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Publikationen (gesamt)

Anzahl der Treffer: 672
Erstellt: Sun, 21 Jul 2019 07:40:29 +0200 in 0.0137 sec


Ehrhardt, Tristan;
Entwicklung von Sensorkonzepten für nachgiebige Tensegrity Strukturen - Ilmenau - 78 Seiten.
Technische Universität Ilmenau, Bachelorarbeit 2019

Die Entwicklung von Robotersystemen, wie zum Beispiel Greifer und mobile Bewegungssysteme, auf Basis von Tensegritystrukturen an der Technischen Universität Ilmenau ermöglichen neue Lösungsansätze für Leichtbau und Nachgiebigkeit. Der aktuelle Entwicklungsstand sind aktuierte Strukturen ohne sensorische Rückmeldung. Um diese Systeme funktional zu erweitern, ist die Integration geeigneter Sensorik, welche die speziellen Eigenschaften von Tensegrity berücksichtigt, notwendig. Ziel dieser Weiterentwicklung ist die Steigerung von Autonomie, Zuverlässigkeit und Funktionalität. Auf Basis einer Zusammenfassung von Eigenschaften und Definitionen werden allgemeine mathematische, mechanische und geometrische Betrachtungen durchgeführt. Mittels analytischer Betrachtung der gegebenen Strukturkonfiguration, kann die Anzahl und Art unabhängiger Messgrößen bestimmt werden, welche zur Messung der Form dieser Struktur notwendig sind. Es wird ein Überblick geeigneter Sensorlösungen zur Längen- und Winkelmessung gegeben und mögliche Konzepte zur Integration gegeben. An Hand zweier existierender Prototypen werden die allgemeinen Sensorikansätze beispielhaft angewandt.



Nunuparov, Armen; Becker, Felix; Bolotnik, Nikolai N.; Zeidis, Igor; Zimmermann, Klaus;
Dynamics and motion control of a capsule robot with an opposing spring. - In: Archive of applied mechanics : (Ingenieur-Archiv). - Berlin : Springer, ISSN 1432-0681, First Online: 11 June 2019

Non-classical locomotion systems have the perspective for a wide application in the vast fields of bio-medical and maintenance technology. Capsule bots are small, simple, and reliable realizations with a great potential for practical application. In this paper, the motion of a capsule-type mobile robot along a straight line on a rough horizontal plane is studied applying analytical and experimental methods. The robot consists of a housing and an internal body attached to the housing by a spring. The motion of the system is generated by a force that acts between the housing and the internal body and changes periodically in a pulse-width mode. The average velocity of the motion of the robot is studied as a function of the excitation parameters. The results from the model-based and experimental investigations agree with each other. It can be concluded that the presented robot design can be a basis for the creation of mobile robotic systems with locomotion properties that can be controlled by the parameters of a periodic actuation force.



Merker, Lukas; Scharff, Moritz; Behn, Carsten;
Approach to the dynamical scanning of object contours using tactile sensors. - In: IEEE Xplore digital library - New York, NY : IEEE, (2019), S. 364-369

Chavez Vega, Jhohan; Schorr, Philipp; Scharff, Moritz; Schale, Florian; Böhm, Valter; Zimmermann, Klaus;
Towards magneto-sensitive elastomers based end-effectors for gripping application technologies. - In: IEEE Xplore digital library - New York, NY : IEEE, (2019), S. 217-222

Merkulov, Dmitri I.; Pelevina, Daria A.; Turkov, Vladimir A.; Becker, Tatiana; Naletova, Vera A.;
Experimental research of the multistability of bodies with magnetizable elastomer. - In: Magnetohydrodynamics - Salaspils : Inst. of Physics, Univ. of Latvia, ISSN 0024998x, Bd. 55 (2019), 1/2, S. 125-132

Becker, Tatiana I.; Böhm, Valter; Chavez Vega, Jhohan; Odenbach, Stefan; Raikher, Yuriy L.; Zimmermann, Klaus;
Magnetic-field-controlled mechanical behavior of magneto-sensitive elastomers in applications for actuator and sensor systems. - In: Archive of applied mechanics : (Ingenieur-Archiv). - Berlin : Springer, ISSN 1432-0681, Bd. 89 (2019), 1, S. 133-152

https://doi.org/10.1007/s00419-018-1477-4
Dubovikova, Nataliia; Gerlach, Erik; Zeidis, Igor; Zimmermann, Klaus;
Mathematical modeling of friction stir welding considering dry and viscous friction. - In: Applied mathematical modelling : simulation and computation for engineering and environmental systems. - Amsterdam [u.a.] : Elsevier Science, Bd. 67 (2019), S. 1-8

Sumi, Susanne; Böhm, Valter; Schorr, Philipp; Zentner, Lena; Zimmermann, Klaus;
Compliant class 1 tensegrity structures for gripper applications. - In: EuCoMeS 2018 : proceedings of the 7th European Conference on Mechanism Science. - Cham : Springer International Publishing, ISBN 978-3-319-98020-1, (2019), S. 392-399

This paper describes concepts for finger-grippers based on compliant multistable class 1 tensegrity structures. Two of these concepts are selected and examined in detail. With theoretical investigations the member parameters and the resulting gripping forces are determined. There are done dynamical analyses of one of these grippers to obtain the behaviour with an actuation force. Moreover demonstrators of both grippers are built.



https://doi.org/10.1007/978-3-319-98020-1_46
Nunuparov, Armen; Becker, Felix; Bolotnik, Nikolai N.; Zeidis, Igor; Zimmermann, Klaus;
Vibration-driven capsubot with an opposing spring: an experimental study. - In: ROMANSY 22 Robot Design, Dynamics and Control : Proceedings of the 22nd CISM IFToMM Symposium, June 25-28, 2018, Rennes, France. - Cham : Springer, (2019), S. 126-133

A vibration-driven locomotor (capsubot) consisting of a rigid housing and an internal body connected to the housing by a spring is considered. The system is driven and controlled by an electromagnetic actuator that provides a force interaction between the housing and the internal body. The housing moves along a line on a horizontal plane with dry friction. The control voltage is applied to the robot in a periodic pulse-width mode, the voltage polarity remaining unchanged. Theoretical analysis predicts that the speed and direction of motion of the robot can be controlled by varying the period or/and the duty cycle of the control signal. An experimental prototype of the robot is built and the experiments are performed. The experiments confirm the theoretical prediction.



Scharff, Moritz; Rivera Campos, Richard A.; Merker, Lukas; Alencastre, Jorge H.; Behn, Carsten; Zimmermann, Klaus;
Flow detection using an artificial vibrissa-like sensor - simulations and experiments. - In: 18th Mechatronika 2018 : proceedings of the 2018 18th International Conference on Mechatronics - Mechatronika (ME) 2018 : Brno, Czech Republic, December 5-7, 2018. - [Piscataway, NJ] : IEEE, (2018), insges. 6 S.

everal animal species like rats or seals explore the surrounding environment with their sensory hairs, the so-called vibrissae. Regarding to natural vibrissa, the functionalities of tactile object sensing to receive information about, e.g., the shape and/or the surface texture are often discussed. But, the usage of natural vibrissae to detect flows is reported as well. The necessary information about the flow are coded in the signals recorded at the base of the vibrissa. Due to the natural paragon, we adapt this behavior in order to show up how the information about flows can be extracted from these observables. This is an important procedure because the detection and determination of information about flow effects become interesting for several reasons. For example, in the case of other sensing tasks and strategies like object contour scanning, flows are considered as (possible) disturbances that have to be known to reconstruct any sensed boundary. Otherwise, the flow itself can be of interest. In a first step, simulations are performed to examine the relations between the observables at the base of the sensor and the applied velocity of a flow. Here, a steady-state uniform flow is assumed. The simulations are validated by experiments.