A new concept of modular kinematics to design ultra-high precision flexure-based robots

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Using locally available, unprocessed stones as construction material offers a promising solution to meet the modern construction industry's sustainability and low-carbon footprint requirements. Stone masonry construction typically depends on the expertise ...

Mechanical watches are generally regulated by a balance and a spring constituting a harmonic oscillator. This mechanism is intrinsically force-balanced, which makes it essentially insensitive to gravity as well as to the linear accelerations of the watch. ...

Zoning reform is a crucial tool for cities to adapt to contemporary challenges. However, its implementation remains challenging. Property owners, with a vested interest in the value of their neighborhoods, are sensitive to local developments and the potent ...

Between 1671 and 1716, the German mathematician Gottfried Wilhelm Leibniz attempted to design a reckoning machine. Working closely with the Parisian clockmaker Monsieur Ollivier, Leibniz eventually failed at producing a working prototype. After the redisco ...

Series elastic actuators (SEAs) and variable elastic actuators (VSAs) provide shock resistance, energy storage, and stable force control. However, they usually require extra springs, mechanical parts, and transmissions, increasing size, weight, number of m ...

Robots are employed to assist humans in lengthy, challenging, and repetitive tasks. However, the fields of rehabilitation, haptics, and assistive robotics have shown a significant need to support and interact with people in their everyday life. To facilita ...

The development of miniaturized machines that can actively cross barriers, navigate through heterogeneous materials and access remote sites can revolutionize environmental inspection and targeted therapy. Seminal work demonstrated the feasibility of follow ...

Shape Memory Alloys (SMAs) are a type of smart materials that reacts mechanically to heat. Due to their complex behavior, they are often used in a simple geometry such as wires. This constrains the output displacement of the alloy to a simple linear contra ...

The design and construction of compact and lightweight gantries for hadron therapy are essential steps toward wider accessibility to this cancer treatment. The use of a high-field steady-state toroidal gantry, i.e., GaToroid, represents an attractive alter ...

This article presents a new modular robotic platform for enabling reconfigurable, actively controlled, high-degree-of-freedom (high-DoF) systems with compact form factor. The robotic modules exploit the advantages of origami-inspired construction methods a ...

When designing unreinforced masonry buildings, the wall stiffness and, consequently, the masonry elastic and shear modulus E and G are essential parameters. Current codes provide empirical estimates of the masonry elastic modulus and a ratio between the sh ...

Out of plane instability of reinforced concrete walls is a failure mechanism observed rather recently following the earthquakes in Chile (2010) and New Zealand (2011). Global out of plane instability is a phenomenon that may occur in thin walls, subjected ...

This work is concerned with the mechanical design and the description of the different components of a new mobile base for a lightweight mobile manipulator. These kinds of mobile manipulators are normally composed of multiple lightweight links mounted on a ...

Seismic assessment of unreinforced masonry structures remains a challenge. This dissertation investigates the in-plane behavior of historical masonry elements and proposes an advanced simulation method based on the cohesive zone model (CZM) in a finite ele ...

The development of energy recovery systems on existing water utility networks is a new challenge for increasing the sustainability of electricity generation mix. The concept of the new micro-turbine with counter rotating runners braces this goal by allowin ...

Multistable Mechanisms are mechanical devices having more than one stable state. Since these mechanisms can maintain different deformations with zero force, they are advantageous for low power environments such as wristwatches and medical devices. In this ...

More and more biologically inspired robots present spines with multiples degrees of freedom to resemble their biological counterparts. The function of the spine on both animal and robot can play an important role in locomotion. If it has enough degrees of ...

Sub-millimeter scale devices are developing rapidly taking smaller, smarter, and more precise forms. This is achieved thanks to advancements in micro-manufacturing tools and techniques. For micro-production, a miniaturization of the machinery is a prominen ...

This study provides a novel approach for designing a rotary hexapod with a single actuator and definable motion of a platform. Hexapod is a parallel structure mechanism with six legs and six degrees of freedom (DoF) of an end-effector. It is not an underac ...

Compliant mechanisms are of great interest in precision engineering. In this paper we propose a higher order continuation method to help their rigid-body kinematic design. The method helps to investigate the choice of a mechanism configuration through the ...

A new concept of modular kinematics to design ultra-high precision flexure-based robots

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Microstructure generation and modeling for digital construction of stone masonry walls

Dynamic balancing of a flexure-based Watt's linkage horological oscillator

Spatial Modeling for Building Design Evaluation: from Visual Landscape Quality Assessment to Devaluation Risk Estimation

Leibniz en Créateur. Un regard matériel sur sa machine à calculer

Flexure Variable Stiffness Actuators

Active origami platforms for human-robot interactions

Development of soft microscopic implants and acoustically-powered machines for biomedical applications

Designing compliant mechanisms composed of shape memory alloy and actuated by induction heating

Design of the First HTS Single-Coil Demonstrator of GaToroid Toroidal Gantry for Hadron Therapy

Soft pneumatic actuator-driven origami-inspired modular robotic ‘‘pneumagami’’

The ratio of shear to elastic modulus of in-plane loaded masonry

Out-of-plane instability of thin reinforced concrete walls under seismic loading

A New Kinematic Model and Control Strategy for a Mobile Platform for Transporting Lightweight Manipulators

Micro-mechanical finite element modeling for in-plane behavior of historical masonry

Hydraulic performance evaluation of a micro-turbine with counter rotating runners by experimental investigation and numerical simulation

Programmable Multistable Mechanisms: Design, modeling, characterization and applications

Spine Controller for a Sprawling Posture Robot

Modular and reconfigurable desktop microfactory for high precision manufacturing

The Design of A New Rotary Hexapod with A Single Active Degree of Freedom

Higher-order continuation method for the rigid-body kinematic design of compliant mechanisms