Volume 5B: 43rd Mechanisms and Robotics Conference最新文献_第3页

Exploiting the Asymmetric Energy Barrier in Multi-Stable Origami to Enable Mechanical Diode Behavior in Compression 利用多稳定折纸中的不对称能量势垒实现二极管在压缩中的机械行为

Volume 5B: 43rd Mechanisms and Robotics Conference Pub Date : 2019-11-25 DOI: 10.1115/detc2019-97420

Nasim Baharisangari, Suyi Li

{"title":"Exploiting the Asymmetric Energy Barrier in Multi-Stable Origami to Enable Mechanical Diode Behavior in Compression","authors":"Nasim Baharisangari, Suyi Li","doi":"10.1115/detc2019-97420","DOIUrl":"https://doi.org/10.1115/detc2019-97420","url":null,"abstract":"\u0000 Recently, multi-stable origami structures and material systems have shown promising potentials to achieve multi-functionality. Especially, origami folding is fundamentally a three-dimensional mechanism, which imparts unique capabilities not seen in the more traditional multi-stable systems. This paper proposes and analytically examines a multi-stable origami cellular structure that can exhibit asymmetric energy barriers and a mechanical diode behavior in compression. Such a structure consists of many stacked Miura-ori sheets of different folding stiffness and accordion-shaped connecting sheets, and it can be divided into unit cells that features two different stable equilibria. To understand the desired diode behavior, this study focuses on two adjacent unit cells and examines how folding can create a kinematic constraint onto the deformation of these two cells. Via estimating the elastic potential energy landscape of this dual cell system. we find that the folding-induced kinematic constraint can significantly increase the potential energy barrier for compressing the dual-cell structure from a certain stable state to another, however, the same constraint would not increase the energy barrier of the opposite extension switch. As a result, one needs to apply a large force to compress the origami cellular structure but only a small force to stretch it, hence a mechanical diode behavior. Results of this study can open new possibilities for achieving structural motion rectifying, wave propagation control, and embedded mechanical computation.","PeriodicalId":211780,"journal":{"name":"Volume 5B: 43rd Mechanisms and Robotics Conference","volume":"160 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115931556","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 3

On the Unfolding Process of Triangular Resch Patterns: A Finite Particle Method Investigation 三角图形展开过程的有限粒子法研究

Volume 5B: 43rd Mechanisms and Robotics Conference Pub Date : 2019-11-25 DOI: 10.1115/detc2019-98121

Ying Yu, Yan Chen, G. Paulino

引用次数: 3

Development and Experimental Evaluation of a Quad-Tilt-Wing Flying Robot Platform 四倾翼飞行机器人平台研制与实验评价

Volume 5B: 43rd Mechanisms and Robotics Conference Pub Date : 2019-11-25 DOI: 10.1115/detc2019-98500

A. Aihaitijiang, C. Onal

引用次数: 0

Numerical Analysis of Quasi-Static Out-of-Plane Compression of Miura-Ori Patterned Sheets Miura-Ori图案板材准静态面外压缩数值分析

Volume 5B: 43rd Mechanisms and Robotics Conference Pub Date : 2019-11-25 DOI: 10.1115/detc2019-97113

X. Xiang, G. Lu

引用次数: 0

Design, Analysis, and Optimization of a New Two-DOF Articulated Multi-Link Robotic Tail 新型二自由度多连杆机器人尾巴的设计、分析与优化

Volume 5B: 43rd Mechanisms and Robotics Conference Pub Date : 2019-11-25 DOI: 10.1115/detc2019-97537

Yujiong Liu, P. Ben-Tzvi

{"title":"Design, Analysis, and Optimization of a New Two-DOF Articulated Multi-Link Robotic Tail","authors":"Yujiong Liu, P. Ben-Tzvi","doi":"10.1115/detc2019-97537","DOIUrl":"https://doi.org/10.1115/detc2019-97537","url":null,"abstract":"\u0000 Based on observations from nature, tails are believed to help animals achieve highly agile motions. Traditional single-link robotic tails serve as a good simplification for both modeling and implementation purposes. However, this approach cannot explain the complicated tail behaviors exhibited in nature where multi-link structures are more commonly observed. Unlike its single-link counterpart, articulated multi-link tails essentially belong to the serial manipulator family which possesses special transmission design challenges. To address this challenge, a cable driven hyper-redundant design becomes the most used approach. Limited by cable strength and elastic components, this approach suffers from low frequency responses, inadequate generated inertial loading, and fragile hardware, which are all critical drawbacks for robotic tails design. To solve these structure related shortcomings, a multi-link robotic tail made up of rigid links is proposed in this paper. The new structure takes advantage of the traditional hybrid mechanism architecture, but utilizes rigid mechanisms to couple the motions between ith link and i + 1th link rather than using cable actuation. By doing so, the overall tail becomes a rigid mechanism which achieves quasi-uniform spatial bending for each segment and allows performing highly dynamic motions. The mechanism and detailed design for this new tail are synthesized. The kinematic model was developed and an optimization process was conducted to minimize the bending non-uniformity for the rigid tail.","PeriodicalId":211780,"journal":{"name":"Volume 5B: 43rd Mechanisms and Robotics Conference","volume":"39 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122506739","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Compact Tensegrity Robots Capable of Locomotion Through Mass-Shifting 能够通过质量移动进行运动的紧凑型张拉整体机器人

Volume 5B: 43rd Mechanisms and Robotics Conference Pub Date : 2019-11-25 DOI: 10.1115/detc2019-98513

Tyler Rhodes, V. Vikas

引用次数: 1

Improving the Method for Kinematic Analysis of Mechanisms That Was Based on Parametric Polynomial System With Gröbner Cover 基于Gröbner覆盖参数多项式系统的机构运动分析方法的改进

Volume 5B: 43rd Mechanisms and Robotics Conference Pub Date : 2019-11-25 DOI: 10.1115/detc2019-97679

K. Arikawa

{"title":"Improving the Method for Kinematic Analysis of Mechanisms That Was Based on Parametric Polynomial System With Gröbner Cover","authors":"K. Arikawa","doi":"10.1115/detc2019-97679","DOIUrl":"https://doi.org/10.1115/detc2019-97679","url":null,"abstract":"\u0000 A polynomial system that contains parameters is termed a parametric polynomial system (PPS). We had previously proposed a method of kinematic analysis of mechanisms based on PPS with Gröbner cover, where the parameters are used to express link lengths, displacements of active joints, and so on. Calculating Gröbner cover of PPS that expresses kinematic constraints, and interpreting the segments of the parameter space that are generated by Gröbner cover, it is possible to gain an insight for comprehensively understanding kinematic properties of mechanisms characterized by the parameters. In this study, certain improvements to the method were made to enhance its practical application. The validity check of the segments in the real domain using quantifier elimination provides an automatic reliable check even for a large number of segments. The evaluation of the solution spaces in the segments using primary decomposition facilitates the kinematic interpretation of the complex solution spaces. The active joint selection based on the variable order in Gröbner cover enables the analyses without explicitly specifying active joints. Moreover, the alternative algebraic formulation of kinematic problems based on a homogeneous transformation matrix provides further insight regarding the mechanisms containing zero-length links. The effectiveness of these improvements was verified by the analyses of the configurations of 3RPR mechanism and five-bar linkage.","PeriodicalId":211780,"journal":{"name":"Volume 5B: 43rd Mechanisms and Robotics Conference","volume":"34 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125058918","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Designing and Manufacturing a Super Excellent and Ultra-Cheap Energy Absorber by Origami Engineering 利用折纸工程技术设计和制造一种超优、超廉价的能量吸收器

Volume 5B: 43rd Mechanisms and Robotics Conference Pub Date : 2019-11-25 DOI: 10.1115/detc2019-97725

Xilu Zhao, I. Hagiwara

引用次数: 1

Cylindrical Developable Mechanisms for Minimally Invasive Surgical Instruments 用于微创手术器械的圆柱形可展开机构

Volume 5B: 43rd Mechanisms and Robotics Conference Pub Date : 2019-11-25 DOI: 10.1115/detc2019-97202

Kendall Seymour, Jacob Sheffield, S. Magleby, L. Howell

引用次数: 6

Kinematic Modeling of Origami-Based Forcep Designs 基于折纸的镊子设计的运动学建模

Volume 5B: 43rd Mechanisms and Robotics Conference Pub Date : 2019-11-25 DOI: 10.1115/detc2019-98214

D. Abulon, J. McCarthy

引用次数: 0