Linkage (mechanical)

Applied sciences
Mechanical engineering
Robotics
Topics in robotics

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Lattice-and-Plate Model: Mechanics Modeling of Physical Origami Robots

Jamie Paik, Hongying Zhang

Origami robots are characterized by their compact design, quasi-two-dimensional manufacturing process, and folding joint-based transmission kinematics. The physical requirements in terms of payload, range of motion, and embedding core robotic components ha ...

MARY ANN LIEBERT, INC2022

Groove: Flexible Metadata-Private Messaging

Ludovic Barman, David Lazar

Metadata-private messaging designs that scale to support millions of users are rigid: they limit users to a single device that is online all the time and transmits on short regular intervals, and require users to choose precisely when each of their buddies ...

Usenix Assoc2022

A 4D printed active compliant hinge for potential space applications using shape memory alloys and polymers

Jamie Paik, Zhenishbek Zhakypov, Jian-Lin Huang, Ralph Spolenak

This paper presents the proof-of-concept for a 4D printed active compliant hinge with a selectively variable stiffness for the deployment and reorientation of satellite appendages. We use 4D printing to create an active compliant hinge capable of bending t ...

IOP PUBLISHING LTD2021

Operational-Driven Optimal-Design of a Hyperloop System

Mario Paolone, Denis Tudor

We present an operational-driven optimal-design framework of a Hyperloop system. The novelty of the proposed framework is in the problem formulation that links the operation of a network of Hyperloop capsules, the model of the Hyperloop infrastructure, and ...

Elsevier BV2021

Designing compliant mechanisms composed of shape memory alloy and actuated by induction heating

Yves Perriard, Paolo Germano, Thomas Guillaume Martinez, Adrien Jean-Michel Thabuis, Sean Thomas

Shape Memory Alloys (SMAs) are a type of smart materials that reacts mechanically to heat. Due to their complex behavior, they are often used in a simple geometry such as wires. This constrains the output displacement of the alloy to a simple linear contra ...

2021

An integrated design tool for timber plate structures to generate joints geometry, fabrication toolpath, and robot trajectories

Yves Weinand, Nicolas Henry Pierre Louis Rogeau, Pierre Latteur

This paper presents an integrated design tool for structures composed of engineered timber panels that are connected by traditional wood joints. Recent advances in computational architecture have permitted to automate the fabrication and assembly of such s ...

2021

Design of adaptive structures through energy minimization: extension to tensegrity

Gennaro Senatore, Yafeng Wang

This paper gives a new formulation to design adaptive structures through total energy optimization (TEO). This methodology enables the design of truss as well as tensegrity configurations that are equipped with linear actuators to counteract the effect of ...

2021

Method of encoding a 3d shape into a 2d surface

Mark Pauly, Mina Konakovic Lukovic, Francis Julian Panetta

The present invention concerns a method for encoding a given 3D shape into a target 2D linkage. The method comprises: (a) providing an initial 2D surface; and (b) defining on the initial 2D surface an auxetic pattern of geometric elements planarly linked b ...

2020

Statically and dynamically balanced oscillator based on Watt's linkage

Simon Nessim Henein, Hubert Pierre-Marie Benoît Schneegans, Ilan Vardi

We present a new mechanical oscillator architecture that can be made insensitive to linear and angular accelerations while keeping constant oscillation frequency. The oscillator has the kinematics of a Watt linkage, so we call it a Watt oscillator. In orde ...

EUSPEN2020

Soft pneumatic actuator-driven origami-inspired modular robotic ‘‘pneumagami’’

Jamie Paik, Matthew Aaron Robertson, Özdemir Can Kara

This article presents a new modular robotic platform for enabling reconfigurable, actively controlled, high-degree-of-freedom (high-DoF) systems with compact form factor. The robotic modules exploit the advantages of origami-inspired construction methods a ...

2021

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An integrated design tool for timber plate structures to generate joints geometry, fabrication toolpath, and robot trajectories

Yves Weinand, Nicolas Henry Pierre Louis Rogeau, Pierre Latteur

2021