相关论文: MSA - Technique for Stiffness Modeling of Manipula…

Woven shell structures are beneficial for applications requiring lightweight, damage resilience, and design tunability, such as in wearable devices, soft robotics, and aerospace systems. A fundamental component of woven structures is the…

Assembling stiffness matrices represents a significant cost in many finite element computations. We address the question of optimizing the evaluation of these matrices. By finding redundant computations, we are able to significantly reduce…

The study is devoted to geometrically non-linear modelling of viscoplastic structures with residual stresses. We advocate and develop a special approach to residual stresses based on the transition between reference configurations. The…

This paper presents the integration of a Variable Stiffness Link (VSL) for long-reach aerial manipulation, enabling adaptable mechanical coupling between an aerial multirotor platform and a dual-arm manipulator. Conventional long-reach…

Multiscale techniques have been widely shown to potentially overcome the limitation of homogenization schemes in representing the microscopic failure mechanisms in heterogeneous media as well as their influence on their structural response…

Robustness of linear systems with constant coefficients is considered. There exist methods and tools for analyzing the stability of systems with random or deterministic uncertainties. At the same time, there are no approaches for the…

The paper discusses the kinematics of manipulators builts of planar closed kinematic chains. A special kinematic scheme is extracted from the array of these mechanisms that looks the most promising for the creation of different types of…

Theory of simulated annealing (SA), a method for equilibrium and stability analyses for Hamiltonian systems, is reviewed. The SA explained in this review is based on a double bracket formulation that derives from Hamiltonian structure. In…

Semi-active vibration reduction techniques are defined as techniques in which controlled actions do not operate directly on the system's degrees of freedom (as in the case of active vibration control) but on the system's parameters, i.e.,…

We propose a mechanically simple and cheap design for a series elastic actuator with controllable stiffness. Such characteristics are necessary for animals for running, jumping, throwing, and manipulation, yet in robots, variable stiffness…

The study is devoted to the geometrically nonlinear simulation of fiber-reinforced composite structures. The applicability of the multiplicative approach to the simulation of viscoelastic properties of a composite material is assessed,…

To develop robust manipulation policies, quantifying robustness is essential. Evaluating robustness in general manipulation, nonetheless, poses significant challenges due to complex hybrid dynamics, combinatorial explosion of possible…

Rigid bodies, plastic impact, persistent contact, Coulomb friction, and massless limbs are ubiquitous simplifications introduced to reduce the complexity of mechanics models despite the obvious physical inaccuracies that each incurs…

Rigid link flapping mechanisms remain the most practical choice for flapping wing micro-aerial vehicles (MAVs) to carry useful payloads and onboard batteries for free flight due to their long-term durability and reliability. However, MAVs…

Matrix stiffness expressions are derived for the particle movements in an assembly of rigid granules having compliant contacts. The derivations include stiffness terms that arise from the particle shapes at their contacts. These geometric…

Manipulability analysis is a methodology employed to assess the capacity of an articulated system, at a specific configuration, to produce motion or exert force in diverse directions. The conventional method entails generating a virtual…

Based on multiple simulation trajectories, which started from dispersively selected initial conformations, the weighted ensemble dynamics method is designed to robustly and systematically explore the hierarchical structure of complex…

While much work has been done recently in the realm of model-based control of soft robots and soft-rigid hybrids, most works examine robots that have an inherently serial structure. While these systems have been prevalent in the literature,…

With this contribution, we give a complete and comprehensive framework for modeling the dynamics of complex mechanical structures as port-Hamiltonian systems. This is motivated by research on the potential of lightweight construction using…

Control of soft robotic manipulators remains a challenge for designs with advanced capabilities and novel actuation. Two significant limitations are multi-axis, three-dimensional motion of soft bodies alongside actuator dynamics and…