Volume 10: 44th Mechanisms and Robotics Conference (MR)最新文献_第3页

Passive Mechanical Metamaterial Sensor and Actuator 被动机械超材料传感器和执行器

Volume 10: 44th Mechanisms and Robotics Conference (MR) Pub Date : 2020-08-17 DOI: 10.1115/detc2020-22370

U. Waheed, C. Myant

{"title":"Passive Mechanical Metamaterial Sensor and Actuator","authors":"U. Waheed, C. Myant","doi":"10.1115/detc2020-22370","DOIUrl":"https://doi.org/10.1115/detc2020-22370","url":null,"abstract":"\u0000 In recent years, and with the continual development of additive manufacturing technologies, mechanical metamaterials have been explored for their programmable nature. This has opened a new design space into devices using functional materials. In this paper, a novel mechanical metamaterial device is designed, combining anisotropic 3D unit cells to slender beams. By controlling the separation distance between the fixed ends of a slender beam, the mechanism can be tuned to transition between monostable and bistable states. This behaves as a sensor and actuator, allowing mechanical signals to pass only when the correct actuation pattern is received. The device is shown to be inherently passive as it returns to a monostable state after actuation. Two different designs have successfully demonstrated this repeatable behaviour. A multi-material PolyJet printed mechanism joining unit cells to a Von Mises Truss, and an SLA printed compliant mechanism coupling unit cells to thin slender beams. A novel approach in performing AND/OR mechanical logic has also been successfully demonstrated by manipulating the mechanical metamaterial when in a bias state. The proposed devices have application in soft robotic systems, the aerospace industry and in the nuclear sector, where there is a need for passive safety systems that are not reliant on electronic systems, and respond to environmental stimuli. The printed mechanisms highlight the potential for mechanical metamaterials to be used as tunable sensors and actuators for future engineering applications.","PeriodicalId":365283,"journal":{"name":"Volume 10: 44th Mechanisms and Robotics Conference (MR)","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-08-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"113968248","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

Static Balancing of Four-Bar Linkages With Torsion Springs by Exerting Negative Stiffness Using Linear Spring at the Instant Center of Rotation 利用直线弹簧在瞬间旋转中心施加负刚度的扭转弹簧四杆机构静平衡

Volume 10: 44th Mechanisms and Robotics Conference (MR) Pub Date : 2020-08-17 DOI: 10.1115/detc2020-22352

Jorge A. Franco, J. A. Gallego, J. Herder

引用次数: 1

Design Elements Inflatable Origami-Based Forceps 设计元素充气折纸为基础的镊子

Volume 10: 44th Mechanisms and Robotics Conference (MR) Pub Date : 2020-08-17 DOI: 10.1115/detc2020-22733

D. Abulon, J. McCarthy

引用次数: 0

Designing Conformal Ferromagnetic Soft Actuators Using Extended Level Set Methods (X-LSM) 用扩展水平集方法设计共形铁磁软执行器

Volume 10: 44th Mechanisms and Robotics Conference (MR) Pub Date : 2020-08-17 DOI: 10.1115/detc2020-22438

Jiawei Tian, Xuanhe Zhao, X. Gu, Shikui Chen

{"title":"Designing Conformal Ferromagnetic Soft Actuators Using Extended Level Set Methods (X-LSM)","authors":"Jiawei Tian, Xuanhe Zhao, X. Gu, Shikui Chen","doi":"10.1115/detc2020-22438","DOIUrl":"https://doi.org/10.1115/detc2020-22438","url":null,"abstract":"\u0000 Ferromagnetic soft materials (FSM) can generate flexible movement and shift morphology in response to an external magnetic field. They have been engineered to design products in a variety of promising applications, such as soft robots, compliant actuators, or bionic devices, et al. By using different patterns of magnetization in the soft elastomer matrix, ferromagnetic soft matters can achieve various shape changes. Although many magnetic soft robots have been designed and fabricated, they are limited by the designers’ intuition. Topology optimization (TO) is a systematically mathematical method to create innovative structures by optimizing the material layout within a design domain without relying on the designers’ intuition. It can be utilized to architect ferromagnetic soft active structures. Since many of these ‘soft machines’ exist in the form of thin-shell structures, in this paper, the extended level set method (X-LSM) and conformal mapping theory are employed to carry out topology optimization of the ferromagnetic soft actuator on manifolds. The objective function consists of a sub-objective function for the kinematics requirement and a sub-objective function for minimum compliance. Shape sensitivity analysis is derived using the material time derivative and adjoint variable method. Two examples, including a circular shell actuator and a flytrap structure, are studied to demonstrate the effectiveness of the proposed framework.","PeriodicalId":365283,"journal":{"name":"Volume 10: 44th Mechanisms and Robotics Conference (MR)","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-08-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122264606","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

Design a Four-Bar Linkage for Upper Limb Muscle Rehabilitation Exercise: A Simulation Study 设计用于上肢肌肉康复训练的四杆机构:模拟研究

Volume 10: 44th Mechanisms and Robotics Conference (MR) Pub Date : 2020-08-17 DOI: 10.1115/detc2020-22121

J. Quarnstrom, Y. Xiang

引用次数: 0

The Design of Disk Cam Mechanisms With a Translating Follower Having an Added Dual-Roller Intermediate Link 增设双滚子中间连杆的平移从动件盘形凸轮机构的设计

Volume 10: 44th Mechanisms and Robotics Conference (MR) Pub Date : 2020-08-17 DOI: 10.1115/detc2020-22031

Kuan-Lun Hsu, Sun-Liang Chou

引用次数: 0

A Novel Compliant Bistable Mechanism Incorporating a Fixed-Guided Flexural Member 一种新型柔性双稳机构，包含固定导向弯曲构件

Volume 10: 44th Mechanisms and Robotics Conference (MR) Pub Date : 2020-08-17 DOI: 10.1115/detc2020-22420

J. Joo, D. Myszka

引用次数: 0

Designing Developable Mechanisms From Flat Patterns 从平面模式设计可开发机制

Volume 10: 44th Mechanisms and Robotics Conference (MR) Pub Date : 2020-08-17 DOI: 10.1115/detc2020-22445

L. Hyatt, Amanda Lytle, S. Magleby, L. Howell

引用次数: 2

Visualising Compliance of Composite Shell Mechanisms 复合壳机构顺应性可视化

Volume 10: 44th Mechanisms and Robotics Conference (MR) Pub Date : 2020-08-17 DOI: 10.1115/DETC2020-22266

J. Stacey, M. P. O’Donnell, M. Schenk, Charles J. Kim

{"title":"Visualising Compliance of Composite Shell Mechanisms","authors":"J. Stacey, M. P. O’Donnell, M. Schenk, Charles J. Kim","doi":"10.1115/DETC2020-22266","DOIUrl":"https://doi.org/10.1115/DETC2020-22266","url":null,"abstract":"\u0000 In the design of isotropic compliant shell-based mechanisms a desired response of an end-effector is commonly achieved through careful selection of shell geometry and material. However, for applications such as the design of medical support devices the shell must conform to a highly constrained set of permissible geometries, limiting tailorability. One solution to this design challenge is to exploit anisotropic material behaviour.\u0000 Advanced composite materials may be elastically tailored by varying the fibre orientation, but at the cost of increased design complexity. Herein we present an approach for capturing the effects of material anisotropy on compliant shell mechanisms by providing the designer with a method for visualising their response in a physically intuitive manner.\u0000 We extend the mechanism characterisation technique of Lip-kin and Patterson [1] using eigen-decomposition, and visualise the compliance vectors for structures with material anisotropy. We characterise the behaviour of cantilevered “tape-spring” shell geometries with varying enclosed angles using nonlinear finite element analysis. For small enclosed angles we observe significant reorienting of the compliance vectors due to stiffness anisotropy; as the enclosed angle is increased, geometry dominates the response. However, in an intermediate region both geometric and stiffness effects interact, highlighting the potential richness of the design space.","PeriodicalId":365283,"journal":{"name":"Volume 10: 44th Mechanisms and Robotics Conference (MR)","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-08-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129516983","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: 1

Kinematics, Workspace Optimization, and Performance Evaluation of a 3-Leg 6-DOF Robot in RRRS Configuration RRRS构型下三足六自由度机器人运动学、工作空间优化及性能评价

Volume 10: 44th Mechanisms and Robotics Conference (MR) Pub Date : 2020-08-17 DOI: 10.1115/detc2020-22098

N. Jensen, C. Nelson

引用次数: 0