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Control And Locomotion Of Inertially And Magnetically Actuated Multi-Scale Robotic Systems, Ehab Al Khatib
Control And Locomotion Of Inertially And Magnetically Actuated Multi-Scale Robotic Systems, Ehab Al Khatib
Mechanical Engineering Research Theses and Dissertations
In this research, two actuation systems were introduced, inertial and magnetic actuation. In the inertial actuation, the robot used the transfer of momentum to navigate, and this momentum could be generated by spinning masses and wheels. Recent studies in our System Laboratory proved that a wide range of inertially actuated locomotion systems could be generated. This can be achieved by using a family tree approach, starting from a very simple system, and progressively evolving it to more complex ones. The motion diversity of these robots inspired us to extend their locomotion from a macro scale to millimeter and micro scales. …
Stability Analysis, Dynamic Modeling, And Kinematic Analysis Of Hydraulically Amplified Dielectric Elastomer Actuators And Robot Manipulators, Amir Hosein Zamanian
Stability Analysis, Dynamic Modeling, And Kinematic Analysis Of Hydraulically Amplified Dielectric Elastomer Actuators And Robot Manipulators, Amir Hosein Zamanian
Mechanical Engineering Research Theses and Dissertations
In this dissertation, we have proposed a new dielectric elastomer actuator design and model that couples electrostatics, fluid mechanics, linear and nonlinear elastic deformations. The internal hydraulic pressure can amplify the structural deformation generated by induced electrostatic forces (Maxwell pressure), given the name of this class of actuators, hydraulically amplified dielectric elastomer actuators (HADEAs).
First, we developed novel lumped-parameter models (LPMs) using linear and hyper-elastic material models and second compared the LPM results with finite element analysis in quasi-static simulations. We analytically expressed the conditions for the snap-through instability in the HADEA, which appears after exceeding a certain voltage applied …