In this study, the authors experimentally investigate the relationship between folding patterns and performances of inflatable structures; compactness and deployability. Inflatable structures are widely applied in various engineering fields such as airbags in automobile industry, inflatable building in architectural field, and inflatable satellite antenna and landing equipment to Mars in space engineering field. However, these two requirements can be a tradeoff, as a compact product is hard to deploy in general. As a possible solution, circular spiral patterns are adopted in this study, because 1) they can be simultaneously deployed along spiral fold lines that is an advantage on deployability, and 2) the removal of the core of the circular sheet can make the sheet folded more compactly that is an advantage on compactness. Inflation models with different design parameters are created and tested. As experimental results, the inflation time (i. e. deployablity) and the initial width (i. e. compactness) can be optimized simultaneously in terms of four design parameters, but a trade-off relationship is observed in terms of the rest parameter; the folding angle formed by the V-shaped fold lines.
{"title":"Experimental Study on Folding Patterns and Deployability of Inflatable Structures","authors":"Sachiko Ishida, Hakimi Azuri","doi":"10.1115/detc2019-98107","DOIUrl":"https://doi.org/10.1115/detc2019-98107","url":null,"abstract":"\u0000 In this study, the authors experimentally investigate the relationship between folding patterns and performances of inflatable structures; compactness and deployability. Inflatable structures are widely applied in various engineering fields such as airbags in automobile industry, inflatable building in architectural field, and inflatable satellite antenna and landing equipment to Mars in space engineering field. However, these two requirements can be a tradeoff, as a compact product is hard to deploy in general. As a possible solution, circular spiral patterns are adopted in this study, because 1) they can be simultaneously deployed along spiral fold lines that is an advantage on deployability, and 2) the removal of the core of the circular sheet can make the sheet folded more compactly that is an advantage on compactness. Inflation models with different design parameters are created and tested. As experimental results, the inflation time (i. e. deployablity) and the initial width (i. e. compactness) can be optimized simultaneously in terms of four design parameters, but a trade-off relationship is observed in terms of the rest parameter; the folding angle formed by the V-shaped fold lines.","PeriodicalId":211780,"journal":{"name":"Volume 5B: 43rd Mechanisms and Robotics Conference","volume":"358 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122809445","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Jesse J. Rond, Michael C. Cardani, M. Campbell, J. Hurst
Impact forces are a destructive, yet common occurrence in legged locomotion. Every step produces a collision when the leg’s inertia immediately stops upon ground contact. This results in peak impact forces and high frequency vibrations that resonate through the system, damage components, and complicate control algorithms. Rubber or other damping material is the assumed solution for mitigating these impacts. However, we show the benefit of using foot springs where both stiffness and maximum compression are customized to the leg. Such springs eliminate peak impact forces by gradually bringing the leg’s inertia to rest. The maximum compression point (i.e. a hard stop) then provides a rigid surface during stance. We provide a methodology for designing this passive dynamic foot that is validated through simulation and physical testing. Our results show this methodology reduces rigid body impacts and foot vibrations in a way traditional methods, reliant upon rubber or damping, are yet to achieve.
{"title":"Eliminating Peak Impact Forces by Customizing the Passive Foot Dynamics of Legged Robots","authors":"Jesse J. Rond, Michael C. Cardani, M. Campbell, J. Hurst","doi":"10.1115/detc2019-97484","DOIUrl":"https://doi.org/10.1115/detc2019-97484","url":null,"abstract":"\u0000 Impact forces are a destructive, yet common occurrence in legged locomotion. Every step produces a collision when the leg’s inertia immediately stops upon ground contact. This results in peak impact forces and high frequency vibrations that resonate through the system, damage components, and complicate control algorithms. Rubber or other damping material is the assumed solution for mitigating these impacts. However, we show the benefit of using foot springs where both stiffness and maximum compression are customized to the leg. Such springs eliminate peak impact forces by gradually bringing the leg’s inertia to rest. The maximum compression point (i.e. a hard stop) then provides a rigid surface during stance. We provide a methodology for designing this passive dynamic foot that is validated through simulation and physical testing. Our results show this methodology reduces rigid body impacts and foot vibrations in a way traditional methods, reliant upon rubber or damping, are yet to achieve.","PeriodicalId":211780,"journal":{"name":"Volume 5B: 43rd Mechanisms and Robotics Conference","volume":"34 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116829292","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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