Locomotion based on nonlinear magneto-elastic elements. - In: 11th International Conference on Electrorheological Fluids and Magnetorheological Suspensions, (2009), 1, S. 012100, insges. 4 S.
In this paper we discuss an approximately steady motion of two equal mass points, connected by an non linear magneto-elastic element. It is supposed that the system moves along a straight line in the presence of internal excitaiton and non symmetric Coulomb dry frictional force acting from the surface upon each mass point opposite to the direction of motion. Thereby, the magnitude of this force is also dependent on the direction of motion. Excitation is carried out due to action internal harmonic forces. Such forces arise for a spring made of a magnetziable elastic material by the influence of an external magnetic field.
http://dx.doi.org/10.1088/1742-6596/149/1/012100
Improved adaptive controllers for sensory systems - first attempts. - In: Modeling, simulation and control of nonlinear engineering dynamical systems, (2009), S. 163-178
Motion of a chain of three point masses on a rough plane under kinematical constraints. - In: Modeling, simulation and control of nonlinear engineering dynamical systems, (2009), S. 61-70
On the new reversal effect in monolithic compliant bending mechanisms with fluid driven actuators. - In: Mechanism and machine theory, Bd. 44 (2009), 5, S. 1009-1018
This paper presents a reversal effect which is a particular deformation effect of compliant monolithic fluid driven actuators. Compared to conventional miniaturizable bending structures the mechanisms discussed in this paper have several properties such as larger movement range, greater flexibility and less sensory effort. Typical applications of the discussed mechanisms with novel reversal effect are gripping and manipulating tasks in robotics. This paper is mainly focused on the analytical and numerical investigations together with experimental verification describing the reversal effect of the considered mechanisms.
http://dx.doi.org/10.1016/j.mechmachtheory.2008.05.014
Sensor placement with a telescoping compliant mechanism. - In: 4th European Conference of the International Federation for Medical and Biological Engineering, (2009), S. 1987-1989
Issledovanie lokomocii gibkogo červja na osnove reducirovannoj modeli :
Analysis of a flexible worm locomotion based on a reduced method. - In: Problems of mechanics, ISSN 1512-0740, (2008), No. 3(32), Seite 16-22
Richtiger Name des 1. Verfassers: Emil Kolev
Mobile robots based on vibrational systems and dry friction. - In: Robot design, dynamics, and control, (2008), S. 51-59
The paper deals with non-classical locomotion systems. In the first part the motion of a chain of interconnected mass points in a straight line placed on a rough surface and connected by kinematical constraints is considered. It is supposed that the system experience small non-symmetric Coulomb dry friction acting on each mass point. The magnitude of this force depends on the direction of motion. The expression for the stationary "on the average" velocity of the motion of the system as a single wohole is found. In the second part the motion of two mass points connected by a linear spring when the coefficient of friction does not depend on the direction of motion is discussed. The drive system consists of two unbalanced rotors. Due to the change of normal force in dependence on time non-symmetry of friction is present. It is shown, that the change of the direction of motion is possible without changing the direction of rotation of the rotors.
Method for designing new technical systems based on a transparent morphological cube with the use of the tree-like classifications. - In: Prospects in mechanical engineering, (2008), S. 4
. - Online-Ressource (PDF-Datei: 280,1 KB)
http://www.db-thueringen.de/servlets/DocumentServlet?id=18302
RoboCup-Player "LUKAS" - an object of interdisciplinary research and a benchmark problem in mechatronics. - In: Prospects in mechanical engineering, (2008), insges. 2 S.
http://www.db-thueringen.de/servlets/DocumentServlet?id=18108
Actuator development based on snail tentacles. - In: Prospects in mechanical engineering, (2008), insges. 2 S.
http://www.db-thueringen.de/servlets/DocumentServlet?id=17935