Automatic stabilization of the translational motion of a microrobot. - Ilmenau : ilmedia. - Online-Ressource (PDF-Datei: 6 S., 301 KB)Publ. entstand im Rahmen der Veranst.: 56th IWK, International Scientific Colloquium, Ilmenau University of Technology, 12 - 16 September 2011 / Faculty of Mechanical Engineering, Ilmenau University of Technology
The analog motion control of a microrobot with feedback requires a more complicated structure due to the corresponding sensors, microprocessors and actuators. Application of the digital control system allows the use of a control algorithm, such as the autopilot, without feedback, which allows us to simplify the system. We consider the stabilization of the motion of the microrobot on a horizontal surface along the given motion trajectory. Minimization of the deviation angle of the robots axis from the tangent to the motion trajectory is a criterion for quality control and can be implemented by the digital device with a hysteresis characteristic.
http://nbn-resolving.de/urn:nbn:de:gbv:ilm1-2012200203
A mobile vibro-robot for locomotion through pipelines. - Ilmenau : ilmedia. - Online-Ressource (PDF-Datei: 4 S., 1,01 MB)Publ. entstand im Rahmen der Veranst.: 56th IWK, International Scientific Colloquium, Ilmenau University of Technology, 12 - 16 September 2011 / Faculty of Mechanical Engineering, Ilmenau University of Technology
The subject of our work is the creation of different designs of mobile robots for the movement through pipelines and similar technical systems. Using the transversal vibrations of an elastic bristle body, allows us to develop a new crawling vibro-robot. The motion is mainly realized by anisotropic friction forces. For the design process, we use the well-known construction principle of combination of alternative systems. It enables the transfer of structural characteristics (i.e. its kinematics) from one object to another, leading to new desirable characteristics or optimisations of existing technical objects. An analytical model of the motion of the bristles is presented.
http://nbn-resolving.de/urn:nbn:de:gbv:ilm1-2012200199
Possibility of application of small-size robots with vibratory piezoelectric actuators for inspection of physical state of surfaces. - In: AIP conference proceedings, ISSN 1551-7616, Bd. 1433 (2012), S. 685-688
http://dx.doi.org/10.1063/1.3703275
Theoretical and experimental investigations of amoeboid movement and first steps of technical realisation. - In: Nature-inspired fluid mechanics, (2012), S. 3-23
Adaptive neuro-fuzzy estimation of conductive silicone rubber mechanical properties. - In: Expert systems with applications, Bd. 39 (2012), 10, S. 9477-9482
Conductive silicone rubber has great advantages for tactile sensing applications. The electrical behavior of the elastomeric material is rate-dependent and exhibit hysteresis upon cyclic loading. Several constitutive models were developed for mechanical simulation of this material upon loading and unloading. One of the successful approaches to model the time-dependent behavior of elastomers is Bergstrom-Boyce model. An adaptive neuro-fuzzy inference system (ANFIS) model will be established in this study to predict the stress-strain changing of conductive silicone rubber during compression tests. Various compression tests were performed on the produced specimens. An ANFIS is used to approximate correlation between measured features of the material and to predict its unknown future behavior for stress changing. ANFIS has unlimited approximation power to match any nonlinear functions well and to predict a chaotic time series.
http://dx.doi.org/10.1016/j.eswa.2012.02.111
Passively adaptive compliant gripper. - In: Applied mechanics and materials, ISSN 1662-7482, Bd. 162 (2012), S. 316-325
Gripping and holding of objects are key tasks for robotic manipulators. The development of universal grippers able to pick up unfamiliar objects of widely varying shapes and surfaces is a very challenging task. Passively compliant underactuated mechanisms are one way to obtain the gripper which could accommodate to any irregular and sensitive grasping objects. The purpose of the underactuation is to use the power of one actuator to drive the open and close motion of the gripper. The underactuation can morph shapes of the gripper to accommodate to different objects. As a result, they require less complex control algorithms. The fully compliant mechanism has multiple degrees of freedom and can be considered as an underactuated mechanism. This paper presents a new design of the adaptive underactuated compliant gripper with distributed compliance and embedded sensors in the gripper structure. The adaptive gripper surfaces will have the sensing capability by these embedded sensors. The gripper will be made of a silicone rubber and conductive silicone rubber will be used for the embedded sensors. The main points of this paper are in explanation of the construction and production of the gripper structure and showing the methodology of a new sensing capability of the gripper.
http://dx.doi.org/10.4028/www.scientific.net/AMM.162.316
Modellierung und Simulation eines Federspeicher-Antriebssystems : Modelling and simulation of spring drive mechanism. - In: Konstruktion, ISSN 0373-3300, Bd. 64 (2012), 3, S. 67-73
In diesem Artikel wird der Ausschaltvorgang eines SF6-Selbstblasschalters mit Federspeicherantrieb betrachtet. Das dynamische Verhalten des Schaltmechanismus wird analytisch mithilfe der Lagrange-Theorie beschrieben. Dabei werden verallgemeinerte Kräfte, die aus den Strömungsvorgängen in der Unterbrechereinheit des betrachteten SF6-Selbstblasschalters resultieren, durch die Anwendung des CFD-Programms "Fluent" berücksichtigt. Die vorgestellte Integration analytischer und computergestützter Modellierungsmethoden erlaubt es, die komplexen Prozesse auf eine transparente und effektive Art zu simulieren. Die derartige Herangehensweise wird durch experimentelle Ergebnisse erfolgreich belegt. The paper deals with the switching-off process of SF6 self-blast breakers with spring drive mechanism. The dynamic behaviour of the drive mechanism is described analytically using the Lagrange equations. In doing so the generalized forces resulting from the flow processes inside the interrupter unit of the regarded SF6 self-blast breaker are considered by the utilization of the CFD program "Fluent". The presented integration of analytical and computer-aided modeling methods enables the simulation of the complex processes in a transparent and effective way. The described approach is verified by experimental results.
Worm-like locomotion systems : an intermediate theoretical approach. - München : Oldenbourg, 2012. - XII, 195 S. ISBN 3-486-71304-3
Literaturverz. S. [187] - 190
The book in hand grew out of the authors' current research and their long-continued experience in teaching mathematics and mechanics. In a wide sense, it aims at mathematical modeling of mechanical objects and their exploitation. This is done in a bit unconventional way by concentrating on the special object class worm-like locomotion systems and in proceeding with no use of recent sophisticated mathematical tools which most likely cannot be handled by freshmen in engineering or mathematics. Nevertheless, this does not harm the stringent line the physical object to the analytical interpretation of the final mathematical model. The basic model spiked worm in a straight line enables the authors to come up with a fairly self-contained theory which then allows one to study effects of friction and control. The considered system class has its importance in practice (motion in narrow canals, e.g.), but this book is not with an orientation to design and application, the theory developed here should rather be seen as a contribution to bionics.
Structural characterization of the whisker system of the rat. - In: IEEE sensors journal, ISSN 1558-1748, Bd. 12 (2012), 2, S. 332-339
https://doi.org/10.1109/JSEN.2011.2161464
Characterization of statical properties of rat's whisker system. - In: IEEE sensors journal, ISSN 1558-1748, Bd. 12 (2012), 2, S. 340-349
https://doi.org/10.1109/JSEN.2011.2114341