Matches in SemOpenAlex for { <https://semopenalex.org/work/W3029599494> ?p ?o ?g. }
Showing items 1 to 86 of
86
with 100 items per page.
- W3029599494 endingPage "4414" @default.
- W3029599494 startingPage "4407" @default.
- W3029599494 abstract "The ability to efficiently and precisely manipulate objects in inaccessible environments is becoming an essential requirement for many applications of mobile robots, particularly at small sizes. Here, we propose and implement a mobile micromanipulation solution using a piezoelectric microgripper integrated into a dexterous robot, HAMR (the Harvard Ambulatory MicroRobot), that has a size of approximately 4.5 cm by 4 cm by 2.3 cm and a maximum payload of approximately 3 g. Our 100 mg miniature gripper is composed of recurve piezoelectric actuators that produce parallel jaw motions (stroke of 236 ± 32 μm at 200 V) while providing high gripping forces (blocked force of 0.575 N at 200 V), making it effective for micromanipulation applications with tiny objects. Using this gripper, we successfully demonstrated a grasping and lifting task with an object of 1.3 g and thickness of 250 μm at an operating voltage of 100 V. Finally, by taking advantage of the locomotion capabilities of HAMR, we demonstrate mobile manipulation by changing the position and orientation of small objects weighing up to 2.8 g controlled by the movement of the robot. We expect that the addition of this novel manipulation capability will increase the effectiveness of such miniature robots for accomplishing real-world tasks." @default.
- W3029599494 created "2020-06-05" @default.
- W3029599494 creator A5012618958 @default.
- W3029599494 creator A5018446330 @default.
- W3029599494 creator A5044080186 @default.
- W3029599494 creator A5065928491 @default.
- W3029599494 creator A5068613839 @default.
- W3029599494 date "2020-07-01" @default.
- W3029599494 modified "2023-10-03" @default.
- W3029599494 title "Piezoelectric Grippers for Mobile Micromanipulation" @default.
- W3029599494 cites W1179828463 @default.
- W3029599494 cites W1604584433 @default.
- W3029599494 cites W1633396226 @default.
- W3029599494 cites W1978902672 @default.
- W3029599494 cites W2046365304 @default.
- W3029599494 cites W2057881257 @default.
- W3029599494 cites W2089193183 @default.
- W3029599494 cites W2091143076 @default.
- W3029599494 cites W2104189902 @default.
- W3029599494 cites W2108857287 @default.
- W3029599494 cites W2126547733 @default.
- W3029599494 cites W2131622683 @default.
- W3029599494 cites W2151794017 @default.
- W3029599494 cites W2157557425 @default.
- W3029599494 cites W2158161068 @default.
- W3029599494 cites W2161476536 @default.
- W3029599494 cites W2170786512 @default.
- W3029599494 cites W2185998061 @default.
- W3029599494 cites W2198541109 @default.
- W3029599494 cites W2268948894 @default.
- W3029599494 cites W2394925491 @default.
- W3029599494 cites W2612424321 @default.
- W3029599494 cites W2765248538 @default.
- W3029599494 cites W2783801856 @default.
- W3029599494 cites W2796488588 @default.
- W3029599494 cites W2809568411 @default.
- W3029599494 cites W2904580343 @default.
- W3029599494 cites W2907959731 @default.
- W3029599494 cites W2913566164 @default.
- W3029599494 cites W2955102412 @default.
- W3029599494 cites W3106053705 @default.
- W3029599494 doi "https://doi.org/10.1109/lra.2020.2997317" @default.
- W3029599494 hasPublicationYear "2020" @default.
- W3029599494 type Work @default.
- W3029599494 sameAs 3029599494 @default.
- W3029599494 citedByCount "18" @default.
- W3029599494 countsByYear W30295994942020 @default.
- W3029599494 countsByYear W30295994942021 @default.
- W3029599494 countsByYear W30295994942022 @default.
- W3029599494 countsByYear W30295994942023 @default.
- W3029599494 crossrefType "journal-article" @default.
- W3029599494 hasAuthorship W3029599494A5012618958 @default.
- W3029599494 hasAuthorship W3029599494A5018446330 @default.
- W3029599494 hasAuthorship W3029599494A5044080186 @default.
- W3029599494 hasAuthorship W3029599494A5065928491 @default.
- W3029599494 hasAuthorship W3029599494A5068613839 @default.
- W3029599494 hasConcept C127413603 @default.
- W3029599494 hasConcept C192562407 @default.
- W3029599494 hasConcept C2775960376 @default.
- W3029599494 hasConcept C78519656 @default.
- W3029599494 hasConceptScore W3029599494C127413603 @default.
- W3029599494 hasConceptScore W3029599494C192562407 @default.
- W3029599494 hasConceptScore W3029599494C2775960376 @default.
- W3029599494 hasConceptScore W3029599494C78519656 @default.
- W3029599494 hasFunder F4320306078 @default.
- W3029599494 hasIssue "3" @default.
- W3029599494 hasLocation W30295994941 @default.
- W3029599494 hasOpenAccess W3029599494 @default.
- W3029599494 hasPrimaryLocation W30295994941 @default.
- W3029599494 hasRelatedWork W2078285315 @default.
- W3029599494 hasRelatedWork W2258669850 @default.
- W3029599494 hasRelatedWork W2259778155 @default.
- W3029599494 hasRelatedWork W2527333706 @default.
- W3029599494 hasRelatedWork W2765512466 @default.
- W3029599494 hasRelatedWork W2808090143 @default.
- W3029599494 hasRelatedWork W2899084033 @default.
- W3029599494 hasRelatedWork W2964156592 @default.
- W3029599494 hasRelatedWork W3160851599 @default.
- W3029599494 hasRelatedWork W4283263216 @default.
- W3029599494 hasVolume "5" @default.
- W3029599494 isParatext "false" @default.
- W3029599494 isRetracted "false" @default.
- W3029599494 magId "3029599494" @default.
- W3029599494 workType "article" @default.