Design of the hybrid gripper with the jaw-tip grip and suction
End effectors are disposed in the end of the manipulator. And the end effectors do physical contact with target materials for doing assigned and required tasks. On the analysis of requirements for assigned tasks, there is one gripper should handle the solid material and soft material together. In the pick and place task, it is better to do suctions than grips. For this need, in this paper, we describe the proposed gripper that can do grip the solid material and absorb the soft material. Further the proposed gripper has linear motion guide (LM guide) and electric motor for linear displacements. This leads to various suction strategies.
Structural analysis of built-in sensor frame in jaws with linear type gripper
It is important to design gripper jaws and tips which contact with the handled part, for a proper conduction of a given mission of robot systems. Especially, it should be also considered to use what kind of sensors and degree of freedoms in gripper systems. If the tip of gripper has the force and torque sensor, it is possible to measure the value of reaction forces and torques from sensors on gripping. Further this leads to enhance the intelligence of gripper system such as the prevention of slip occurrence and the estimation of mass center position of handled parts. On the other hand, the smallest force and torque sensor among commercial ones has 17mm as a diameter and 15mm as a height. It is not compact to adapt even this smallest sensor in jaws of gripper. Therefore, it is necessary to develop the sensor equipped in jaws with smaller sizes, as not a package type but a separated built-in type (sensor frame and data acquisition board is separated). In this paper, as a part of embodiment of built-in type force and torque sensor, we describe the required DOF of sensor for pick-and-place tasks and the structural analysis of sensor frame built-in jaw with linear type gripper.
Mesozoic rifting and basin inversion along the northern African Tethyan margin: an overview
Abstract The northern African Tethyan margin registered three major rifting episodes from the latest Palaeozoic-earliest Mesozoic to the earliest Cenozoic. Break-up of Gondwana was initiated in the late Carboniferous. Along the northern African-Arabian plate margin rifting propagated westward from the northeastern Arabian margin to Morocco during the Permian and Triassic, and was accompanied by Mid-Late Triassic-earliest Liassic extensive alkaline flow basalts. Rifting continued during the Liassic, e.g. in the Moghrebian Atlas troughs. A second stage of rifting occurred in the Late Jurassic and continued into, or was rejuvenated during, the Early Cretaceous. Along the east Mediterranean margin, some large E-W trending rifts formed, often with associated volcanism, e.g. southern Sirt and Abu Gharadig. Most researchers believe the oceanization of the eastern Mediterranean basin occurred at this time. Flexural subsidence affected the Moghrebian Atlas, including the Riffian-Tellian domain, where a thick flysch series was deposited. Two short-lived, but widespread and tectonically important, compressional or wrench-dominated events occurred during the Santonian and the latest Maastrichtian. From Morocco to Oman, most sedimentary basins were folded and inverted at these times. The Santonian event resulted from onset of the collision between the African-Arabian and Eurasian plates. New stress-fields favoured NE-SW extension along the African plate margin, generating or rejuvenating some rifts, e.g. in the Euphrates trough and in the Libya-Tunisia region (northwestern Sirt, Pelagian Sea). Rifting and magmatism continued in these regions into the Paleocene. During the Mesozoic, therefore, the northern margin of the African-Arabian plate registered both rifting resulting in the oceanization of the Tethys and rifting resulting from the initiation of the closure of the Tethys. The intraplate domain exhibited echoes of the tectonic events affecting the margin.