Undergraduate mechanical engineering students struggle in comprehending the fundamentals presented in an introductory level mechanical vibrations course which eventually affects their performance in the posterior courses such as control theory. One salient factor to this is missing the visualization of the concept with hands-on learning since the vibrations and control laboratory course is offered in the following semester. This study presents the design, development of three portable and 3D-printed compliant vibratory mechanisms actuated by a linear motor and their implementation in vibrations course and vibrations and control laboratory. The proposed setups consist of flexible and compliant springs, sliders, and base support. Mechanisms are utilized to demonstrate free and forced vibrations, resonation, and design of a passive isolator. In addition to the 3D-printed, portable lab equipment, we created the Matlab Simscape GUI program of each setup so instructors can demonstrate the fundamentals in the classroom, assign homework, project, in-class activity or design laboratory.

Biomimetic robots have been the focus of many studies for the last decades since the motion in nature is accomplished through the bending of the flexible arms once subjected to an input force, displacement or torque as opposed to their rigid body counterparts thereby increasing the workspace. This study presents the design, analysis, and modeling of a novel monolithically designed compliant mechanism. The mechanism consists of two translational springs, three sliding carts, housing for the two servo motors, and two rigid-flexure-rigid (RFR) arms. While the main body of the biomimetic robot can be 3D printed using polyethylene terephthalate glycol (PETG), the RFR links are 3D printed in thermoplastic polyurethane (TPU) to prevent yielding when loaded. The mechanism model is derived using D’Alembert’s principles, pseudo rigid body modeling, and kinematic constraints. Finite element analysis is performed in MSC Adams and simulation model outputs are validated through experimental data for forward motion.

Success of emerging field of soft robotics relies on the development of efficient soft actuators. Most of these actuators suffers from disadvantages such as limited blocking force, lifetime, high actuation voltage, and slow response time. Swimming robots in particular utilizes single or multiple soft actuators to mimic the dynamic of a fish during motion. In this study we used 3D printing to fabricate soft electromagnetic actuators based swimming robot. The mechanism consists of soft actuator legs, compliant paddle and floatation. We designed a hybrid propulsion mechanism by using double soft leg actuators as caudal fins and side paddles as pectoral fins. This increases the thrust and efficiency to overcome the water drag as well as providing stability. We 3D printed the soft actuator using thermoplastic polyurethane (TPU) filament to reduce the manufacturing cost as well as to simplify the process. The main body is also 3D printed using polylactic acid (PLA). The infill percentage of the soft body is adjusted to increase the bending performance without yielding under actuation. The prototype of the swimming robot was tested in water. The body velocity of the robot is measured as 0.106 BL/s. Motion analysis was made MSC Adams by simulating the deformation of flexible beams.