Rapid Design of Mechanical Logic Based on Quasi-Static Electromechanical Modeling

Yan, Wenzhong; Yu, Yunchen; Mehta, Ankur

doi:10.1109/iros40897.2019.8967964

Cited by 9 publications

(8 citation statements)

References 21 publications

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“…Though the thermal asymmetry of the two actuators resulted in asymmetric oscillation, it was not the essential factor that limited the oscillation, according to the thermal-electro-mechanical model. 31 We also noticed that the lengths of both actuators decreased and the beam, though it was still bistable, was thermally deformed into an "S" shape after disassembled from the oscillator. Referencing to, 30 the SCP actuator behaves substantially as a one-way shape memory alloy, which means it needs resetting to achieve reversible behavior.…”

Section: Results and Analysismentioning

confidence: 80%

Towards One-Dollar Robots: An Integrated Design and Fabrication Strategy for Electromechanical Systems

Yan,

Mehta

2020

Preprint

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To improve the accessibility of robotics, we propose a design and fabrication strategy to build low-cost electromechanical systems for robotic devices. Our method, based on origami-inspired cut-and-fold and E-textiles techniques, aims at minimizing the resources for robot creation. Specifically, we explore techniques to create robots with the resources restricted to single-layer sheets (e.g. polyester film) and conductive sewing threads. To demonstrate our strategy's feasibility, these techniques are successfully integrated into an electromechanical oscillator (about 0.40 USD), which can generate electrical oscillation under constant-current power and potentially be used as a simple robot controller in lieu of additional external electronics.

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Section: Results and Analysismentioning

confidence: 80%

Towards One-Dollar Robots: An Integrated Design and Fabrication Strategy for Electromechanical Systems

Yan,

Mehta

2020

Preprint

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“…Since the actuation of the CSCP actuator features a significantly larger characteristic time constant than the dynamics of the bistable beam, 39 we propose a quasi-static assumption to simplify our model: in response to the force generated by the actuator, the bistable beam is able to achieve equilibrium instantly. Therefore, the dynamics of the actuator dictates the behavior of the entire system.…”

Section: Analysis Model For the Printable Oscillatormentioning

confidence: 99%

“…In addition, this analytical model can be potentially used to create a design tool for rapid prototyping of the oscillator due to its simplicity and explicitness. 39 It is worth noting that the oscillation period would increase when external loading is applied on the bistable beam, with this loading effect resulting in the delay of the onset of the snap-through. However, the characterization of this effect has not been included in this paper, which may require additional analysis.…”

Section: Analysis Model For the Printable Oscillatormentioning

confidence: 99%

A cut-and-fold self-sustained compliant oscillator for autonomous actuation of origami-inspired robots

Yan,

Mehta

2021

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Origami-inspired robots are of particular interest given their potential for rapid and accessible design and fabrication of elegant designs and complex functionalities through cutting and folding of flexible 2D sheets or even strings, i.e. printable manufacturing. Yet, origami robots still require bulky, rigid components or electronics for actuation and control to accomplish tasks with reliability, programmability, ability to output substantial force, and durability, restricting their full potential. Here, we present a printable self-sustained compliant oscillator that generates periodic actuation using only constant electrical power, without discrete components or electronic control hardware. This oscillator is robust (9 out of 10 prototypes worked successfully on the first try), configurable (with tunable periods from 3 s to 12 s), powerful (can overcome hydrodynamic resistance to consistently propel a swimmer at ∼1.6 body lengths/min), and long-lasting (∼10 3 cycles); it enables driving macroscale devices with prescribed autonomous behaviors, e.g. locomotion and sequencing. This oscillator is also fully functional underwater and in high magnetic fields. Our analytical model characterizes essential parameters of the oscillation period, enabling programmable design of the oscillator. The printable oscillator can be integrated into origami-inspired systems seamlessly and monolithically, allowing rapid design and prototyping; the resulting integrated devices are lightweight, low-cost, compliant, electronic-free, and nonmagnetic, enabling practical applications in extreme areas. We demonstrate the functionalities of the oscillator with:(i) autonomous gliding of a printable swimmer, (ii) LED flashing, and (iii) fluid stirring. This work paves the way for realizing fully printable autonomous robots with a high integration of actuation and control.

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“…Computational design has been proven to be efficient with good accuracy in rapid structural design [17], [18]. In this project, we have incorporated existing plate theories with a numerical method (i.e.…”

Section: Introductionmentioning

confidence: 99%

A Computational Design and Evaluation Tool for 3D Structures with Planar Surfaces

Liu¹,

Yan²,

Moure³

et al. 2021

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Three dimensional (3D) structures composed of planar surfaces can be build out of accessible materials using easier fabrication technique with shorter fabrication time. To better design 3D structures with planar surfaces, realistic models are required to understand and evaluate mechanical behaviors. Existing design tools are either effort-consuming (e.g. finite element analysis) or bounded by assumptions (e.g. numerical solutions). In this project, We have built a computational design tool that is (1) capable of rapidly and inexpensively evaluating planar surfaces in 3D structures, with sufficient computational efficiency and accuracy; (2) applicable to complex boundary conditions and loading conditions, both isotropic materials and orthotropic materials; and (3) suitable for rapid accommodation when design parameters need to be adjusted. We demonstrate the efficiency and necessity of this design tool by evaluating a glass table as well as a wood bookcase, and iteratively designing an origami gripper to satisfy performance requirements. This design tool gives non-expert users as well as engineers a simple and effective modus operandi in structural design.

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Rapid Design of Mechanical Logic Based on Quasi-Static Electromechanical Modeling

Cited by 9 publications

References 21 publications

Towards One-Dollar Robots: An Integrated Design and Fabrication Strategy for Electromechanical Systems

Towards One-Dollar Robots: An Integrated Design and Fabrication Strategy for Electromechanical Systems

A cut-and-fold self-sustained compliant oscillator for autonomous actuation of origami-inspired robots

A Computational Design and Evaluation Tool for 3D Structures with Planar Surfaces

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