Related papers: Non-linear stiffness behavior of planar serial rob…
Nonlinearities play a critical role in the dynamics of mechanical resonators, enhancing sensitivity and enabling signal manipulation. Understanding the parameters affecting nonlinearities is crucial for developing strategies to counteract…
The Euler buckling of rods is a long-studied mechanical instability, and it remains relevant to this day, as the constituent components in many biological and physical systems are linear polymers, such as microtubules or carbon nanotubes.…
The stiffness modulation mechanism for soft robotics has gained considerable attention to improve deformability, controllability, and stability. However, for the existing stiffness soft actuator, high lateral stiffness and a wide range of…
The paper is devoted to the elastostatic calibration of industrial robots, which is used for precise machining of large-dimensional parts made of composite materials. In this technological process, the interaction between the robot and the…
Based on the idea of variable stiffness mechanisms, a variety of such mechanisms is shown in this work. Specifically, 2-DOF parallel kinematic machines equipped with redundant actuators and non-linear springs in the actuated joints are…
In this work, we show that a recently proposed method for experimental nonlinear modal analysis based on the extended periodic motion concept is well suited to extract modal properties for strongly nonlinear systems (i.e. in the presence of…
Disordered filamentous networks with compliant crosslinks exhibit a low linear elastic shear modulus at small strains, but stiffen dramatically at high strains. Experiments have shown that the elastic modulus can increase by up to three…
In nonlinear dynamical systems with highly nonorthogonal linear eigenvectors, linear non-modal analysis is more useful than normal mode analysis in predicting turbulent properties. However, the non-trivial time evolution of non-modal…
Hard magnetic materials belong to a novel class of soft active materials with the capability of quick, large, and complex deformation via applying an external actuation. They have an extensive range of potential applications in soft robots,…
We show that nonlinear tight-binding lattices of different geometries and dimensionalities, display an universal selftrapping behavior. First, we consider the single nonlinear impurity problem in various tight-binding lattices, and use the…
The approximate nonlinear receding-horizon control law is used to treat the trajectory tracking control problem of rigid link robot manipulators. The derived nonlinear predictive law uses a quadratic performance index of the predicted…
We have studied the elastic response of actin networks with both compliant and rigid crosslinks by modeling molecular motors as force dipoles. Our finite element simulations show that for compliant crosslinkers such as filamin A, the…
Compliance in actuation has been exploited to generate highly dynamic maneuvers such as throwing that take advantage of the potential energy stored in joint springs. However, the energy storage and release could not be well-timed yet. On…
Force transmission at large length scales is crucial for such biological functions as cell motility and morphogenesis. The networks that transmit these forces are malleable, patterned by active forces generated at the microscale by…
Columnar buckling is a ubiquitous phenomenon that occurs in both living things and man-made objects, regardless of the length scale ranging from macroscopic to nanometric structures. In general, analyzing the post-buckling behavior of a…
We investigate pneumatic non-prehensile manipulation (i.e., blowing) as a means of efficiently moving scattered objects into a target receptacle. Due to the chaotic nature of aerodynamic forces, a blowing controller must (i) continually…
Buckling plays a critical role in the transport and dynamics of elastic microfilaments in Stokesian fluids. However, previous work has only considered filaments with homogeneous structural properties. Filament backbone stiffness can be…
The paper presents an approach for the identification of elasto-static parameters of a robotic manipulator using the virtual experiments in a CAD environment. It is based on the numerical processing of the data extracted from the finite…
The dynamics of rapid brittle cracks is commonly studied in the framework of linear elastic fracture mechanics where nonlinearities are neglected. However, recent experimental and theoretical work demonstrated explicitly the importance of…
We investigate the geometrically nonlinear deformation and buckling of a slender elastic beam subject to time-dependent `fictitious' (non-inertial) forces arising from unsteady rotation. Using a rotary apparatus that accurately imposes an…