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Abstract Mobile robots with manipulation capability are a key technology that enables flexible robotic interactions, large area covering and remote exploration. This paper presents a novel class of actuation-coordinated mobile parallel robots (ACMPRs) that utilize parallel mechanism configurations and perform hybrid moving and manipulation functions through coordinated wheel actuators. The ACMPRs differ with existing mobile manipulators by their unique combination of the mobile wheel actuators and the parallel mechanism topology through prismatic joint connections. Common motion of the wheels will provide mobile function while their relative motion will actuate the parallel manipulation function. This new concept reduces actuation requirement and increases manipulation accuracy and mobile motion stability through coordinated and connected wheel actuators comparing with existing mobile parallel manipulators. The relative wheel location on the base frame also enables a reconfigurable base size with variable moving stability on the ground. The basic concept and general type synthesis are introduced and followed by kinematics and inverse dynamics analysis of a selected three limb ACMPR. A numerical simulation also illustrates the dynamics model and the motion property of the new mobile parallel robot (MPR) followed by a prototype-based experimental validation. The work provides a basis for introducing this new class of robots for potential applications in surveillance, industrial automation, construction, transportation, human assistance, medical applications, and other operations in extreme environment such as nuclear plants, Mars, etc.
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On-demand, remote and lossless manipulation of biofluid droplets
The recent global outbreaks of epidemics and pandemics have shown us that we are severely under-prepared to cope with infectious agents. Exposure to infectious agents present in biofluids ( e.g. , blood, saliva, urine etc. ) poses a severe risk to clinical laboratory personnel and healthcare workers, resulting in hundreds of millions of hospital-acquired and laboratory-acquired infections annually. Novel technologies that can minimize human exposure through remote and automated handling of infectious biofluids will mitigate such risk. In this work, we present biofluid manipulators, which allow on-demand, remote and lossless manipulation of virtually any liquid droplet. Our manipulators are designed by integrating thermo-responsive soft actuators with superomniphobic surfaces. Utilizing our manipulators, we demonstrate on-demand, remote and lossless manipulation of biofluid droplets. We envision that our biofluid manipulators will not only reduce manual operations and minimize exposure to infectious agents, but also pave the way for developing inexpensive, simple and portable robotic systems, which can allow point-of-care operations, particularly in developing nations.
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- Award ID(s):
- 1947454
- PAR ID:
- 10403389
- Date Published:
- Journal Name:
- Materials Horizons
- Volume:
- 9
- Issue:
- 11
- ISSN:
- 2051-6347
- Page Range / eLocation ID:
- 2863 to 2871
- Format(s):
- Medium: X
- Sponsoring Org:
- National Science Foundation
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- Free Publicly Accessible Full Text
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Accepted Manuscript1.0
- Journal Article:
- https://doi.org/10.1039/D2MH00695B
