Related papers: Design optimization and robustness analysis of rig…
This paper demonstrates the computational design of soft elastomeric pneumatic actuators using nonlinear topology optimization. An existing density- and porohyperelasticity-based topology optimization framework was extended from 2D to 3D…
While it is expected to build robotic limbs with multiple degrees of freedom (DoF) inspired by nature, a single DoF design remains fundamental, providing benefits that include, but are not limited to, simplicity, robustness,…
The joint optimization of physical parameters and controllers in robotic systems is challenging. This is due to the difficulties of predicting the effect that changes in physical parameters have on final performances. At the same time,…
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 presents a new stiffness modelling method for multi-chain parallel robotic manipulators with flexible links and compliant actuating joints. In contrast to other works, the method involves a FEA-based link stiffness evaluation and…
Fluidic locomotion of flapping Micro Aerial Vehicles (MAVs) can be very complex, particularly when the rules from insect flight dynamics (fast flapping dynamics and light wings) are not applicable. In these situations, widely used averaging…
Soft robotic manipulators are attractive for a range of applications such as medical interventions or industrial inspections in confined environments. A myriad of soft robotic manipulators have been proposed in the literature, but their…
This research delves into optimizing mechanism design, with an emphasis on the energy efficiency and the expansive design possibilities of reciprocating mechanisms. It investigates how to efficiently integrate Computer-Aided Design (CAD)…
Topology optimization (TO) has experienced a dramatic development over the last decades aided by the arising of metamaterials and additive manufacturing (AM) techniques, and it is intended to achieve the current and future challenges. In…
Design optimization of mechanisms is a promising research area as it results in more energy-efficient machines without compromising performance. However, machine builders do not actually use the potential described in the literature as…
The ever increasing penetration of Renewable Energy Resources (RESs) in power distribution networks has brought, among others, the challenge of maintaining the grid voltages within the secure region. Employing droop voltage regulators on…
We investigate the effect of wing twist flexibility on lift and efficiency of a flapping-wing micro air vehicle capable of liftoff. Wings used previously were chosen to be fully rigid due to modeling and fabrication constraints. However,…
Magnetic levitation positioning technology has attracted considerable research efforts and dedicated attention due to its extremely attractive features. The technology offers high-precision, contactless, dust/lubricant-free, multi-axis, and…
The paper presents a new stiffness modelling method for multi-chain parallel robotic manipulators with flexible links and compliant actuating joints. In contrast to other works, the method involves a FEA-based link stiffness evaluation and…
Various 6-degree-of-freedom (DOF) and 7-DOF manipulators have been developed to date. Over a long history, their joint configurations and link length ratios have been determined empirically. In recent years, the development of robotic…
The paper focuses on the accuracy improvement of stiffness models for parallel manipulators, which are employed in high-speed precision machining. It is based on the integrated methodology that combines analytical and numerical techniques…
With an extensive increment of computation demands, the aerial multi-access edge computing (MEC), mainly based on unmanned aerial vehicles (UAVs) and high altitude platforms (HAPs), plays significant roles in future network scenarios. In…
This paper discusses a framework to design elements of the plant and control systems for floating offshore wind turbines in an integrated manner using linear parameter-varying models. Multiple linearized models derived from aeroelastic…
This paper describes an investigation of the possible benefits from wing optimisation in improving the performance of Micro Air Vehicles (MAVs). As an example we study the Avion (3.64 kg mass, 1.60 m span), being designed at the CSIR…
This paper presents a method for simultaneous optimization of the outer shape and internal topology of aircraft wings, with the objective of minimizing drag subject to lift and compliance constraints for multiple load cases. The physics are…