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Univ.-Prof. Dr.-Ing. habil. Klaus Zimmermann

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Erstellt: Mon, 15 Jul 2019 23:03:48 +0200 in 0.0555 sec


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.



Zimmermann, Klaus; Gerlach, Erik; Zeidis, Igor; Otterbach, Jan Marc; Töpfer, Hannes; Brauer, Hartmut; Ziolkowski, Marek; Schmidt, Reinhard;
Mechaničeskoe i čislennoe modelirovanie kompaktnoj sistemy dlja defektoskopii indukcionnymi vichrevymi tokami :
Mechanical modeling and simulation of a portable system for Motion Induced Eddy Current Testing. - In: Problems of mechanics - Tbilisi : Mezhdunarodnaia Federatsiia po mashinam i mekhanizmam Gruzii, ISSN 15120740, (2018), No. 3(72), S. 17-28

The paper deals with the mechanical modeling of a sensor concept in the framework of Motion Induced Eddy Current Testing (MIECT). The system consists of a magnet arrangement with two axially magnetized cylinder magnets, which are fixed to a shaft, driven by a motor with a constant angular velocity. A pick-up coil, assembled around the magnet arrangement and fixed to the sensors framework, measures the magnetic flux varying in time. The mechanical behavior of this experimental setup is analyzed using analytical and numerical methods. The main conclusions concerning the systems behavior are made with the asymptotic method. The investigations based on methods of Bogoliubov & Mitropolski show, that the main contribution to the solution is given by the first fundamental harmonic. The exact equation of motion is integrated numerically. The results of the theoretic investigations are compared with experimental data.