相关论文: Optimisation of design parameters to improve perfo…
Design of robotic systems that safely and efficiently operate in uncertain operational conditions, such as rehabilitation and physical assistance robots, remains an important challenge in the field. Current methods for the design of energy…
In this work, we attempt to optimize the design of an electromagnetic induction device that captures the energy from the arterial wall pulsation for the purpose of powering implantable medical devices. The artery comes through a flexible…
The present study presents a new micro electromagnetic actuator utilizing a PDMS membrane with a magnet. The actuator is integrated with micro coils to electromagnetically actuate the membrane and results in a large deflection. The micro…
We propose and develop an electrical and mechanical system model of a single-axis linear-motion kinetic energy harvester for impulsive excitation that allows its generated load power to be numerically optimised as a function of design…
This paper introduces a novel design method that enhances the force/torque, bendability, and controllability of soft pneumatic actuators (SPAs). The complex structure of the soft actuator is simplified by approximating it as a cantilever…
Electromechanical models are crucial in the design and control of motors and actuators. Modeling, identification, drive, and current control loop of a limited-rotation actuator with magnetic restoration is presented. New nonlinear and…
The demand for high-precision and high-throughput motion control systems has increased significantly in recent years. The use of moving-magnet planar actuators (MMPAs) is gaining popularity due to their advantageous characteristics, such as…
Recent advances in microtechnology allow realization of planar microcoils. These components are integrated in MEMS as magnetic sensor or actuator. In the latter case, it is necessary to maximize the effective magnetic field which is…
Compared to rigid actuators, Series Elastic Actuators (SEAs) offer a potential reduction of motor energy consumption and peak power, though these benefits are highly dependent on the design of the torque-elongation profile of the elastic…
Using a time-dependent approach the analysis and optimization of a planar FEL-amplifier with an axial magnetic field and an irregular waveguide is performed. By applying methods of nonlinear dynamics three-dimensional equations of motion…
This paper presents a comprehensive analytical and simulation-based study of curved electrode geometries for enhancing the sensitivity of MEMS capacitive accelerometers. Expressions for the capacitance between a planar movable electrode and…
We consider a cantilever beam which possesses a possibly non-uniform permanent magnetization, and whose shape is controlled by an applied magnetic field. We model the beam as a plane elastic curve and we suppose that the magnetic field acts…
A major field of industrial robot applications deals with repetitive tasks that alternate between operating points. For these so-called pick-and-place operations, parallel kinematic manipulators (PKM) are frequently employed. These tasks…
The reduction of magnetic forces on electromagnetic coils is an important consideration in the design of high-field devices such as the stellarator or tokamak. Unfortunately, these forces may be too time-consuming to evaluate by…
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…
We propose a protocol to model accurately the electromechanical behavior of dielectric elastomer membranes using experimental data of stress-stretch and voltage-stretch tests. We show how the relationship between electric displacement and…
This paper investigates the differentiable dynamic modeling of mobile manipulators to facilitate efficient motion planning and physical design of actuators, where the actuator design is parameterized by physically meaningful motor geometry…
The goal of this paper is to improve the performance of an electric motor by modifying the geometry of a specific part of the iron core of its rotor. To be more precise, the objective is to smooth the rotation pattern of the rotor. A shape…
Series Elastic Actuators provide many benefits in force control of robots in unconstrained environments. These benefits include high force fidelity, extremely low impedance, low friction, and good force control bandwidth. Series Elastic…
This paper presents a modeling and optimization framework to design battery electric micromobility vehicles, minimizing their total cost of ownership (TCO). Specifically, we first identify a model of the electric powertrain of an e-scooter…