Detection of surface texture with an artificial tactile sensor. - In: Interdisciplinary applications of kinematics, (2019), S. 43-50
Analysis of the dynamic behavior of beams supported by a visco-elastic foundation in context to natural vibrissa. - In: Interdisciplinary applications of kinematics, (2019), S. 51-59
Approach to the dynamical scanning of object contours using tactile sensors. - In: Proceedings, 2019 IEEE International Conference on Mechatronics (ICM), (2019), S. 364-369
https://doi.org/10.1109/ICMECH.2019.8722882
Towards magneto-sensitive elastomers based end-effectors for gripping application technologies. - In: Proceedings, 2019 IEEE International Conference on Mechatronics (ICM), (2019), S. 217-222
https://doi.org/10.1109/ICMECH.2019.8722922
Magnetic-field-controlled mechanical behavior of magneto-sensitive elastomers in applications for actuator and sensor systems. - In: Archive of applied mechanics, ISSN 1432-0681, Bd. 89 (2019), 1, S. 133-152
https://doi.org/10.1007/s00419-018-1477-4
Mathematical modeling of friction stir welding considering dry and viscous friction. - In: Applied mathematical modelling, Bd. 67 (2019), S. 1-8
Corrigendum: Bd. 77 (2020), part 1, page 981
https://doi.org/10.1016/j.apm.2018.10.014
Compliant class 1 tensegrity structures for gripper applications. - In: EuCoMeS 2018, (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
Vibration-driven capsubot with an opposing spring: an experimental study. - In: ROMANSY 22 – Robot Design, Dynamics and Control, (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.
https://doi.org/10.1007/978-3-319-78963-7_17
Flow detection using an artificial vibrissa-like sensor - simulations and experiments. - In: 18th Mechatronika 2018, (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.
https://ieeexplore.ieee.org/document/8624786
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, ISSN 1512-0740, (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.