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SSL Lab. Solid State Lighting thern Taiwan University 1 Reporter:BIN-SYU SIE thern Taiwan University Novel Design and 3D Printing of Non- Assembly Controllable Pneumatic Robots

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Page 1: SSL Lab. SSL Lab. Solid State Lighting Lab. Southern Taiwan University 1 Reporter : BIN-SYU SIE Reporter : BIN-SYU SIE Southern Taiwan University Novel

SSL Lab.

Solid State Lighting Lab.Southern Taiwan University

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Reporter:BIN-SYU SIE

Southern Taiwan University

Novel Design and 3D Printing of Non-Assembly Controllable Pneumatic Robots

Page 2: SSL Lab. SSL Lab. Solid State Lighting Lab. Southern Taiwan University 1 Reporter : BIN-SYU SIE Reporter : BIN-SYU SIE Southern Taiwan University Novel

SSL Lab.

Solid State Lighting Lab.Southern Taiwan University

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OUTLINE

Introduction

Explain

Conclusion

References

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Solid State Lighting Lab.Southern Taiwan University

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INTRODUCTION

Additive manufacturing (known as 3D printing to the public) technologies are capable of fabricating mechanical parts without the limitation of geometric complexity. If properly designed, a mechanism can also be automatically fabricated without the need of assembly. Considering these capabilities of 3D printing, this paper presents a novel pneumatic robot design that can be fabricated by 3D printing processes without the need of assembly. The key element of the proposed robot is the innovative design of a pneumatic stepper motor that allows control of multi motion pattern modes. The proposed pneumatic stepper design is based on a fan motor, thus having low requirement on airtightness which makes it possible for 3D printing fabrication. For angular motion control, a roller valve is added to the fan motor design. By controlling the air pressure of the roller valve, continuous motion and stepping motion can be obtained. Experiments have shown that the angular velocity can also be controlled by varying the roller valve air pressure. The effectiveness of the proposed concepts has been demonstrated by a 3D printed non-assembly pneumatic robot. The printed robot, when connected with air tubes and a pneumatic controller, can perform simple pick and place operations. It is argued that future functional non-assembly pneumatic robotic systems could be 3D printed for relevant

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Explain• The design and development of functional mechanisms and robotic systems that can be fabricated without the need of

assembly is very attractive [20]. Figure 3 is the conceptual diagram of PneuStep, the first pneumatic stepper designed by

Stoianovici et al. [5]. It consists of four main parts that are represented by different colors in Fig. 3. The step motion is

achieved by sequentially pressurizing three diaphragm cylinders as D1-D2-D3. Although PneuStep has great

performance, its design complexity leads to high manufacturing cost and long development cycle time.

The motor design has more than 25 different parts. The assembly of the individual parts together with fasteners, bearings and

connectors is not an easy task. The application of three crank mechanisms to produce planetary motion requires precise

fabrication and assembly. Otherwise, it is more likely to result in interference between moving parts which can lead to motor failure

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• in this research, a simple pneumatic robotic mechanism withone degree of freedom together with a gripper is proposed andfabricated as shown in Fig. 5. The overall design size is 203mmlength) x118mm (height) x 76mm (width). The wholemechanism has three parts: the supporting structure, thepneumatic stepper motor and the gripper hand, as shown in The supporting structure is partially sectioned to show thedetail of the roller valve and its chamber. The pneumatic stepper motor is controlled by five air inlets designed on thesupporting structure: two for clockwise motion, two for counterclockwise rotation, and one for the roller valve. The gripper hand is controlled by two air inlets for open and closeoperations. Besides, a pair of internal gears with a reductionratio of 3:1 is designed into the robotic arm

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• the blade angle ϴ is set to 45 degree as in to obtain maximum output torque. In order to increase the strength of the blades, the outer rims of the blades are connected by a ring on which twenty channels are made. The engagement of the channels with a roller valve as shown in Fig. 8 makes the control of motor velocity and rotation teps possible. In order to reduce the motor speed, the motor output is connected with a pair of internal gears as shown In the current design,the gears have the following parameters: module m = 2, teeth number of pinion gear z1 = 12, teeth number of internal gear z2 = 36 and pressure angle α = 20°. The fan blades are designed as rectangle shape with 2mm in width and 13.5mm in height. The shape of a blade is totally flat so that it is able to realize identical bi-directional rotational control. In order to guarantee the stability of design the output torque, the fan blades are designed with overlaps. Given the blade size, the overlap is dependent on the number of blades. The current has 12 blades.

Page 7: SSL Lab. SSL Lab. Solid State Lighting Lab. Southern Taiwan University 1 Reporter : BIN-SYU SIE Reporter : BIN-SYU SIE Southern Taiwan University Novel

• The actual fabrication is done by an AM machine Objet Eden350V using FullCure 705 non-toxic gel-like photopolymeras support material and VeroClear 950 as part material. Theprint resolution is 42μ along X and Y axis, and 16μ along Zaxis.This machine is suitable for he fabrication ofnon-assembly mechanism due to its high accuracy. Cosideringthe working condition of Eden350V, the clearance of matingflat surfaces is set to 0.3mm, and the radial clearance ofhole-shaft mating surfaces is set to 0.2mm. The manufacturingprocess takes about 6 hours. The basic parameters of thisprototype are designed as R = 72mm, r =12mm, H = 41mm andL = 24mm.Using the fabricated prototype pneumatic robot,simpleobject manipulation and rotation demonstrations are carriedout. The experiment shown in demonstrates a ball pickand place operation. The robot starts from an initial location (a)turns a certain angle to the ball catching position (b), catchesthe ball (c), then rotates back (d) and releases the ball to a box(e), and then return to its original position (f)

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CONCLUSION

This paper presents a novel pneumatic motor design for applications to pneumatic robotics which can be totally

fabricated using AM technology without the need of assembly.

This proposed design advances the current research on non-assembly mechanism and robotic system.

Fabricated by 3D printing, the electricity free and non-assembly robot with multi motion modes have great

potential in various applications The proposed design can be easily integrated into a robotic mechanism.

The proposed pneumatic motor design allows velocity control, and the switch between continuous

motion mode and stepping mode The concept of totally non-assembly, fully functional robotic system fabrication is still an

on-going research in additive manufacturing. Although our current design skillfully avoids the technical bottleneck of

current AM processes, it faces the problems of instability, accuracy and vibration. Further research work on advanced

additive manufacturing method and optimization of design parameters to improve this proposed motor design concept

is required

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REFERENCES

[1] M. Carfagni, R. Furferi, L. Governi and Y. Volpe, “A vane-motor automatic design procedure,” Int. J. Interact. Des. Manuf., vol. 7, no. 3,

[2] J. Naranjo, E. Kussul, and G. Ascanio, “A new pneumatic vanes motor,”

Mechatronics, vol. 20, no. 3, pp. 424-427, 2010.

[3] C. A. M. Ventura, P. A. Jacobs, A. S. Rowlands, P. Petrie-Repar and E. Sauret, “Preliminary design and performance estimation of radial inflow turbines: An automated approach,” J. Fluids Eng., vol. 134, no. 3, 2012.

[4] H. -S. Choi, C. -S. Han, K. -y. Lee and S. -h. Lee, “Development of hybrid robot for construction works with pneumatic actuator,” Autom. Constr., vol. 14, no. 4, pp. 452-459, 2005.

[5] D. Stoianovici, A. Patriciu, D. Petrisor, D. Mazilu and L. Kavoussi, “A

[6] Y. Chen, C. D. Mershon and Z. T. H. Tse, “A 10-mm MR-Conditional

unidirectional pneumatic stepper motor,” IEEE/ASME Trans.

[7] Y. Chen, K. -W. Kwok, and Z. Tse, “An MR-conditional high-torque

pneumatic stepper motor for MRI-guided and robot-assisted intervention

Ann. Biomed. Eng., vol. 42, no. 9, pp. 1823-1833, 2014

[8] D. Stoianovici, “Multi-imager compatible actuation principles in surgical robotics,” Int. J. Med. Robot. Comp., vol. 1, no. 2, pp. 86-100, 2005.

[9] H. Sajima, H. Kamiuchi, K. Kuwana, T. Dohi, and K. Masamune, “MR-safe pneumatic rotation stepping actuator,” J. Robot. Mechatron.,

vol. 24, no. 5, pp. 820–827, 2012.

[10] S. Ashley, “Rapid prototyping is coming of age,” Mech. Eng. (Am. Soc.

and Mech. Eng.), vol. 117, no. 7, pp. 62-68, 1995.

[11] S. Ashley, “RP industry’s growing pains,” Mech. Eng. (Am. Soc. and Mech. Eng.), vol. 120, no. 7, pp. 64 – 67, 1998.

[12] Y. Chen, and Z. Chen, “Joint analysis in rapid fabrication of non-assembly mechanisms,” Rapid Prototyping J., vol. 17, no. 6, pp. 408-417, 2011.

[13] C. Mavroidis, K. J. DeLaurentis, J. Won and M. Alam, “Fabrication ofnon-assembly mechanisms and robotic systems using rapid prototyping,”J. Mech. Des. (Trans. ASME), vol. 123, no. 4, pp: 516-524, 2000.[14] T. Laliberte´, C. Gosselin,and G. Côté,“Rapid prototyping ofmechanisms,” in Proc. 10th World Congr. Theory Machines Mechanisms,Oulu, Finland, 1999, pp. 959–964.[15] T. Laliberté, C. Gosselin, and G. Côté, “Rapid Prototyping of Lower-Pair, Geared-Pair and Cam Mechanisms,” in Proc. ASME Design Eng. Tech. Conf., Baltimore MD, Paper DETC2000/MECH-14202.[16] T. Laliberte, C.M. Gosselin, and G. Cote, “Practical prototyping,” IEEE Robot. Autom., vol. 8, no. 3, pp. 43-52, 2001. [17] J. G. Cham, S. A. Bailey, J. E. Clark, R. J. Full and M. R. Cutkosky, “Fast and robust: Hexapedal robots via shape deposition manufacturing,” Int. J. Rob. Res. vol. 21, no. 10, pp: 869-882, 2002.[18] J. G. Cham, B. L. Pruitt, M. R. Cutkosky, M. Binnard, L. Weiss, and G. Neplotnik, “Layered manufacturing with embedded components: Processplanning issues,” in Proc. ASME DETC/DFM Conf., Las Vegas, NV,1999, Paper DETC99/DFM-8910.

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[19] K. J. DELAURENTIS, F. KONG, AND C. MAVROIDIS, “PROCEDURE FOR RAPIDFABRICATION OF NON-ASSEMBLY MECHANISMS WITH EMBEDDEDCOMPONENTS,” IN PROC. OF THE 2002 ASME DESIGN ENGINEERING TECH. CONF., 27TH BIENNIAL MECH. ROBOT. CONF., MONTREAL, CANADA, SEPT., 2002,PP. 1239-1245.[20] K. J. DELAURENTIS, AND C.MAVROIDIS,“RAPID FABRICATION OF ANON-ASSEMBLY ROBOTIC HAND WITH EMBEDDED COMPONENTS,” ASSEM. AUTOM.,VOL. 24, NO. 4, PP. 394-405, 2004.[21] X. SU, Y. YANG, D. XIAO AND Y. CHEN, “PROCESSABILITY INVESTIGATATION OF NON-ASSEMBLY MECHANISMS FOR POWDER BED FUSION PROCESS,” INT. J. ADV. MANUF. TECH., VOL. 64, PP. 1193-1200, 2013.[22] Y. YANG, X. SU, D. WANG AND Y. CHEN, “RAPID FABRICATION OF METALLICMECHANISM JOINTS BY SELECTIVE LASER MELTING,” PROCEEDINGS OF THEINSTITUTION OF MECHANICAL ENGINEERS, PART B: JOURNAL OF ENGINEERINGMANUFACTURE, 2011.[23] Y. YANG, D. WANG, X. SU AND Y. CHEN, “DESIGN AND RAPID FABRICATION OFNON-ASSEMBLY MECHANISMS,” IN ICMA, 2010, PP. 61-63.[24] E. MALONE, AND H. LIPSON,“FREEFORM FABRICATION OF IONOMERICPOLYMER-METAL COMPOSITE ACTUATORS,” RAPID PROTOTYPING J., VOL. 12, PP244-253, 2006.

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Thanks for your attention !