Research Article
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Year 2022, Volume 9, Issue 4, 295 - 304, 31.12.2022
https://doi.org/10.17350/HJSE19030000283

Abstract

References

  • López M, Castillo E, García G, Bashir A. Delta robot: Inverse, direct, and intermediate Jacobians. Proceedings of the Institution of Mechanical Engineers Part C: Journal of Mechanical Engineering Science 220 (2006) 103–109.
  • Vischer P, Clavel R, Argos A. Novel 3-DoF Parallel Wrist Mechanism. The International Journal of Robotics Research 19 (2000) 5–11.
  • Rey L and Clavel R The Delta Parallel Robot. Parallel Kinematic Machines, 53 (1999) 401–417.
  • Pernette E, Henein S, Magnani I, Clavel R. Design of parallel robots in microrobotics. Robotica, 15 (1997) 417–420.
  • Codourey A, Perroud S, Mussard Y. Miniature Reconfigurable Assembly Line for Small Products. Paper presented at Precision Assembly Technologies for Mini and Micro Products. 19-21 February, Bad Hofgastein. Springer, pp. 193–200, 2006.
  • Tanikawa T et al. Design of 3DOF Parallel Mechanism with Thin Plate for Micro Finger Module in Micro Manipulation. Paper presented at IEEE/RSJ International Conference on Intelligent Robots and Systems, Lausanne, 30 September-04 October, pp. 1778–1783, 2002.
  • Whitney J P et al. Pop-up book MEMS. Journal of Micromechanics and Microengineering 21 (2011) 115021–115027.
  • Wood R J. Design, fabrication, and analysis of a 3DOF, 3cm flapping-wing MAV. 2007 Paper presented at IEEE/RSJ International Conference on Intelligent Robots and Systems, San Diego, 29 October-2 November pp. 1576–1581, 2007.
  • Birkmeyer P, Peterson K and Fearing RS. DASH: A dynamic 16g hexapedal robot. Paper presented at IEEE/RSJ International Conference on Intelligent Robots and Systems, St. Louis, 10-15 October pp. 2683–2689, 2009.
  • Baisch AT, Ozcan O, Goldberg B, Ithier D, Wood RJ. High speed locomotion for a quadrupedal microrobot. The International Journal of Robotics Research. 33 (2014) 1063–1082.
  • Zhakypov Z, Mori K, Hosoda K et al. Designing minimal and scalable insect-inspired multi-locomotion millirobots. Nature. 571 (2019) 381–386.
  • Jafferis NT, Helbling EF, Karpelson M, et al. Untethered flight of an insect-sized flapping-wing microscale aerial vehicle. Nature 570 (2019) 491–495.
  • Russo S, Ranzani T, Gafford J, Walsh CJ and Wood RJ. Soft pop-up mechanisms for micro surgical tools: Design and characterization of compliant millimeter-scale articulated structures. Paper presented at IEEE International Conference on Robotics and Automation, Stokholm, 16-21 May, pp. 750–757, 2016.
  • Gafford J et al. Snap-On Robotic Wrist Module for Enhanced Dexterity in Endoscopic Surgery. Paper presented at IEEE International Conference on Robotics and Automation, Stokholm, 16-21 May, pp. 4398–4405, 2016.
  • Salerno M, Zhang K, Menciassi A and Dai JS. A novel 4-DOFs origami enabled, SMA actuated, robotic end-effector for minimally invasive surgery. Paper presented at IEEE International Conference on Robotics and Automation (ICRA), Hong Kong, 31 May – 7 June pp. 2844–2849, 2014.
  • Temel FZ, McClintock H, Doshi N, Koh JS, and Wood RJ. The MilliDelta: A High-Bandwidth, High-Precision, Millimeter-Scale Delta Robot. Science Robotics. 3 (2018).
  • Mintchev S, Salerno M, Cherpillod A et al. A portable three-degrees-of-freedom force feedback origami robot for human–robot interactions, Nature Machine Intelligence 1 (2019) 584–593.
  • Kalafat MA, Sevinç H, Samankan S, Altınkaynak A, and Temel Z. A Novel Origami-Inspired Delta Mechanism With Flat Parallelogram Joints. ASME. J. Mechanisms Robotics. 13 (2021) 021005.
  • Firouzeh A, Amon-Junior AF, Paik J. Soft piezoresistive sensor model and characterization with varying design parameters. Sensors and Actuators A: Physical 233 (2015) 158–168.
  • Kwak B, Bae J. Compliant mechanosensory composite (CMC): a compliant mechanism with an embedded sensing ability based on electric contact resistance. Smart Materials and Structures 27 (2018) 125003.
  • Maddipatla D, Narakathu BB, Atashbar M. Recent Progress in Manufacturing Techniques of Printed and Flexible Sensors: A Review. Biosensors 10 (2020) 199.
  • Ando B, Baglio S. All-inkjet printed strain sensors. IEEE Sensors Journal 13 (2013) 4874–4879.
  • Sun X, Felton SM, Wood RJ, Kim S. Printing angle sensors for foldable robots. Paper presented at IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Hamburg, 28 September-2 October, pp. 1725-1731, 2015.
  • Vadgama N, Steimle J. Flexy: Shape-customizable, single-layer, inkjet printable patterns for 1d and 2d flex sensing. Paper presented at Eleventh International Conference on Tangible, Embedded, and Embodied Interaction, Yokohama, 20-23 March, pp.153-162, 2017.
  • Ando B, Baglio S, Bulsara AR, Emery T, Marletta V, Pistorio A. Low-Cost Inkjet Printing Technology for the Rapid Prototyping of Transducers. Sensors 17 (2017) 748.
  • Correa JE, Toombs J, Toombs N, Ferreira PM. Laminated Micro-Machine: Design and Fabrication of a Flexure-Based Delta Robot. Journal of Manufacturing Processes 24 (2016) 370–375.

Development and Integration of Inkjet-Printed Strain Sensors for Angle Measurement of an Origami-Based Delta Mechanism

Year 2022, Volume 9, Issue 4, 295 - 304, 31.12.2022
https://doi.org/10.17350/HJSE19030000283

Abstract

An origami-based parallel mechanism is an excellent solution for various applications where small-scale, low profile and foldability are needed. These mechanisms are composed of rigid and flexible layers designed according to layer-by-layer fabrication methods. In addition, it becomes important to design functional layers that provide user feedback. Here, the design and fabrication of an origami-based 3 Degree-of-Freedom (DoF) Delta mechanism, which has the same traditional kinematics as a Delta mechanism, are presented. A sensor layer was designed composed of 3 strain gauges to measure the angular position of the actuated arm of the mechanism. The strain-gauge patterns were printed on a special Polyethylene terephthalate (PET) using Silver nanoparticle ink with a commercial desktop printer. The integration of these sensors has been studied by placing them in different locations between rigid layers. The sensors' outputs were presented when subjected to step and sinusoidal inputs of the actuated arm. The experiment results show that the developed sensor layer can track the angular position changes of the actuated lower arm, which is a promising result to be used in a control loop in the feature.

References

  • López M, Castillo E, García G, Bashir A. Delta robot: Inverse, direct, and intermediate Jacobians. Proceedings of the Institution of Mechanical Engineers Part C: Journal of Mechanical Engineering Science 220 (2006) 103–109.
  • Vischer P, Clavel R, Argos A. Novel 3-DoF Parallel Wrist Mechanism. The International Journal of Robotics Research 19 (2000) 5–11.
  • Rey L and Clavel R The Delta Parallel Robot. Parallel Kinematic Machines, 53 (1999) 401–417.
  • Pernette E, Henein S, Magnani I, Clavel R. Design of parallel robots in microrobotics. Robotica, 15 (1997) 417–420.
  • Codourey A, Perroud S, Mussard Y. Miniature Reconfigurable Assembly Line for Small Products. Paper presented at Precision Assembly Technologies for Mini and Micro Products. 19-21 February, Bad Hofgastein. Springer, pp. 193–200, 2006.
  • Tanikawa T et al. Design of 3DOF Parallel Mechanism with Thin Plate for Micro Finger Module in Micro Manipulation. Paper presented at IEEE/RSJ International Conference on Intelligent Robots and Systems, Lausanne, 30 September-04 October, pp. 1778–1783, 2002.
  • Whitney J P et al. Pop-up book MEMS. Journal of Micromechanics and Microengineering 21 (2011) 115021–115027.
  • Wood R J. Design, fabrication, and analysis of a 3DOF, 3cm flapping-wing MAV. 2007 Paper presented at IEEE/RSJ International Conference on Intelligent Robots and Systems, San Diego, 29 October-2 November pp. 1576–1581, 2007.
  • Birkmeyer P, Peterson K and Fearing RS. DASH: A dynamic 16g hexapedal robot. Paper presented at IEEE/RSJ International Conference on Intelligent Robots and Systems, St. Louis, 10-15 October pp. 2683–2689, 2009.
  • Baisch AT, Ozcan O, Goldberg B, Ithier D, Wood RJ. High speed locomotion for a quadrupedal microrobot. The International Journal of Robotics Research. 33 (2014) 1063–1082.
  • Zhakypov Z, Mori K, Hosoda K et al. Designing minimal and scalable insect-inspired multi-locomotion millirobots. Nature. 571 (2019) 381–386.
  • Jafferis NT, Helbling EF, Karpelson M, et al. Untethered flight of an insect-sized flapping-wing microscale aerial vehicle. Nature 570 (2019) 491–495.
  • Russo S, Ranzani T, Gafford J, Walsh CJ and Wood RJ. Soft pop-up mechanisms for micro surgical tools: Design and characterization of compliant millimeter-scale articulated structures. Paper presented at IEEE International Conference on Robotics and Automation, Stokholm, 16-21 May, pp. 750–757, 2016.
  • Gafford J et al. Snap-On Robotic Wrist Module for Enhanced Dexterity in Endoscopic Surgery. Paper presented at IEEE International Conference on Robotics and Automation, Stokholm, 16-21 May, pp. 4398–4405, 2016.
  • Salerno M, Zhang K, Menciassi A and Dai JS. A novel 4-DOFs origami enabled, SMA actuated, robotic end-effector for minimally invasive surgery. Paper presented at IEEE International Conference on Robotics and Automation (ICRA), Hong Kong, 31 May – 7 June pp. 2844–2849, 2014.
  • Temel FZ, McClintock H, Doshi N, Koh JS, and Wood RJ. The MilliDelta: A High-Bandwidth, High-Precision, Millimeter-Scale Delta Robot. Science Robotics. 3 (2018).
  • Mintchev S, Salerno M, Cherpillod A et al. A portable three-degrees-of-freedom force feedback origami robot for human–robot interactions, Nature Machine Intelligence 1 (2019) 584–593.
  • Kalafat MA, Sevinç H, Samankan S, Altınkaynak A, and Temel Z. A Novel Origami-Inspired Delta Mechanism With Flat Parallelogram Joints. ASME. J. Mechanisms Robotics. 13 (2021) 021005.
  • Firouzeh A, Amon-Junior AF, Paik J. Soft piezoresistive sensor model and characterization with varying design parameters. Sensors and Actuators A: Physical 233 (2015) 158–168.
  • Kwak B, Bae J. Compliant mechanosensory composite (CMC): a compliant mechanism with an embedded sensing ability based on electric contact resistance. Smart Materials and Structures 27 (2018) 125003.
  • Maddipatla D, Narakathu BB, Atashbar M. Recent Progress in Manufacturing Techniques of Printed and Flexible Sensors: A Review. Biosensors 10 (2020) 199.
  • Ando B, Baglio S. All-inkjet printed strain sensors. IEEE Sensors Journal 13 (2013) 4874–4879.
  • Sun X, Felton SM, Wood RJ, Kim S. Printing angle sensors for foldable robots. Paper presented at IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Hamburg, 28 September-2 October, pp. 1725-1731, 2015.
  • Vadgama N, Steimle J. Flexy: Shape-customizable, single-layer, inkjet printable patterns for 1d and 2d flex sensing. Paper presented at Eleventh International Conference on Tangible, Embedded, and Embodied Interaction, Yokohama, 20-23 March, pp.153-162, 2017.
  • Ando B, Baglio S, Bulsara AR, Emery T, Marletta V, Pistorio A. Low-Cost Inkjet Printing Technology for the Rapid Prototyping of Transducers. Sensors 17 (2017) 748.
  • Correa JE, Toombs J, Toombs N, Ferreira PM. Laminated Micro-Machine: Design and Fabrication of a Flexure-Based Delta Robot. Journal of Manufacturing Processes 24 (2016) 370–375.

Details

Primary Language English
Subjects Engineering
Journal Section Research Articles
Authors

Merve ACER KALAFAT> (Primary Author)
İSTANBUL TEKNİK ÜNİVERSİTESİ
0000-0002-5203-7775
Türkiye

Supporting Institution Scientific and Technological Research Council of Turkey (TÜBİTAK)
Project Number 216M193
Publication Date December 31, 2022
Submission Date October 17, 2022
Acceptance Date December 5, 2022
Published in Issue Year 2022, Volume 9, Issue 4

Cite

Bibtex @research article { hjse1190450, journal = {Hittite Journal of Science and Engineering}, eissn = {2148-4171}, address = {Hitit Üniversitesi Mühendislik Fakültesi Kuzey Kampüsü Çevre Yolu Bulvarı 19030 Çorum / TÜRKİYE}, publisher = {Hitit University}, year = {2022}, volume = {9}, number = {4}, pages = {295 - 304}, doi = {10.17350/HJSE19030000283}, title = {Development and Integration of Inkjet-Printed Strain Sensors for Angle Measurement of an Origami-Based Delta Mechanism}, key = {cite}, author = {Acer Kalafat, Merve} }
APA Acer Kalafat, M. (2022). Development and Integration of Inkjet-Printed Strain Sensors for Angle Measurement of an Origami-Based Delta Mechanism . Hittite Journal of Science and Engineering , 9 (4) , 295-304 . DOI: 10.17350/HJSE19030000283
MLA Acer Kalafat, M. "Development and Integration of Inkjet-Printed Strain Sensors for Angle Measurement of an Origami-Based Delta Mechanism" . Hittite Journal of Science and Engineering 9 (2022 ): 295-304 <https://dergipark.org.tr/en/pub/hjse/issue/74853/1190450>
Chicago Acer Kalafat, M. "Development and Integration of Inkjet-Printed Strain Sensors for Angle Measurement of an Origami-Based Delta Mechanism". Hittite Journal of Science and Engineering 9 (2022 ): 295-304
RIS TY - JOUR T1 - Development and Integration of Inkjet-Printed Strain Sensors for Angle Measurement of an Origami-Based Delta Mechanism AU - MerveAcer Kalafat Y1 - 2022 PY - 2022 N1 - doi: 10.17350/HJSE19030000283 DO - 10.17350/HJSE19030000283 T2 - Hittite Journal of Science and Engineering JF - Journal JO - JOR SP - 295 EP - 304 VL - 9 IS - 4 SN - -2148-4171 M3 - doi: 10.17350/HJSE19030000283 UR - https://doi.org/10.17350/HJSE19030000283 Y2 - 2022 ER -
EndNote %0 Hittite Journal of Science and Engineering Development and Integration of Inkjet-Printed Strain Sensors for Angle Measurement of an Origami-Based Delta Mechanism %A Merve Acer Kalafat %T Development and Integration of Inkjet-Printed Strain Sensors for Angle Measurement of an Origami-Based Delta Mechanism %D 2022 %J Hittite Journal of Science and Engineering %P -2148-4171 %V 9 %N 4 %R doi: 10.17350/HJSE19030000283 %U 10.17350/HJSE19030000283
ISNAD Acer Kalafat, Merve . "Development and Integration of Inkjet-Printed Strain Sensors for Angle Measurement of an Origami-Based Delta Mechanism". Hittite Journal of Science and Engineering 9 / 4 (December 2022): 295-304 . https://doi.org/10.17350/HJSE19030000283
AMA Acer Kalafat M. Development and Integration of Inkjet-Printed Strain Sensors for Angle Measurement of an Origami-Based Delta Mechanism. Hittite J Sci Eng. 2022; 9(4): 295-304.
Vancouver Acer Kalafat M. Development and Integration of Inkjet-Printed Strain Sensors for Angle Measurement of an Origami-Based Delta Mechanism. Hittite Journal of Science and Engineering. 2022; 9(4): 295-304.
IEEE M. Acer Kalafat , "Development and Integration of Inkjet-Printed Strain Sensors for Angle Measurement of an Origami-Based Delta Mechanism", Hittite Journal of Science and Engineering, vol. 9, no. 4, pp. 295-304, Dec. 2022, doi:10.17350/HJSE19030000283