Open Access. Powered by Scholars. Published by Universities.®
Articles 1 - 2 of 2
Full-Text Articles in Engineering
Spatial Admittance Selection Conditions For Frictionless Force-Guided Assembly Of Polyhedral Parts In Single Principal Contact, Shuguang Huang, Joseph M. Schimmels
Spatial Admittance Selection Conditions For Frictionless Force-Guided Assembly Of Polyhedral Parts In Single Principal Contact, Shuguang Huang, Joseph M. Schimmels
Mechanical Engineering Faculty Research and Publications
By judiciously selecting the admittance of a manipulator, the forces of contact that occur during assembly can be used to guide the parts to proper positioning. This paper identifies conditions for selecting the appropriate spatial admittance to achieve reliable force-guided assembly of polyhedral parts for cases in which a single feature (vertex, edge, or face) of one part contacts a single feature of the other, i.e., all single principal contact cases. These conditions ensure that the motion that results from frictionless contact always instantaneously reduces part misalignment. We show that, for bounded misalignments, if an admittance satisfies the misalignment-reducing conditions …
Alkaline Fuel Cell Engineering And Testing, James Brunton, David Kennedy, Eugene Coyle
Alkaline Fuel Cell Engineering And Testing, James Brunton, David Kennedy, Eugene Coyle
Conference Papers
A fuel cell is a device that directly converts the chemical energy of reactants (a fuel and an oxidant) into low d. c. electricity [1]. Used in conjunction with other sustainable energy options, hydrogen and fuel cell technology can provide a realistic alternative to fossil fuels. Although research is continuing in many areas we are no closer now to commercialisation than ten to twenty years ago. This is due to a number of key reasons, some of which include efficiency, scale, accessories and power output. This paper outlines the benefits that could be derived from switching to a hydrogen based …