Mechanics of terrestrial locomotion systems in application to mobile robots. - In: Mathematical and numerical approaches, ISBN 978-83-7283-706-6, (2015), S. 91-104
Long-term behavior of adaptive strategies for artificial sensors due to receptors. - In: Control and stability, ISBN 978-83-7283-708-0, (2015), S. 551-562
Synthesis of compliant mechanisms based on goal-oriented design guidelines for prismatic flexure hinges with polynomial contours. - In: Proceedings of the 14th IFToMM World Congress, ISBN 978-986-04-6098-8, (2015), insges. 6 S.
Compliant mechanisms are state of the art in high-precision motion systems. Therefore, often prismatic flexure hinges with basic cut-out geometries are used as revolute joints to realize an approximated rotation of a few degrees. Since the motion range and precision of a compliant mechanism depend on the flexure hinge design, the contour and hinge dimensions have to be considered as free parameters for the synthesis. Regarding this, polynomial contours are particularly suitable because they allow a simple modelling and a variable design too. In this paper, novel design guidelines for compliant mechanisms with identical or different polynomial contours are presented based on the rigid-body replacement synthesis method. Using the example of a compliant slider-crank mechanism it will be shown that the stress and path accuracy for the rectilinear guiding of a coupler point can be improved by using a look-up table and design graph instead of a multi-criteria optimization.
http://dx.doi.org/ 10.6567/IFToMM.14TH.WC.PS10.008
A new adaptive controllable shape morphing compliant structure with embedded actuators and sensors. - In: Proceedings of the 14th IFToMM World Congress, ISBN 978-986-04-6098-8, (2015), insges. 8 S.
This paper presents a new adaptive controllable shape morphing compliant structure with embedded actuators and sensors. The shape morphing structure is obtained through simultaneous synthesis of compliant mechanism topology and actuators. We improved the existing design methodology so that compliant systems without intersecting elements were obtained. By embedding actuators within the compliant structure (compliant mechanism) it is possible to develop an adaptive system. It will be shown that by embedding the Nitinol wires - SMA (shape memory alloy) - as actuators the shape morphing structure could achieve multiple shapes of its output surface. Sensors are embedded as well. It will be shown that the shape morphing compliant structure with embedded conductive foam as sensing material is able to detect external pressure and thus its surroundings. Application of the developed shape morphing structure as an adaptive compliant gripper will also be shown.
http://dx.doi.org/10.6567/IFToMM.14TH.WC.OS13.051
Heterogeneous, multi-tier wheel ground contact simulation for planetary exploration. - In: ECCOMAS Thematic Conference on Multibody Dynamics, ISBN 978-84-944244-0-3, (2015), S. 924-935
Möglichkeiten der funktionellen lokalen Konfiguration von Mikroaktoren aus Nickel-Titan für medizinische Implantate durch selektives Laserstrahlmikroschmelzen. - In: Neue Entwicklungen in der Additiven Fertigung, (2015), S. 109-124
http://dx.doi.org/10.1007/978-3-662-48473-9_8
Identifikacija mechaničeskich sistem v metode tokovichrevoj defektoskopii siloj Lorenca :
Identification of mechanical systems in Lorentz force eddy current testing. - In: Problems of mechanics, ISSN 1512-0740, (2015), No. 4(61), S. 16-31
The paper deals with the mechanical modeling of the dynamics of force-proving instruments in the framework of Lorentz Force Eddy Current Testing (LET). An experimental setup for this kind of measurements is presented and the obtained Lorentz force signals are analyzed. The process of system identification is discussed for two different scenarios, using force profiles, computed in numerical field simulations, as known input signals. In the first case, two independent Single-lnput/Single-Output models were used to describe the dominant dynamical behavior of the experimental setup at relative high velocities. In the second case, a Multi-Input/Multi-Output model with three degree of freedoms is used to model the dynamics of a modified setup with a complex Haibach structure instead of a cylindrical permanent magnet. The signal analysis and the derivation of the Multi-Input/Multi-Output transfer function are emphasized and discussed in detail. LET requires a high velocity constancy during the linear motion of the specimen. Therefore, a mechanisms and its control is discussed, which is generating such aproperty on the output.
Automatisierung der Schliffpräparation zur dreidimensionalen Rekonstruktion histologischer Proben. - In: GMS current posters in otorhinolaryngology, head and neck surgery, ISSN 1865-1038, Bd. 11.2015, 11:Doc257, insges. 1 S.
http://dx.doi.org/10.3205/cpo001222
Application parameters of dry electrodes for multichannel EEG. - In: International Conference on Basic and Clinical Multimodal Imaging, (2015), S. 114
Obstacle scanning by technical vibrissae with compliant support. - Ilmenau : Techn. Univ., Inst. für Mathematik, 2015. - Online-Ressource (PDF-Datei: 22 S., 773,5 KB). - (Preprint ; M15,07)
Rodents, like mice and rats, use tactile hairs in the snout region (mystacial vibrissae) to acquire information about their environment, e.g. the shape or contour of obstacles. For this, the vibrissa is used for the perception of stimuli due to an object contact. Mechanoreceptors are processing units of this stimuli measured in the compliant support (follicle sinus complex). We use this behavior from biology as an inspiration to set up a mechanical model for object contour scanning. An elastic bending rod interacts with a rigid obstacle in the plane. Analyzing only one quasi-static sweep of the rod along the obstacle (in contrast to literature), we determine a) the support reactions (the only observables of the problem), and then b) the (discrete) obstacle contour in form of a set of contact points. In doing this, we first assume a stiff support (clamping) of the vibrissa, but in a next step we increase the elasticity of the support in focussing on a bearing with a rotational spring (also to control or delimitate the bending moment at the support). Thereby, we present a fully analytical treatment of the non-linear differential equations emerging from Bernoulli's rod theory and a representation by Standard Elliptic Integrals.
http://www.db-thueringen.de/servlets/DocumentServlet?id=26923