Related papers: Stiffness modeling of non-perfect parallel manipul…
Ensuring symmetric stiffness in impedance-controlled robots is crucial for physically meaningful and stable interaction in contact-rich manipulation. Conventional approaches neglect the change of basis vectors in curved spaces, leading to…
Molecular dynamics simulation of a generic polymer model is applied to study melts of polymers with different types of intrinsic stiffness. Important static observables of the single chain such as gyration radius or persistence length are…
A new semi-analytic model of the metal rolling process is introduced, which, for the first time, is able to predict the through-thickness stress and strain oscillations present in long thin roll-gaps. The model is based on multiple-scales…
Fringing field has to be taken into account in the formulation of electrostatic parallel-plate actuators when the gap separating the electrodes is comparable to the geometrical dimensions of the moving plate. Even in this case, the existing…
Stroke-induced motor impairment often results in substantial loss of upper-limb function, creating a strong demand for rehabilitation robots that enable safe and transparent physical human-robot interaction (pHRI). Variable stiffness…
Robot manipulators are often tasked with working in environments with vibrations and are subject to load uncertainty. Providing an accurate tracking control design with implementable torque input for these robots is a complex topic. This…
Pattern-forming metamaterials feature microstructures specifically designed to change the material's macroscopic properties due to internal instabilities. These can be triggered either by mechanical deformation or, in the case of active…
Mechanical compliance is a key design parameter for dynamic contact-rich manipulation, affecting task success and safety robustness over contact geometry variation. Design of soft robotic structures, such as compliant fingers, requires…
The paper proposes a novel approach for the geometrical model calibration of quasi-isotropic parallel kinematic mechanisms of the Orthoglide family. It is based on the observations of the manipulator leg parallelism during motions between…
We study the dynamics of a mechanical oscillator with linear and cubic forces -the Duffing oscillator- subject to a feedback mechanism that allows the system to sustain autonomous periodic motion with well-defined amplitude and frequency.…
Motivated by an application involving additively manufactured bioresorbable polymer scaffolds supporting bone tissue regeneration, we investigate the impact of uncertain geometry perturbations on the effective mechanical properties of…
Series Elastic Actuators provide many benefits in force control of robots in unconstrained environments. These benefits include high force fidelity, extremely low impedance, low friction, and good force control bandwidth. Series Elastic…
Non-rigid origami patterns could provide more versatile performance than their rigid counterparts in the design of mechanical metamaterials owing to the simultaneous deformation of facets and creases, but their complex deformation modes…
This paper presents a computational framework for the robust stiffness design of hyperelastic structures at finite deformations subject to various uncertain sources. In particular, the loading, material properties, and geometry…
Standard methods in computer model calibration treat the calibration parameters as constant throughout the domain of control inputs. In many applications, systematic variation may cause the best values for the calibration parameters to…
Mechanical properties of the tissue engineering scaffolds are known to play a crucial role in tissue regeneration. Here, we have utilized discrete network and finite element models to study fibrous scaffold mechanics and its dependence on…
Semi-active vibration reduction techniques are defined as techniques in which controlled actions do not operate directly on the system's degrees of freedom (as in the case of active vibration control) but on the system's parameters, i.e.,…
A recent large deflection cantilever model is considered. The principal nonlinear effects come through the beam's inextensibility---local arc length preservation---rather than traditional extensible effects attributed to fully restricted…
Disordered elastic networks provide a framework for describing a wide variety of physical systems, ranging from amorphous solids, through polymeric fibrous materials to confluent cell tissues. In many cases, such networks feature two widely…
Bundles of filaments are subject to geometric frustration: certain deformations (e.g. bending while twisted) require longitudinal variations in spacing between filaments. While bundles are common -- from protein fibers to yarns -- the…