TY - CHAP A1 - Chavez Vega Jhohan, A1 - Scharff, Moritz A1 - Helbig, Thomas A1 - Alencastre, Jorge H. A1 - Böhm, Valter A1 - Behn, Carsten ED - Kecskeméthy, Andrés T1 - Analysis of the Dynamic Behavior of Beams Supported by a Visco-Elastic Foundation in Context to Natural Vibrissa T2 - Interdisciplinary Applications of Kinematics : Proceedings of the Third International Conference (IAK) N2 - Rodents use their mystacial vibrissae, e.g., to recognize the shape or determine the surface texture of an object. The vibrissal sensory system consists of two components: the hair shaft and the follicle-sinus complex (FSC). Both components affect the collection of information, but the impacts of the different properties are not completely clear. Borrowing the natural example, the goal is to design a powerful artificial sensor. The influence of a continuous visco-elastic support is analyzed for an artificial sensor following hypotheses about the FSC. Starting with a theoretical treatment of this scenario, the vibrissa is modeled as an Euler-Bernoulli bending beam with a partially continuous visco-elastic support. The numerical simulations are validated by experiments. Using a steel strip as a technical vibrissa and a magneto-sensitive elastomer (MSE) as representation of the artificial continuous visco-elastic support, FSC respectively, the first resonance frequency is determined. Y1 - 2019 SN - 978-3-030-16422-5 U6 - https://doi.org/10.1007/978-3-030-16423-2_5 VL - 71 SP - 51 EP - 59 PB - Springer International Publishing CY - Cham ER - TY - CHAP A1 - Böhm, Valter A1 - Schorr, Philipp A1 - Feldmeier, T. A1 - Chavez Vega, Jhohan Harvey A1 - Henning, S. A1 - Zimmermann, Klaus A1 - Zentner, Lena T1 - An Approach to Robotic End Effectors Based on Multistable Tensegrity Structures T2 - New Trends in Mechanism and Machine Science: 8th European Conference on Mechanism Science (EuCoMeS), 2020 N2 - In this paper compliant multistable tensegrity structures with discrete variable stiffness are investigated. The different stiffness states result from the different prestress states of these structures corresponding to the equilibrium configurations. Three planar tensegrity mechanisms with two stable equilibrium configurations are considered exemplarily. The overall stiffness of these structures is characterized by investigations with regard to their geometric nonlinear static behavior. Dynamical analyses show the possibility of the change between the equilibrium configurations and enable the derivation of suitable actuation strategies. KW - Compliant tensegrity structure KW - Multiple states of self-equilibrium KW - Variable stiffness Y1 - 2020 U6 - https://doi.org/10.1007/978-3-030-55061-5_53 SP - 470 EP - 478 PB - Springer ER - TY - CHAP A1 - Chavez Vega, Jhohan Harvey A1 - Schorr, Philipp A1 - Scharff, Moritz A1 - Schale, Florian A1 - Böhm, Valter A1 - Zimmermann, Klaus T1 - Towards Magneto-Sensitive Elastomers Based End-Effectors for Gripping Application Technologies T2 - 2019 IEEE International Conference on Mechatronics (ICM), 18-20 March 2019, Ilmenau, Germany N2 - Nowadays, the demands in engineering systems become more challenging and the use of conventional materials for certain applications is not suitable. This issue encourages the investigation of novel and innovative materials in soft robotics field. A promising approach is the consideration of magneto-sensitive elastomers (MSE). These materials enable a useful adaptability responding to their mechanical properties. By applying a static magnetic field, the static and dynamic characteristics can be tuned. However, currently the knowledge about the correlations are not satisfying and the resulting material properties can only be predicted approximately with the use of time-expensive simulations regarding to the nano scale. Therefore, feasible material simulations of the description of the mechanical behavior are necessary. In this paper experimental studies of the influence of a static magnetic field on the mechanical properties and shape adaptability of MSE are presented. Furthermore, based on these results a simulation for the material behavior is executed. These results can be implemented into further simulations for various MSE exemplars. KW - End effectors KW - field-induced plasticity KW - finite-element simulation KW - Iron KW - Magnetomechanical effects KW - magneto-sensitive elastomer KW - Oils KW - SHAPE KW - Soft magnetic materials KW - soft robotics KW - Static magnetic field Y1 - 2019 U6 - https://doi.org/10.1109/ICMECH.2019.8722922 VL - 1 SP - 217 EP - 222 PB - IEEE ER - TY - CHAP A1 - Schorr, Philipp A1 - Chavez Vega, Jhohan Harvey A1 - Zentner, Lena A1 - Böhm, Valter ED - Zentner, Lena ED - Strehle, Steffen T1 - Reconfigurable Planar Quadrilateral Linkages Based on the Tensegrity Principle T2 - Microactuators, Microsensors and Micromechanisms, MAMM, 2020 N2 - A feasible possibility to develop planar reconfigurable mechanisms is introduced in this work. Applying the tensegrity principle to common four-bar linkages allows a controllable change between two configurations of the mechanism. These two states correspond to different working spaces which vary regarding to the kinematic and mechanical properties. Therefore, the reconfiguration of the mechanism enables two different operation modes. Hence, this kind of mechanism enables the advantageous properties of conventional linkages with an additional enhanced adaptability of the kinematic and mechanic behavior. Beside the conceptual design of such tensegrity-based mechanisms, a reconfigurable four-bar parallel linkage is considered exemplarily. Numerical simulations are evaluated focusing on the kinematic behavior and the structural mechanics of this mechanism. Especially the reconfiguration of the mechanism by changing between two different working spaces is considered. The simulation results clarify the benefit of utilizing the tensegrity principle in mechanism theory. Adding only a few members to the original linkage enables a reconfigurable mechanism with comparable complexity. KW - Planar four-bar linkage KW - Reconfigurable mechanisms KW - tensegrity Y1 - 2021 SN - 978-3-030-61651-9 U6 - https://doi.org/10.1007/978-3-030-61652-6_5 SP - 48 EP - 57 PB - Springer International Publishing CY - Cham ER -