Publications related to The Design of A New Rotary Hexapod with A Single Active Degree of Freedom

Pivot, process for manufacturing such a pivot, oscillator comprising such a pivot, watch movement and timepiece comprising such an oscillator

Simon Nessim Henein, Loïc Benoît Tissot-Daguette

The present invention concerns a pivot comprising two assemblies, namely a central assembly (401) and a peripheral assembly (400). These two assemblies are mobile in rotation relative to each other around an axis of rotation (A). The pivot is characterized ...

2024

Near-Zero Parasitic Shift Flexure Pivots Based on Coupled n-RRR Planar Parallel Mechanisms

Simon Nessim Henein, Florent Cosandier, Loïc Benoît Tissot-Daguette, Etienne Frédéric Gabriel Thalmann

Flexure pivots, which are widely used for precision mechanisms, generally have the drawback of presenting parasitic shifts accompanying their rotation. The known solutions for canceling these undesirable parasitic translations usually induce a loss in radi ...

2024

Design of a Flexure-Based Flywheel for the Storage of Angular Momentum and Kinetic Energy

Simon Nessim Henein, Florent Cosandier, Hubert Pierre-Marie Benoît Schneegans, Patrick Robert Flückiger

The flywheel is a widespread mechanical component used for the storage of kinetic energy and angular momentum. It typically consists of cylindrical inertia rotating about its axis on rolling bearings, which involves undesired friction, lubrication, and wea ...

2024

Permanently magnetized elastomer rotating actuator using traveling waves

Herbert Shea

We report a soft actuator that generates continuous rotation of an object placed on it by electromagnetically exciting circular travelling waves in a soft disk. The disk, that serves as the stator, is made of a stretchable composite consisting of segments ...

Iop Publishing Ltd2024

Additively manufactured stretchable zipping electrostatic actuators

Giulio Grasso

The use of soft and stretchable materials allows the development of adaptive robotic systems and human-machine interfaces that are more natural and comfortable to interact with. One of the application fields that benefits the most from these compliant mate ...

EPFL2024

Dynamic Modeling of an Origami Prismatic Joint

Jamie Paik, Mustafa Mete, Jian-Lin Huang

Dynamic modeling of folding joints is critical for predicting dynamic behavior, optimizing design parameters, and developing control strategies for origami robots and machines. Although kinematics of the folded joints exists, little research describes thei ...

IEEE2023

C-shells: Deployable Gridshells with Curved Beams

Mark Pauly, Seiichi Eduardo Suzuki Erazo, Quentin Christian Becker, Yingying Ren, Francis Julian Panetta, Davide Pellis

We introduce a computational pipeline for simulating and designing C-shells, a new class of planar-to-spatial deployable linkage structures. A C-shell is composed of curved flexible beams connected at rotational joints that can be assembled in a stress-fre ...

2023

Mechanism balancing taxonomy

Simon Nessim Henein, Florent Cosandier, Hubert Pierre-Marie Benoît Schneegans

The balancing of mechanisms consists in distributing their moving masses, inertias, and elastic components in order to achieve key mechanical properties, such as the elimination of the shaking forces and moments exported onto their supporting structure or ...

2023

Exploration-based model learning with self-attention for risk-sensitive robot control

Sudong Lee

Model-based reinforcement learning for robot control offers the advantages of overcoming concerns on data collection and iterative processes for policy improvement in model-free methods. However, both methods use exploration strategy relying on heuristics ...

2023

Zero Parasitic Shift Pivoting Kinematic Structures Based On Coupled N-RRR Planar Parallel Mechanisms For Flexure Pivot Design

Simon Nessim Henein, Florent Cosandier, Loïc Benoît Tissot-Daguette, Etienne Frédéric Gabriel Thalmann

Flexure pivots, which are widely used for precision mechanisms, generally have the drawback of presenting parasitic shifts accompanying their rotation. The known solutions for canceling these undesirable parasitic translations usually induce a loss in radi ...

ASME Amer Soc Mechanical Engineers2023