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Full-Text Articles in Mechanical Engineering

Design And Control Of Modular Soft Robotic Actuators With Architected Structures, Nicholas Pagliocca Jun 2022

Design And Control Of Modular Soft Robotic Actuators With Architected Structures, Nicholas Pagliocca

Theses and Dissertations

Soft robotic systems composed of highly compliant materials offer unparalleled advantages compared to rigid-body systems in applications such as fragile material handling and human-machine interactions. Often, their motions are prescribed by structural anisotropy and reinforcement materials to directionally limit motion. The continuum motion and non-linear material response intrinsic to soft robotics makes their design, modeling, and control a formidable challenge for engineers. Leveraging the deformation driven response of soft robotic actuators, highly versatile compliant architected structures whose local deformations dictate global material response can be integrated into soft robotic actuators for tunable mechanical responses. In this thesis, flexible center-symmetric perforated …


Open-Loop Control Of Electrostatic Levitation Actuators To Enhance The Travel-Range Of Optical Switches, Mohammad Mousavi, Mohammad Alzgool, Daniel Lopez, Shahrzad Towfighian Feb 2022

Open-Loop Control Of Electrostatic Levitation Actuators To Enhance The Travel-Range Of Optical Switches, Mohammad Mousavi, Mohammad Alzgool, Daniel Lopez, Shahrzad Towfighian

Mechanical Engineering Faculty Scholarship

Command shaping is a driving technique for handling the large settling time of the high-Q-MEMS actuators. The strong nonlinearity due to the electrostatic actuation limits the linear operation range in cantilevered or torsional micro-mirrors where command shaping techniques can be applied for positioning. Experimental and simulation results of this research demonstrate the effectiveness of using electrostatic levitation to overcome the actuation nonlinearities and a significant increase in the operation range. The motivation for this research is that applying the nonlinear command shaping causes complexity in command manipulation and requires an accurate knowledge of the nonlinear terms involved in the system …