3D printing is a widely used technology that has been recently applied in construction to reduce construction time significantly. A large 3D printer often uses a traditional Cartesian robot with inherent problems, such as position errors and printing nozzle vibrations, due to the long, heavy horizontal beam carrying it and a large amount of power required to actuate the heavy beam. A cable-driven parallel robot (CDPR) can be a good alternative system to reduce the vibrations and necessary power because the robot’s lightweight cables can manipulate the printing nozzle. However, a large 3D printing CDPR should be carefully designed to maximize the workspace and avoid cable interference. It also needs to be stiff enough to reject disturbances from the environment properly. A CDPR with a retractable beam-type end-effector with cables through the guide pulleys in a single plane is suggested for avoiding cable interference while maximizing the workspace. The effects of using the retractable end-effector on the workspace were analyzed relative to the cable connection points’ location changes. Static stiffness analysis was conducted to examine the natural frequencies, and the geometric parameters of the end-effector were adjusted to improve the lowest natural frequencies. Simulation results show that a retractable beam-type end-effector can effectively expand the wrench-feasible workspace.

In this study, we thoroughly analyzed the linearity and repeatability of force-sensing resistor (FSR) sensors through static load tests to ensure their reliability. The novelty of this research lies in its comprehensive evaluation and direct comparison of two widely used FSR sensors, i.e., Flexiforce A201-1 and Interlink FSR-402, under various loading conditions by employing a robust calibration methodology. This study provides detailed insights into the sensors’ performances, offering practical calibration equations that enhance measurement precision and reliability, which have not been extensively documented in previous studies. Our results demonstrate that the linearity of thin film FSR sensors is highly accurate, closely resembling a straight line. We employed M1 Class weights, applying loads ranging from 20 g to 300 g. The resistance of the FSR sensors, which varies with the applied load, was measured using a voltage divider circuit and an analog-to-digital converter of a microcontroller. MATLAB was used to calculate the average output voltage for each applied load and fixed resistance. Additionally, we examined the relationships among load, FSR sensor resistance, and conductivity. Our research indicates that with precise calibration, thin film FSR sensors can be highly reliable for force measurement applications.

In this study, we developed a cost-effective and rapid method for fabricating force-sensing resistor (FSR) sensors as an alternative to commercial force sensors. Our aim was to achieve performance characteristics comparable to existing commercial products while significantly reducing costs and fabrication time. We analyzed the material composition of two widely used commercial force sensors: Interlink FSR-402 and Flexiforce A201-1. Based on this analysis, we selected 4B and 9B pencils, which contain high concentrations of graphite, and silicone sealant to replicate these material properties. The fabrication process involved creating piezoresistive sheets by shading A4 copy paper with 4B and 9B pencils to form a uniform layer of graphite. Additionally, we prepared a mixture of 9B pencil lead powder and silicone sealant, ensuring a consistent application on the paper substrate. Measurement results indicated that the force sensor fabricated using a mixture of 9B pencil powder and silicone sealant exhibited electrical and mechanical characteristics closely resembling those of commercial sensors. Load tests revealed that the hand-made sensors provided a proportional voltage output in response to increasing and decreasing loads, similar to commercial FSR sensors. These results suggest that our fabrication method can produce reliable and accurate FSR sensors suitable for various applications, including wearable technology, robotics, and force-sensing interfaces. Overall, this study demonstrates the potential for creating cost-effective and high-performance FSR sensors using readily available materials and simple fabrication techniques.

OBJECTIVE To investigate the efficacy of a phospholipid-stabilized sulfur hexafluoride microsphere (SHM) contrast agent and water for hydrosonography of the upper portion of the gastrointestinal tr...

This study proposes a rectangular-shaped optical module capable of simultaneously implementing crop cultivation and solar power generation. By employing a cylindrical Fresnel lens (CFL) array plate with a size of 100 × 100 mm², multiple focal lines are formed, where some of the incident light transmits through the module while the rest is guided laterally through the rectangular lightguide structure. This guided sunlight is then concentrated by a cylindrical compound parabolic concentrator (CCPC) structure, resulting in a 20-fold concentration ratio, onto a 5 × 100 mm² Si photovoltaic (PV) cell. To experimentally verify feasibility, both the CFL array plate and the lightguide plate were fabricated with three-axis machine tooling equipment and assembled. The power generated experimentally by the 5 × 100 mm² Si PV cell was 54% of the expected value from the simulation results on the light-concentrated efficiency considering experimental conditions, while the results on experimental transmittance along with rotation angles were very close to the simulation results. However, overall, the tendency of the generated power along the rotation angles is close to the tendency of the light-concentrated efficiency along the rotation angles from the simulation. Additionally, this study dealt with further consideration to enhance light-concentrated efficiency, introducing a means to adjust the trade-off relationship between transmittance and light-concentrated efficiency.