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A door is a hinged or otherwise movable barrier that allows ingress (entry) into and egress (exit) from an enclosure. The created opening in the wall is a doorway or portal. A door's essential and primary purpose is to provide security by controlling access to the doorway (portal). Conventionally, it is a panel that fits into the doorway of a building, room, or vehicle. Doors are generally made of a material suited to the door's task. They are commonly attached by hinges, but can move by other means, such as slides or counterbalancing. The door may be able to move in various ways (at angles away from the doorway/portal, by sliding on a plane parallel to the frame, by folding in angles on a parallel plane, or by spinning along an axis at the center of the frame) to allow or prevent ingress or egress. In most cases, a door's interior matches its exterior side. But in other cases (e.g., a vehicle door) the two sides are radically different. Many doors incorporate locking mechanisms to

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Forceful manipulation with micro air vehicles

Matthew Alfonso Estrada, Dario Floreano, Stefano Mintchev

Micro air vehicles (MAVs) are finding use across an expanding range of applications. However, when interacting with the environment, they are limited by the maximum thrust they can produce. Here, we describe FlyCroTugs, a class of robots that adds to the mobility of MAVs the capability of forceful tugging up to 40 times their mass while adhering to a surface. This class of MAVs, which finds inspiration in the prey transportation strategy of wasps, exploits controllable adhesion or microspines to firmly adhere to the ground and then uses a winch to pull heavy objects. The combination of flight and adhesion for tugging creates a class of 100-gram multimodal MAVs that can rapidly traverse cluttered three-dimensional terrain and exert forces that affect human-scale environments. We discuss the energetics and scalability of this approach and demonstrate it for lifting a sensor into a partially collapsed building. We also demonstrate a team of two FlyCroTugs equipped with specialized end effectors for rotating a lever handle and opening a heavy door.

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Design guidelines for remote laser welding in automotive assembly lines

Ian Anthony Stroud, Jumyung Um

Remote laser welding which has benefits for both productivity and energy saving is receiving increased attention for automotive assembly lines. Introducing this innovative equipment requires a redesign process for assembly elements, for example to substitute resist spot welding with remote laser welding. The mating surfaces related to the welding need to be updated as well, but this is complicated when the shape design includes manufacturing and assembly elements based on current practice which hide the design intent. The challenge is to establish guidelines with the design parameters of automotive door frames and the process parameters of the joining process in order to maintain the design intent. In order to maintain the original design intent of the process planner, the author proposes a propagation model for the production stage which is defined as the interplay between parameters and quantitative comparison. The process parameters of remote laser welding are applied to the flange of the door frame. Also, the shape of each flange is synchronised with the changes according to the result of a quantitative comparison of the productivity and eco-efficiency. A design guideline tool to redesign the flanges was developed inside a commercial CAD system to show the proposed concept. Five flanges of a car door were subjected to redesign for introducing 4-kw remote laser welding with considerations of eco-efficiency, process time and weight change. The tools are shown to illustrate how to maintain design intent in the redesign process, and the concept was realised in a commercial CAD system.

Springer London Ltd2017