Contour-independent design equations for the calculation of the rotational properties of commonly used and polynomial flexure hinges. - In: Engineering for a changing world, (2017), insges. 14 S.
http://nbn-resolving.de/urn:nbn:de:gbv:ilm1-2017iwk-001:5
Model-based development of a compliant locomotion system for a small scout rover. - In: Engineering for a changing world, (2017), insges. 20 S.
All currently active planetary exploration robots employ wheels for locomotion. In this work an alternative robotic locomotion concept is examined: the rimless wheel, also known as whegs. It has been proven to be successful in traversing rough terrain on earth and inhibits an appealing simplicity in its mechanics and controls. These aspects along with its inherent redundancy make the rimless wheel particularly suited for planetary exploration. The rimless wheel's kinematics and compliant spokes are analytically examined using mechanical models. The dynamics of these models are explored in a computational multi-body simulation which confirms the conclusions drawn from the analytical models about running, climbing and movement on rough terrain. A parameter variation then yields a set of suitable parameters for a future scout rover. The application in sand is considered separately both analytically and computationally. Based on these results a single wheel is build and tested on the conclusions drawn from modelling and simulation. These experiments provide strong support that the two-sided goal of efficient movement on hard and flat surfaces as well as reliable negotiation of rough terrain can be achieved with the developed locomotion system.
http://nbn-resolving.de/urn:nbn:de:gbv:ilm1-2017iwk-012:0
Analytical model of conductive graphite foam based sensors characteristics. - In: Engineering for a changing world, (2017), insges. 9 S.
http://nbn-resolving.de/urn:nbn:de:gbv:ilm1-2017iwk-100:4
Analysis of the customized implantation process of a compliant mechanism with fluidic actuation used for cochlear implant electrode carriers. - In: Engineering for a changing world, (2017), insges. 6 S.
http://nbn-resolving.de/urn:nbn:de:gbv:ilm1-2017iwk-111:0
Investigations on the mechanical relevance of prominent vibrissa features for surface texture detection. - In: Engineering for a changing world, (2017), insges. 9 S.
The tactile hairs of animals are used as paradigm for artificial tactile sensors. In the case of mystacial vibrissae, the animals can determine the distance to an object, recognize the shape of the object and detect the surface texture of the object. The goal is to design an artificial tactile sensor inspired by the natural paradigm. In the present work, the vibrissa and the follicle-sinus-complex are modeled as a one-sided clamped beam within the limits of the non-linear Euler-Bernoulli beam theory. The theoretical background of the function principle and the effects of typical properties of the natural vibrissa, e.g., a tapered shape and a pre-curvature while operating in surface texture detection are analyzed. The beam-surface contact is described by Coulomb's law of friction. When the beam is in touch with the surface, a quasi-static displacement of the support takes place. As a consequence of the displacement the support reactions are changing. The resulting support reactions are analyzed in parameter studies and beneficial levels of tapering and pre-curvature are identified.
http://nbn-resolving.de/urn:nbn:de:gbv:ilm1-2017iwk-094:0
Vibrissa-based design of tapered tactile sensors for object sensing. - In: Engineering for a changing world, (2017), insges. 13 S.
http://nbn-resolving.de/urn:nbn:de:gbv:ilm1-2017iwk-050:5
Object contour sensing using artificial rotatable vibrissae. - In: Engineering for a changing world, (2017), insges. 13 S.
http://nbn-resolving.de/urn:nbn:de:gbv:ilm1-2017iwk-049:9
Multi-segmented artificial locomotion systems with adaptively controlled gait transitions. - In: Engineering for a changing world, (2017), insges. 14 S.
http://nbn-resolving.de/urn:nbn:de:gbv:ilm1-2017iwk-047:1
Control of compliant robotic systems with muscle-like actuators and saturated feedback. - In: Engineering for a changing world, (2017), insges. 9 S.
http://nbn-resolving.de/urn:nbn:de:gbv:ilm1-2017iwk-048:9
Screw-driven robot for locomotion into sand. - In: Engineering for a changing world, (2017), insges. 13 S.
The locomotion into sand is needed in various applications, but due to the complex mechanics of granular matter it causes special difficulties. High resistance forces on penetration systems and parameter dependent behavior, like stable or instable boreholes, complicate the design of mobile robots for the locomotion in sandy soil. The most effective state of the art devices deploy hammering mechanisms. Screw-driven systems arise more and more in the literature, as they promise to be a simple, robust and low-cost solution. In this paper, an autonomous drilling robot for the locomotion into sandy soils is presented. The design is based on theoretical modeling and experimental analyses of the screw drive aiming to minimize the needed torque and to maximize the locomotion speed. The presented prototype is able to reach a depth of 20 centimeters within a minute with a torque of 0.66 Nm.
http://nbn-resolving.de/urn:nbn:de:gbv:ilm1-2017iwk-005:6