Underactuated robotic locomotion systems are commonly represented by nonholonomic constraints where in mixed systems, these constraints are also combined with momentum evolution equations. Such systems have been analyzed in the literature by exploiting symmetries and utilizing advanced geometric methods. These works typically assume that the shape variables are directly controlled, and obtain t...

This paper presents the study conducted to design and analyze a morphing trailing edge flap structure for a large aircraft wing. The rear part of the trailing edge flap was modified to be integrated with a set of internal actuation mechanisms distributed along the span of the flap. Additional changes to the conventional flap structure were implemented, such as an open sliding trailing edge and ...

ed actuation: Inflation by force in normal direction Actuation location: applied to membrane Actuation type: PZ (force in local z-direction) Support condition: 1 x Fixed support (YP = PX + PZ) 1 x Pinned support (PP = PX + PY + PZ)

This paper proposes a ramp dual-pulse actuation-voltage waveform that reduces actuation-voltage shift in capacitive microelectromechanical system (MEMS) switches. The proposed waveform as well as two reported waveforms (dual pulse, and novel dual-pulse) are analyzed using equivalent-circuit and equation models. Based on the analysis outcome, the paper provides a clear understanding of trapped c...

Kagome truss plates have properties that suggest they should be uniquely effective as an actuation plane for sandwich plates: a Kagome truss plate has in-plane isotropy, optimal stiffness and strength, and its truss members can be actuated with minimal internal resistance. In this paper, sandwich plates are studied that are comprised of one solid face sheet and one actuated Kagome face sheet jo...

A large eddy simulation (LES) is used to explore the effects of high frequency actuation on a wall-mounted hump geometry. Low frequency forcing at F ∼ O(1) has been shown to increase entrainment through regular shedding of large-scale structures. Using a LES technique previously validated on the baseline and controlled flow over the wall-mounted hump geometry, the effectiveness of high frequenc...

Various types of actuation methods for intravascular locomotive microrobot have been proposed and demonstrated. Among the actuation methods, electromagnetic based actuation (EMA) was considered as a promising mechanism. In generally, planar EMA systems for 2 dimensional movement of the microrobot were proposed and demonstrated. In this paper, we present 3 dimensional (D) EMA systems for the 3D ...

Modular robot designers confront inherent tradeoffs between size and power. Smaller, more numerous modules increase the adaptability of a given volume or mass of robot, allowing the aggregate robot to take on a wider variety of configurations, but do so at a cost of reducing the power and complexity budget of each module. Fewer, larger modules can incorporate more powerful actuators and stronge...

This chapter discusses the advantages and feasibility of using compliant actuators in exoskeletons. We designed compliant actuation for use in a gait rehabilitation robot. In such a gait rehabilitation robot large forces are required to support the patient. In case of poststroke patients only the affected leg has to be supported while the movement of the unaffected leg should not be hindered. N...