Related papers: Non-linear stiffness behavior of planar serial rob…
This paper presents the accessibility and small-time local controllability (STLC) results for $N$-link horizontal planar manipulators with only one unactuated joint. STLC is important in controls, both for design considerations and because…
Elastic instabilities such as buckling and snapping have evolved into a powerful design principle, enabling memory, sequential shape morphing, and computing in metamaterials and devices. Modifying the post-buckling configurations or their…
In the present work, the overall nonlinear elastic behavior of a 1D multi-modular structure incorporating possible imperfections at the discrete (micro-scale) level, is derived with respect to both tensile and compressive applied loads. The…
Initially straight slender elastic rods with geometrically constrained ends buckle and form stable two-dimensional shapes when compressed by bringing the ends together. It is also known that beyond a critical value of the pre-stress,…
Implant placement under soft tissues operation is described. In this operation tissues can reach such deformations that nonlinear properties are appeared. A mass-spring model modification for modeling nonlinear tissue operation is…
This work is focused on the longtime behavior of a non linear evolution problem describing the vibrations of an extensible elastic homogeneous beam resting on a viscoelastic foundation with stiffness k>0 and positive damping constant.…
This study investigates a detailed analytical and numerical investigation of a nonlinear two-degree-of-freedom (2DOF) mechanical oscillator subjected to parametric excitation, magnetic stiffness nonlinearities, and dry friction. The…
The paper presents a new stiffness modelling method for overconstrained parallel manipulators, which is applied to 3-d.o.f. translational mechanisms. It is based on a multidimensional lumped-parameter model that replaces the link…
We study the buckling of a one fiber composite whose matrix stiffness is slightly dependent on the compressive force. We show that the equilibrium curves of the system exhibit a limit load when the induced stiffness parameter gets bigger…
We present a non-linear stability analysis of quasi-static slip in a spring-block model. The sliding interface is governed by rate- and state-dependent friction, with an intermediate state evolution law that spans between aging and slip…
The paper presents the compliance errors compensation technique for over-constrained parallel manipulators under external and internal loadings. This technique is based on the non-linear stiffness modeling which is able to take into account…
An analytical model based on variational principles for a thin-walled stiffened plate subjected to axial compression is presented. A system of nonlinear differential and integral equations is derived and solved using numerical continuation.…
We propose a mechanically simple and cheap design for a series elastic actuator with controllable stiffness. Such characteristics are necessary for animals for running, jumping, throwing, and manipulation, yet in robots, variable stiffness…
We uncover how nonlinearities dramatically alter the buckling of elastic beams. First, we show experimentally that sufficiently wide ordinary elastic beams and specifically designed metabeams ---beams made from a mechanical metamaterial---…
Soft biological tissues exhibit a remarkable resilience to large mechanical loads, a property which is associated with the strain stiffening capability of the biopolymer networks that structurally support the tissues. Yet, recent studies…
We evaluate the loss of stability of axially compressed slender and thick-walled tubes subject to a residual stress distribution. The nonlinear theory of elasticity, when used to analyze the underlying deformation, shows that the residual…
Bifurcation of an elastic structure crucially depends on the curvature of the constraints against which the ends of the structure are prescribed to move, an effect which deserves more attention than it has received so far. In fact, we show…
The paper focuses on stiffness matrix computation for manipulators with passive joints, compliant actuators and flexible links. It proposes both explicit analytical expressions and an efficient recursive procedure that are applicable in the…
The buckling of a soft elastic sample under growth or swelling has highlighted a new interest in materials science, morphogenesis, and biology or physiology. Indeed, the change of mass or volume is a common fact of any living species, and…
We investigate the buckling and post-buckling properties of a hyperelastic half-space coated by two hyperelastic layers when the composite structure is subjected to a uniaxial compression. In the case of a half-space coated with a {\it…