35 research outputs found
Cable-Driven Actuation for Highly Dynamic Robotic Systems
This paper presents design and experimental evaluations of an articulated
robotic limb called Capler-Leg. The key element of Capler-Leg is its
single-stage cable-pulley transmission combined with a high-gap radius motor.
Our cable-pulley system is designed to be as light-weight as possible and to
additionally serve as the primary cooling element, thus significantly
increasing the power density and efficiency of the overall system. The total
weight of active elements on the leg, i.e. the stators and the rotors,
contribute more than 60% of the total leg weight, which is an order of
magnitude higher than most existing robots. The resulting robotic leg has low
inertia, high torque transparency, low manufacturing cost, no backlash, and a
low number of parts. Capler-Leg system itself, serves as an experimental setup
for evaluating the proposed cable- pulley design in terms of robustness and
efficiency. A continuous jump experiment shows a remarkable 96.5 % recuperation
rate, measured at the battery output. This means that almost all the mechanical
energy output used during push-off returned back to the battery during
touch-down
Proceedings of the ECCOMAS Thematic Conference on Multibody Dynamics 2015
This volume contains the full papers accepted for presentation at the ECCOMAS Thematic Conference on Multibody Dynamics 2015 held in the Barcelona School of Industrial Engineering, Universitat Politècnica de Catalunya, on June 29 - July 2, 2015. The ECCOMAS Thematic Conference on Multibody Dynamics is an international meeting held once every two years in a European country. Continuing the very successful series of past conferences that have been organized in Lisbon (2003), Madrid (2005), Milan (2007), Warsaw (2009), Brussels (2011) and Zagreb (2013); this edition will once again serve as a meeting point for the international researchers, scientists and experts from academia, research laboratories and industry working in the area of multibody dynamics. Applications are related to many fields of contemporary engineering, such as vehicle and railway systems, aeronautical and space vehicles, robotic manipulators, mechatronic and autonomous systems, smart structures, biomechanical systems and nanotechnologies. The topics of the conference include, but are not restricted to: ● Formulations and Numerical Methods ● Efficient Methods and Real-Time Applications ● Flexible Multibody Dynamics ● Contact Dynamics and Constraints ● Multiphysics and Coupled Problems ● Control and Optimization ● Software Development and Computer Technology ● Aerospace and Maritime Applications ● Biomechanics ● Railroad Vehicle Dynamics ● Road Vehicle Dynamics ● Robotics ● Benchmark ProblemsPostprint (published version
Proceedings of the Cardiff University Engineering Research Conference 2023
The conference was established for the first
time in 2023 as part of a programme to sustain the research
culture, environment, and dissemination activities of the
School of Engineering at Cardiff University in the United
Kingdom. The conference served as a platform to celebrate
advancements in various engineering domains researched
at our School, explore and discuss further advancements in
the diverse fields that define contemporary engineering
The research on mechanical properties and compressive behavior of graphene foam with multi-scale model?
Computational simulation is an effective method to study the deformation
mechanism and mechanical behaviour of graphene-based porous materials.
However, due to limitations in computational methods and costs, existing
research model deviate significantly from the real material in terms of the
scale of structure. Therefore, building a highly accurate computational model
and maintaining an appropriate cost is both necessary and challenging. This
paper proposed a multi-scale modelling approach for finite element (FE)
analysis based on the concept of structural hierarchy. The stochastic feature
of the microstructure of porous materials are also considered. The simulation
results of the regular structure model and the Voronoi tessellation model are
compared to investigate the effect of regularity on the material properties.
Despite some shortcomings, other microstructural features of porous
graphene materials can be gradually introduced to improve the material
model step by step. Thus the developed multiscale model has great potential
to simulate the properties of materials with mesoscopic size structure such as
graphene foam (GF)
Chapter 34 - Biocompatibility of nanocellulose: Emerging biomedical applications
Nanocellulose already proved to be a highly relevant material for biomedical
applications, ensued by its outstanding mechanical properties and, more importantly, its biocompatibility. Nevertheless, despite their previous intensive
research, a notable number of emerging applications are still being developed.
Interestingly, this drive is not solely based on the nanocellulose features, but also
heavily dependent on sustainability. The three core nanocelluloses encompass
cellulose nanocrystals (CNCs), cellulose nanofibrils (CNFs), and bacterial nanocellulose (BNC). All these different types of nanocellulose display highly interesting biomedical properties per se, after modification and when used in
composite formulations. Novel applications that use nanocellulose includewell-known areas, namely, wound dressings, implants, indwelling medical
devices, scaffolds, and novel printed scaffolds. Their cytotoxicity and biocompatibility using recent methodologies are thoroughly analyzed to reinforce their
near future applicability. By analyzing the pristine core nanocellulose, none
display cytotoxicity. However, CNF has the highest potential to fail long-term
biocompatibility since it tends to trigger inflammation. On the other hand, neverdried BNC displays a remarkable biocompatibility. Despite this, all nanocelluloses clearly represent a flag bearer of future superior biomaterials, being
elite materials in the urgent replacement of our petrochemical dependence
Multibody dynamics 2015
This volume contains the full papers accepted for presentation at the ECCOMAS Thematic Conference on Multibody Dynamics 2015 held in the Barcelona School of Industrial Engineering, Universitat Politècnica de Catalunya, on June 29 - July 2, 2015. The ECCOMAS Thematic Conference on Multibody Dynamics is an international meeting held once every two years in a European country. Continuing the very successful series of past conferences that have been organized in Lisbon (2003), Madrid (2005), Milan (2007), Warsaw (2009), Brussels (2011) and Zagreb (2013); this edition will once again serve as a meeting point for the international researchers, scientists and experts from academia, research laboratories and industry working in the area of multibody dynamics. Applications are related to many fields of contemporary engineering, such as vehicle and railway systems, aeronautical and space vehicles, robotic manipulators, mechatronic and autonomous systems, smart structures, biomechanical systems and nanotechnologies. The topics of the conference include, but are not restricted to: Formulations and Numerical Methods, Efficient Methods and Real-Time Applications, Flexible Multibody Dynamics, Contact Dynamics and Constraints, Multiphysics and Coupled Problems, Control and Optimization, Software Development and Computer Technology, Aerospace and Maritime Applications, Biomechanics, Railroad Vehicle Dynamics, Road Vehicle Dynamics, Robotics, Benchmark Problems. The conference is organized by the Department of Mechanical Engineering of the Universitat Politècnica de Catalunya (UPC) in Barcelona. The organizers would like to thank the authors for submitting their contributions, the keynote lecturers for accepting the invitation and for the quality of their talks, the awards and scientific committees for their support to the organization of the conference, and finally the topic organizers for reviewing all extended abstracts and selecting the awards nominees.Postprint (published version
Proceedings of the Resilient Materials 4 Life 2020 (RM4L2020) International Conference
The abstracts and posters appearing in this book comprise the proceedings of the RM4L2020
International Conference, held between the 20th and 22nd of September 2021. The posters
presented reflect the authors’ opinions and are published as presented and without change
(formatting and minor editing expected). Their inclusion in this publication does not necessarily
constitute endorsement by the editors, RM4L, or Cardiff University