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The purpose of this paper is to investigate the process of fused filament fabrication (FFF) of a compliant gripper (CG) using thermoplastic polyurethane (TPU) material. The paper studies the applicability of different CG designs and the efficiency of some design parameters.

After reviewing a number of different papers, two designs were selected for a number of exploratory experiments. Using design of experiments (DOE) techniques to identify important design parameters. Finally, the efficiency of the parts was investigated.

The research finds that a simpler design sacrifices some effectiveness in exchange for a remarkable decrease in production cost. Decreasing infill percentage of previous designs and 3D printing them, out of TPU, experimenting with different parameters yields functional products. Moreover, the paper identified some key parameters for further optimization attempts of such prototypes.

The cost of conducting FFF experiments for TPU increases dramatically with product size, number of parameters studied and the number of experiments. Therefore, all three of these factors had to be kept at a minimum. Further confirmatory experiments encouraged.

This paper addresses an identified need to investigate applications of FFF and TPU in manufacturing functional efficient flexible mechanisms, grippers specifically. While most research focused on designing for increased performance, some research lacks discussion on design philosophy, as well as manufacturing issues. As the needs for flexible grippers vary from high-performance grippers to lower performance grippers created for specific functions/conditions, some effectiveness can be sacrificed to reduce cost, reduce complexity and improve applicability in different robotic assemblies and environments.

Inclination angle has been reported to have an enhancing effect on the thermal-hydraulic characteristics and entropy of some thermal systems. Therefore, this paper aims to numerically investigate the effects of inclination angle, volume concentration and Reynolds number on the thermal and hydraulic characteristics and entropy generation rates of water-based Al₂O₃ nanofluids through a smooth circular aluminum pipe in a turbulent flow.

A constant heat flux of 2,000 Watts is applied to the circular surface of the tube. Reynolds number is varied between 4,000 and 20,000 for different volume concentrations of alumina nanoparticles of 0.5%, 1.0% and 2.0% for tube inclination angles of ±90o, ±60o, ±45o, ±30o and 0o, respectively. The simulation is performed in an ANSYS Fluent environment using the realizable kinetic energy–epsilon turbulent model.

Results show that +45o tube orientation possesses the largest thermal deviations of 0.006% for 0.5% and 1.0% vol. concentrations for Reynolds numbers 4,000 and 12,000. −45o gives a maximum pressure deviation of −0.06% for the same condition. The heat transfer coefficient and pressure drop give maximum deviations of −0.35% and −0.39%, respectively, for 2.0% vol. concentration for Reynolds number of 20,000 and angle ±90o. A 95%–99.8% and 95%–98% increase in the heat transfer and total entropy generation rates, respectively, is observed for 2.0% volume concentration as tube orientation changes from the horizontal position upward or downward.

Research investigating the effect of inclination angle on thermal-hydraulic performance and entropy generation rates in-tube turbulent flow of nanofluid is very scarce in the literature.

This study aims to propose and evaluate the progress in the basic-pixel (a strategy to generate continuous trajectories that fill out the entire surface) algorithm towards performance gain. The objective is also to investigate the operational efficiency and effectiveness of an enhanced version compared with conventional strategies.

For the first objective, the proposed methodology is to apply the improvements proposed in the basic-pixel strategy, test it on three demonstrative parts and statistically evaluate the performance using the distance trajectory criterion. For the second objective, the enhanced-pixel strategy is compared with conventional strategies in terms of trajectory distance, build time and the number of arcs starts and stops (operational efficiency) and targeting the nominal geometry of a part (operational effectiveness).

The results showed that the improvements proposed to the basic-pixel strategy could generate continuous trajectories with shorter distances and comparable building times (operational efficiency). Regarding operational effectiveness, the parts built by the enhanced-pixel strategy presented lower dimensional deviation than the other strategies studied. Therefore, the enhanced-pixel strategy appears to be a good candidate for building more complex printable parts and delivering operational efficiency and effectiveness.

This paper presents an evolution of the basic-pixel strategy (a space-filling strategy) with the introduction of new elements in the algorithm and proves the improvement of the strategy’s performance with this. An interesting comparison is also presented in terms of operational efficiency and effectiveness between the enhanced-pixel strategy and conventional strategies.

Plasma technology has become of great interest in a wide variety of industrial and domestic applications. Moreover, the application of plasma in the domestic field has increased in recent years due to its applications to surface treatment and disinfection. In this context, there is a significant need for versatile power generators able to generate a wide range of output voltage/current ranging from direct current (DC) to tens of kHz in the range of kVs. The purpose of this paper is to develop a highly versatile power converter for plasma generation based on a multilevel topology.

This paper proposes a versatile multilevel topology able to generate versatile output waveforms. The followed methodology includes simulation of the proposed architecture, design of the power electronics, control and magnetic elements and test laboratory tests after building an eight-level prototype.

The proposed converter has been designed and tested using an experimental prototype. The designed generator is able to operate at 10 kVpp output voltage and 10 kHz, proving the feasibility of the proposed approach.

The proposed converter enables versatile waveform generation, enabling advanced studies in plasma generation. Unlike previous proposals, the proposed converter features bidirectional operation, allowing to test complex reactive loads. Besides, complex waveforms can be generated, allowing testing complex patterns for optimized cold-plasma generation methods. Besides, unlike transformer- or resonant-network-based approaches, the proposed generator features very low output impedance regardless the operating point, exhibiting improved and reliable performance for different operating conditions.