相关论文: Harnessing Elastic Energy to Transfer Reciprocatin…
Unmanned micro aerial vehicle research is an active area of development due to the vast potential applications. Prior work towards realizing flapping flight has achieved some success however they have relied heavily upon the use of rotary…
A theory of reciprocating contacts for linear viscoelastic materials is presented. Results are discussed for the case of a rigid sphere sinusoidally driven in sliding contact with a viscoelastic half-space. Depending on the size of the…
Motion control of underactuated systems through the inverse dynamics contains configuration singularities. These limitations in configuration space mainly stem from the inertial coupling that passive joints/bodies create. In this study, we…
We introduce a simple model of self-propelled agents connected by linear springs, with no explicit alignment rules. Below a critical noise level, the agents self-organize into a collectively translating or rotating group. We derive…
The nonlinear mechanics of a flexible elastic rod constrained at its edges by a pair of sliding sleeves is analyzed. The planar equilibrium configurations of this variable-length elastica are found to have shape defined only by the…
A general expression for the elastic potential energy of a helical spring is derived using the basic concepts of elasticity theory and geometry. Both the translational and the rotational displacement of the spring's moving ends are…
One of the most challenging and basic problems in elastic rod dynamics is a description of rods in contact that prevents any unphysical self-intersections. Most previous works addressed this issue through the introduction of short-range…
Spring-driven jumping robots use an energised spring for propulsion, while the onboard motor only serves as a spring-charging source. A common mechanism in designing these robots is the rhomboidal linkage, which has been combined with…
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…
We present a unified classical treatment of partially constrained elastic rods. Partial constraints often entail singularities in both shapes and reactions. Our approach encompasses both sleeve and adhesion problems, and provides simple and…
To attach and detach permanent magnets with an operation force smaller than their attractive force, Internally-Balanced Magnetic Unit (IB Magnet) has been developed. The unit utilizes a nonlinear spring with an inverse characteristic of…
Compliant robotics have seen successful applications in energy efficient locomotion and cyclic manipulation. However, exploitation of variable physical impedance for energy efficient sequential movements has not been extensively addressed.…
The sliding friction force exerted by stochastic linkers interacting with a moving filament is calculated. The elastic properties of the substrate on which the linkers are anchored are shown to strongly influence the friction force. In some…
The increasing need for sharing workspace and interactive physical tasks between robots and humans has raised concerns regarding safety of such operations. In this regard, controllable clutches have shown great potential for addressing…
We consider a system of two linear and linearly coupled oscillators with ideal impact constraints. Primary resonant energy exchange is investigated by analysis of the slow-flow using the action-angle (AA) formalism. Exact inversion of the…
Living systems at the molecular scale are composed of many constituents with strong and heterogeneous interactions, operating far from equilibrium, and subject to strong fluctuations. These conditions pose significant challenges to…
Using an alternative mechanism to dissipation or scattering, bistable structures and mechanical metamaterials have shown promise for mitigating the detrimental effects of impact by reversibly locking energy into strained material. Herein,…
This paper deals with the robust force and position control problems of Series Elastic Actuators. It is shown that a Series Elastic Actuator's force control problem can be described by a second-order dynamic model which suffers from only…
A new energy functional for pure traction problems in elasticity has been deduced in [23] as the variational limit of nonlinear elastic energy functional for a material body subject to an equilibrated force field: a sort of Gamma limit with…
We study numerically the motion of a one dimensional array of Brownian particles in a washboard potential, driven by an external stochastic force and interacting via short range repulsive forces. In particular, we investigate the role of…