Geometric modeling and structural design optimization of the cyclic Miura-ori. Geometric modeling and structural design optimization of the cyclic Miura-ori.

Slides:

Advertisements

Similar presentations

Date of download: 12/23/2017 Copyright © ASME. All rights reserved.

Advertisements

Demonstrations I, II, and III.

Force limits and layout design.

Self-folding triangular devices at two scales.

Cytotoxicity of MSP samples to normal and cancer cell lines.

Degradation of MSP samples in 37°C DPBS solution.

Comparison of predicted and measured forces and moments.

Comparing previous simulation work with current study.

TPAD controller performance for three force components.

Cable-driven system diagram for structure matrix.

Three different types of transfer functions with a codomain of [0,1].

Robot surface tension experiments.

Self-sensing of actuator position.

Workspace comparison of Delta robots.

Group data during free walking between sessions 1 and 16.

Distribution of the number of collisions and the average closest-neighbor distance as a function of communication range and delay. Distribution of the.

Visual explanation of the interaction terms.

Results of the performance study experiment: Compression (sample size: n = 5). Results of the performance study experiment: Compression (sample size: n.

Visual explanation of the interaction terms.

The foldable robotic arm with seven modules assembled in series.

The milliDelta: a millimeter-scale Delta robot.

Fig. 4 Altitudinal distributions of ice thickness change (m year−1) for the 650 glaciers. Altitudinal distributions of ice thickness change (m year−1)

Quasi-static and dynamic trajectories.

Online verification using reachable occupancies.

Illustration of the addressable wireless folding concept.

Force limits and layout design.

Lamella kinematics of the adhesive disc in a live remora and a biorobotic disc prototype. Lamella kinematics of the adhesive disc in a live remora and.

Experimental characterization of the milliDelta’s quasi-static workspace (yellow) compared with the theoretical workspace (blue) generated by the kinematic.

Order parameters as a function of time for different vflock values during real experiments with 30 drones. Order parameters as a function of time for different.

Effect of slenderness on optimal shapes.

SoFi system overview. SoFi system overview. (Top, left to right) Soft robotic fish and diver interface module. (Bottom, left to right) Subcomponents of.

Self-sensing of actuator position.

2D motility characterization and external magnetic steering of RBC microswimmers. 2D motility characterization and external magnetic steering of RBC microswimmers.

Experimental setup for workspace, bandwidth, and force characterization of the milliDelta. Experimental setup for workspace, bandwidth, and force characterization.

Degradation of MSP samples in 37°C DPBS solution.

Fig. 3 Rotation experiment, setup.

Foldable module with locking mechanism.

Mechanical behavior. Mechanical behavior. (A) The compliant origami consists of three layers: a prestretched elastomer membrane bonded between two outer.

Characteristics of the topology-optimized actuator and long-term tests

Fig. 6 External drivers and model response.

Simulation results of magnetic driving ability in hepatic artery, portal vein, and hepatic vein. Simulation results of magnetic driving ability in hepatic.

Comparison of predicted and measured forces and moments.

Quadcopter equipped with dual-stiffness origami arms.

RAD sampler design. RAD sampler design. (A) One arm of the RAD sampler with revolute joints shown as dotted lines. A fold is initiated by rotating the.

Folding unit based on the plane symmetric Bricard linkage.

Overhead snapshots. Overhead snapshots. (A to E) Mark I3, robot experiments (movie S1). (F) Mark I3, simulation (movie S2, side by side with a run on the.

The prototype and working mechanism.

Galloping-like gait with the design of a two-legged robot.

Technological framework of the multidirectional gravity-assist

AEGIS autonomous targeting process.

Dual-stiffness origami gripper.

Fig. 4 The mechanical performances of thermally stable click-ionogels.

Fig. 4 Evolution of fraction of sickled RBCs under hypoxia.

Fig. 2 Folding motions of the TCO with strain-softening behavior.

Details of seal design. Details of seal design. (A) RAD sampler (left), with close-up view (right) indicating the soft edges that form the light seal.

Fig. 2 Characterizing the performance of msTENG.

Fig. 6 Experimental setup and properties of the IP screen.

Proprioception. Proprioception. (A) Computer-aided design (CAD) model of each component of the cylinder and the completed device with three different stiffness.

Kinematic and mechanical advantage trade-off study.

Characterization and optimization of the device.

Iron line orientation inside the PDMS matrix.

Floating microrobots with different preferred magnetization directions: Fabrication and control principles. Floating microrobots with different preferred.

Breakdown of incorrect participant responses.

Analysis of experimental results.

Force and angular speed profiles in the normal collision (contact angle, 90°) at 1.2 m/s for the naked and origami-protected configurations on the rough.

Force and angular speed profiles at a contact angle of 30° and initial speed 1.2 m/s for fixed and rotary configurations on rough and smooth surfaces.

Onboard sensors enable state feedback and closed-loop control of robotic skins. Onboard sensors enable state feedback and closed-loop control of robotic.

Fig. 5 Schematics illustrating enhancement in April tornado activity due to SST. Schematics illustrating enhancement in April tornado activity due to SST.

Setup used in the study. Setup used in the study. A child interacts with the robot tutor with a large touchscreen sitting between them, displaying the.

Fig. 2 Time series of secularization versus GDP per capita, from four illustrative countries, over the 20th century. Time series of secularization versus.

Presentation transcript:

Geometric modeling and structural design optimization of the cyclic Miura-ori. Geometric modeling and structural design optimization of the cyclic Miura-ori. (A) Half of a typical cyclic descendant of the Miura fold pattern and its geometric parameters: n, number of radial segments (s1 to sn); α, pattern angle; r, inner radius; m, number of concentric layers (l1 to lm); w̅ = we/wu, normalized width of external facets, where we is the external facets width and wu is the unchanged facets width for the pattern sequence. Mountain and valley folds are represented by solid and dashed lines, respectively. (B) A ring-shaped solid (mathematically speaking, a cylindrical annulus) fitting around an example model. (C) Sixteen origami rings and output data from quasi-static FEA simulations on models with varying parameters α and n, whereas w̅ = 1. As the number of radial segments on the pattern is increased, so is the stiffness of the structure. However, this also has the effect of shortening the time during which the structure is stable under compression before it slips out of plane. (D) Reaction force versus displacement curve for the selected design (illustrated on the left part of the figure) and its gradient, which is a measure of the stiffness of the structure. The simulation setup is depicted on the bottom part of the panel. (E) Front and side views of the FEA simulation for the compression of the selected structure. Pooya Sareh et al. Sci. Robotics 2018;3:eaah5228 Copyright © 2018 The Authors, some rights reserved; exclusive licensee American Association for the Advancement of Science. No claim to original U.S. Government Works