Actuation of magnetic beads due to analogous position control by means of electromagnetic fields. - In: Actuator 10, (2010), S. 685-688
This paper refers to the positioning of magnetic beads independent from the arrangement of the electromagnets used. To demonstrate the off-axis positioning of magnetic beads such as ferrofluid droplets, ferrogels or ferroelastomers a basic assembly consisting of two electromagnets, a laser sensor and a FPGA is used. The controller is designed by means of a model of the plant which is described by nonlinear ordinary differential equations. Finally, the parameters of the control law are adjusted due to results of system identification and the controller itself is implemented on the FPGA. The latter actuates each electromagnet based on the derived control strategy whereat the dynamics behaviour of the positioning is characterised by a user-defined time constant. Experimental investigations confirm that the desired dynamic behaviour can be achieved.
An approach to electromagnetic actuated compliant mechanisms. - In: Actuator 10, (2010), S. 681-684
An approach on model-based shape optimization of compliant mechanisms. - In: Mechanika, (2010), S. 271-276
Dynamics of mobile vibration-driven systems robots. - In: Proceedings of the 10th IFToMM International Symposium on Science of Mechanisms and Machines, ISBN 978-90-481-3521-9, (2010), S. 465-477
Richtiger Name des Verf.: Klaus Zimmermann
Design of mobile robots that can move without wheels or legs is an important engineering and technological problem. Self-propelling mechanisms that consist of a body that has contact with a rough surface and internal masses are considered. Asymmetry in friction that is necessary for the robot to move can be provided in several ways. First, the robot can be equipped with specific contact devises that provide anisotropy for the coefficient of friction, i. e., the coefficient of robot can be covered with needles. Second, this asymmetry can be provided for istropic friction by changing the normal pressure of the robot on supporting surface. A number of mathematical models of such systems are presented in the paper.
Mechanics of terrestrial locomotion : with a focus on non-pedal motion systems. - Dordrecht : Springer, 2009. - XX, 289 Seiten ISBN 3-540-88840-3
Literaturverzeichnis: Seite 279-286
Nachgiebige Systeme. - In: 8. Kolloquium Getriebetechnik, (2009), S. 189-196
Im Beitrag wird eine Klassifikation mit praktischen Beispielen über das Verformungsverhalten nachgiebiger Mechanismen, die teilweise einen biomimetischen Hintergrund besitzen, gegeben.
Mechanical models and adaptive control of vibrissae-like sensors. - In: 10th Conference on Dynamical Systems - Theory and Applications, ISBN 978-83-929120-4-0, (2009), S. 703-710
Dynamical behaviour of a mobile system with two degree of freedom near the resonance. - In: 10th Conference on Dynamical Systems - Theory and Applications, ISBN 978-83-929120-4-0, (2009), S. 589-596
Übungsbuch Technische Mechanik
Unicopy Campus Ed.. - Ilmenau : Techn. Univ., 2009. - 207 S.
A new type of miniaturisable ferrofluid based locomotion system. - In: Sensor letters, ISSN 1546-1971, Bd. 7 (2009), 3, S. 351-355
The paper presents a ferrofluid based locomotion system. In the following the uniaxial translatory motion of a non-magnetic object situated on the ferrofluid surface is pointed out. To move the object due to the periodic change of the ferrofluid pressure, the system is enclosed by a locally fixed magnetic field.
http://dx.doi.org/10.1166/sl.2009.1055