Related papers: Non-linear stiffness behavior of planar serial rob…
Disordered biopolymer gels have striking mechanical properties including strong nonlinearities. In the case of athermal gels (such as collagen-I) the nonlinearity has long been associated with a crossover from a bending dominated to a…
The design of compliant mechanisms is crucial in several technologies and relies on the availability of solutions for nonlinear structural problems. One of these solutions is given and experimentally validated in the present article for a…
The paper is devoted to the compliance errors compensation for parallel manipulators under external loading. Proposed approach is based on the non-linear stiffness modeling and reduces to a proper adjusting of a target trajectory. In…
We present a theory for the elasticity of cross-linked stiff polymer networks. Stiff polymers, unlike their flexible counterparts, are highly anisotropic elastic objects. Similar to mechanical beams stiff polymers easily deform in bending,…
Cutting mechanics in soft solids have been a subject of study for several decades, an interest fuelled by the multitude of its applications, including material testing, manufacturing, and biomedical technology. Wire cutting is the simplest…
The buckling instability of micro- and nanopillars can be an issue when designing intelligent miniaturized devices and characterizing composite materials reinforced with beam-like particles on the small-scale. Analytical modeling of the…
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…
Euler's celebrated buckling formula gives the critical load $N$ for the buckling of a slender cylindrical column with radius $B$ and length $L$ as \[ N / (\pi^3 B^2) = (E/4)(B/L)^2, \] where $E$ is Young's modulus. Its derivation relies on…
Motivated by recent experiments showing nonlinear elasticity of in vitro networks of the biopolymer actin cross-linked with filamin, we present an effective medium theory of flexibly cross-linked stiff polymer networks. We model such…
Robotic systems operating in unstructured environments require the ability to switch between compliant and rigid states to perform diverse tasks such as adaptive grasping, high-force manipulation, shape holding, and navigation in…
Modulating the stiffness of soft actuators is crucial for improving the efficiency of interaction with the environment. However, current stiffness modulation mechanisms are hard to achieve high lateral stiffness and a wide range of bending…
Mixing and heat transfer rates are typically enhanced when operating at high-pressure transcritical turbulent flow regimes. The rapid variation of thermophysical properties in the vicinity of the pseudo-boiling region can be leveraged to…
This paper presents the design of a nonlinear control law for a typical electromagnetic actuator system. Electromagnetic actuators are widely implemented in industrial applications, and especially as linear positioning system. In this work,…
This paper investigates adaptive control of nonlinear robot manipulators with parametric uncertainty. Motivated by generating closed-loop robot dynamics with enhanced transmission capability of a reference torque and with connection to…
The oscillatory response of nonlinear systems exhibits characteristic phenomena such as multistability, discontinuous jumps and hysteresis. These can be utilized in applications leading, e.g., to precise frequency measurement, mixing,…
Combining simulations and theory I study the interplay between bundle elastic degrees of freedom and crosslink binding propensity. By slowly driving bundles into a deformed configuration, and depending on the mechanical stiffness of the…
Extensive studies have investigated the transition mechanism of boundary layers initiated by a single primary instability. In a real-world scenario, however, multiple primary instabilities of different physical nature would coexist and…
Stress-strain relations for random packings of entangling chains under triaxial compression can exhibit strain stiffening and sustain stresses several orders-of-magnitude beyond typical granular materials. X-ray tomography reveals the…
Modular Active Cell Robots (MACROs) are a design paradigm for modular robotic hardware that uses only two components, namely actuators and passive compliant joints. Under the MACRO approach, a large number of actuators and joints are…
This paper presents the work devoted to the study of the operation of a miniaturized membrane Stirling engine. Indeed, such an engine relies on the dynamic coupling of the motion of two membranes to achieve a prime mover Stirling…