made grippers for industrial robots, in which soft joints and links are additively manufactured. In this study, a monoblock soft robotic gripper having three geometrically gradient fingers with soft sensors was designed and additively manufactured for the power grasping of spherical objects. The monoblock structure design reduces the number of components to be assembled for the soft gripper, and the gripper is designed with a single cavity to enable bending by the application of pneumatic pressure, which is required for the desired actuation. Finite element analysis (FEA) using a hyperelastic material model was performed to simulate the actuation. A material extrusion process using a thermoplastic polyurethane (TPU) was used to manufacture the designed gripper. Soft sensors were produced by a screen printing process that uses a flexible material and ionic liquids. The grasping capability of the manufactured gripper was experimentally evaluated by changing the pneumatic pressure (0–0.7 MPa) of the cavity. Experimental results show that the proposed monoblock gripper with integrated soft sensors successfully performed real-time grasp detection for power grasping.
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