Computer Solution of Linear Algebraic Systems. By G. Forsythe and C. B. Moler. Pp. xi, 148. 1967. (Prentice-Hall.)

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Some Basic Problems Of The Mathematical Theory Of Elasticity

Ionic polymer metal composites (IPMCs) are electroactive materials composed of a hydrated ionomeric membrane that is sandwiched between noble metal electrodes. Here, we propose a modeling framework to study quasi-static large deformations and electrochemistry of IPMCs. Specifically, IPMC kinematics is described in terms of its mechanical deformation, the concentration of mobile counterions neutralizing the ionomer, and the electric potential. The chemoelectromechanical constitutive behavior is obtained from a Helmholtz free energy density, which accounts for mechanical stretching, ion mixing, and electric polarization. The three-dimensional framework is specialized to plane bending of thin IPMCs. Hence, we propose a structural model, where the moment and the charge stored along the IPMC are computed from the solution of a modified Poisson–Nernst–Planck system, in terms of the through-the-thickness coordinate. For small static deformations, we present a semianalytical solution based on the method of matched asymptotic expansions, which is ultimately used to study IPMC sensing and actuation. We demonstrate that the linearity of IPMC actuation in a broad voltage range could be attributed to the interplay of two competing nonlinear phenomena, associated with Maxwell stress and osmotic pressure. In agreement with experimental observations, our model confirms the possibility of tailoring IPMC actuation by varying the counterion size and the concentration of fixed ions. Finally, the model is successful in predicting the significantly different voltage levels displayed by IPMC sensors and actuators, which are associated with remarkable variations in the ion mixing and polarization energies.

Mechanics and electrochemistry of ionic polymer metal composites

A Review on Compliant Joints and Rigid-Body Constant Velocity Universal Joints Toward the Design of Compliant Homokinetic Couplings

Robotic micromanipulation is a relatively young field. However, after three decades of development and evolution, the fundamental physics; techniques for sensing, actuation, and control; tool sets ...

Robotic Micromanipulation: Fundamentals and Applications

Active Joint Stiffness Regulation to Achieve Isotropic Compliance in the Euclidean Space

The demand of miniaturized, accurate and robust micro-tools for minimally invasive surgery or in general for micro-manipulation, has grown tremendously in recent years. To meet this need, a new-concept comb-driven microgripper was designed and fabricated. Two microgripper prototypes differing for both the number of links and the number of conjugate surface flexure hinges are presented. Their design takes advantage of an innovative concept based on the pseudo-rigid body model, while the study of microgripper mechanical potentialities in different configurations is supported by finite elements’ simulations. These microgrippers, realized by the deep reactive-ion etching technology, are intended as micro-tools for tissue or cell manipulation and for minimally invasive surgery; therefore, their biocompatibility in terms of protein fouling was assessed. Serum albumin dissolved in phosphate buffer was selected to mimic the physiological environment and its adsorption on microgrippers was measured. The presented microgrippers demonstrated having great potential as biomedical tools, showing a modest propensity to adsorb proteins, independently from the protein concentration and time of incubation.

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Innovative Silicon Microgrippers for Biomedical Applications: Design, Mechanical Simulation and Evaluation of Protein Fouling

The need of micromanipulation devices has been growing rapidly during the last decades, specially in the fields of Biology and Micro-Assembly, and many solutions have been proposed to cope with the increasing demand. The present paper suggests a possible way to micromanipulating objects in various conditions, adopting MEMS technologies to develop a microgripper based on a new flexural hinge, recently patented by the Authors. The micromechanism has been modified considering results obtained through FEA. Finally, a brief description of the construction process is provided, together with some experimental activities.

Design, optimization and construction of MEMS-based micro grippers for cell manipulation

Isotropic compliance in the Special Euclidean Group SE(3)

A manipulator control system, for which isotropic compliance holds in the Euclidean Space E (3), can be significantly simplified by means of diagonal decoupling. However, such simplification may introduce some limits to the region of the workspace where the sought property can be achieved. The present investigation reveals how to detect which peculiar subset, among four different classes, a given manipulator belongs to. The paper also introduces the concept of control gain ratio for each specific single-input/single-output joint control law in order to limit the maximum gain required to achieve the isotropic compliance condition.

Matteo Verotti

Papers

Active Joint Stiffness Regulation to Achieve Isotropic Compliance in the Euclidean Space

Innovative Silicon Microgrippers for Biomedical Applications: Design, Mechanical Simulation and Evaluation of Protein Fouling

Design, optimization and construction of MEMS-based micro grippers for cell manipulation

Isotropic compliance in the Special Euclidean Group SE(3)

Isotropic Compliance in E(3): Feasibility and Workspace Mapping