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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.

Soft actuators using pneumatic-chamber (PneuNet)-based designs have been of interest in the area of soft robotics with scope of application in the area of biomedical assistance and smart agriculture. Researchers have attempted to investigate multiple chambers in parallel to examine their deformation characteristics. However, there is a lacuna for investigation of the deformation characteristics of four parallel chambered soft actuators. The purpose of this study is to comprehensively investigate the different possible actuation scenarios and the resulting bending/deformation behaviours.

Therefore, in this study, a four-chambered PneuNet actuator is numerically investigated to evaluate the effects of pressurization scenarios and pressure levels on its performance, operating reaching and working volume.

The results of this study revealed that two-adjacent chamber equal pressurization and three-chamber pressurizations result in increased bending. However, two-opposite chamber pressurization reduces the bending angle with pressure levels in the lower pressure chamber. The maximum bending angle of 97° was achieved for single-chamber pressurization of 300 kPa. The two-adjacent chamber unequal pressurization can achieve a sweeping motion in the actuator along with bending. The working volume and reaching capability analysis revealed that the actuator can reach around 71% of the dimensional operating space.

The results provide fundamental guidance on the output nature of motion which can be obtained under different pressurization scenarios using the four-chambered design soft actuator, thereby making it a practical guide for implementation for useful applications.

The comprehensive pressurization scenarios and pressure level variations reported in this study will serve as fundamental operating guidelines for any practical implementation of the four-chambered PneuNet actuator.

The recent surge in light emitting diode (LED) lighting retrofitted into schools in the UK is as a result of the UK Government’s 2050 zero carbon pledge. However, the benefits and consequences of LED retrofit projects for staff and enablers and stakeholder knowledge gaps about LED lighting retrofitting have not been fully explored. The aim of this research is to determine the amount of savings in cost, carbon reduction and kilowatt usage and to confirm if repayment from energy and cost savings derived from LED retrofit school projects funded through the SALIX funding option in the UK would be enough to service the loan. Thus, it examines monetary and non-monetary benefits, internal project stakeholder knowledge gaps and the consequences of LED retrofit for the staff and enablers of a large community college in the UK which is funded through the SALIX funding option.

The methodology relied on a hybrid research approach of a case secondary school through the review of literature, analysis of secondary data, focus group and questionnaire survey. The focus group consists of six key project stakeholders. The secondary data was sourced from the Project IGP [Individual Grade Proposal] and the Positive Energy Report from Zenergi, and the closed online questionnaire survey was used to sample 150 teaching staff and school enablers.

The findings show that stakeholders lack project knowledge, trust and expertise/project comprehension. This is in terms of baseline information, LED technology/management, payback modalities, management of risks and ethical issues around environmental impact. The forecasted SALIX savings were not achieved in real-time, partly because it does not take into consideration the increase in energy costs over the payback period. However, the LED retrofit creates efficiencies; drives down energy costs and energy usage; and drives carbon reduction, helping pupils’ learning, improving productivity and performance, and finally leading to a better lighting environment for the school community.

The study will help schools in the UK that intend to access SALIX finance for LED retrofits to understand the challenges and mitigate the risks. It will also help the government to understand the importance of adjusting the payback modalities to the base price when the retrofit was carried out for real-time savings to be made. The research would be useful in ensuring the proactive involvement of all the identified stakeholders in understanding the challenges and what the function entails.