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Buckling is a highly nonlinear and singular phenomenon in thin beams, and is usually an undesired characteristic that must be prevented from occurring in engineered systems. Buckling, however, can be a useful mechanism for gaining extremely large displacement amplification, since a tiny displacement in the axial direction of the beam may lead to a large defection in the middle of the beam. This paper...
This paper presents the design and implementation of antagonistic artificial muscle actuators which combine equilibrium point control with a segmented muscle architecture similar to the motor units within mammalian skeletal muscle. By varying the number of recruited motor units in a pair of antagonistic actuators, the stiffness and angle of a joint are controlled. An antagonistic actuator system is...
We present an initial design of a mobile robotic system for automated assembly inside an aircraft body. This system allows for the positioning control of a heavy duty end effector that is working on the far side of a thin wall at any orientation. It utilizes electromagnets to hold the end effector against the wall, as well as linear motor type actuation for locomotion. Initial testing on a prototype...
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