This paper deals with two novel structures for mobile robots. The original inspiration of the robots comes from a sala- mander and a specific kind of spiders. Our robots have some especial moving capabilities causing ...This paper deals with two novel structures for mobile robots. The original inspiration of the robots comes from a sala- mander and a specific kind of spiders. Our robots have some especial moving capabilities causing to increase the robot ma- neuverability. Indeed, the capability of rolling motion is added to ordinary quadruped robots. This capability causes increment in maneuvering of the robots. Manipulators can be embedded into the robots to add the ability of transferring materials into the shell and conducting some tasks such as repairing. In this paper, after analysis of motion principles of the rolling robots, their dynanlic equations are derived. Different simulations of two bioinspired mobile robots are presented in order to scrutinize various capabilities of the proposed designs. Walking capabilities of the robots and their advantages are discussed in detail. The comprehensive simulation results of the robots in various motion modes are presented. Finally the first prototype is introduced to verify the motion mechanisms.展开更多
The paper presents the size-dependant behaviors of the carbon nanotubes under electrostatic actuation using the modified couple stress theory and homotopy perturbation method.Due to the less accuracy of the classical ...The paper presents the size-dependant behaviors of the carbon nanotubes under electrostatic actuation using the modified couple stress theory and homotopy perturbation method.Due to the less accuracy of the classical elasticity theorems,the modified couple stress theory is applied in order to capture the size-dependant properties of the carbon nanotubes.Both of the static and dynamic behaviors under static DC and step DC voltages are discussed.The effects of various dimensions and boundary conditions on the deflection and pull-in voltages of the carbon nanotubes are to be investigated in detail via application of the homotopy perturbation method to solve the nonlinear governing equations semi-analytically.展开更多
文摘This paper deals with two novel structures for mobile robots. The original inspiration of the robots comes from a sala- mander and a specific kind of spiders. Our robots have some especial moving capabilities causing to increase the robot ma- neuverability. Indeed, the capability of rolling motion is added to ordinary quadruped robots. This capability causes increment in maneuvering of the robots. Manipulators can be embedded into the robots to add the ability of transferring materials into the shell and conducting some tasks such as repairing. In this paper, after analysis of motion principles of the rolling robots, their dynanlic equations are derived. Different simulations of two bioinspired mobile robots are presented in order to scrutinize various capabilities of the proposed designs. Walking capabilities of the robots and their advantages are discussed in detail. The comprehensive simulation results of the robots in various motion modes are presented. Finally the first prototype is introduced to verify the motion mechanisms.
文摘The paper presents the size-dependant behaviors of the carbon nanotubes under electrostatic actuation using the modified couple stress theory and homotopy perturbation method.Due to the less accuracy of the classical elasticity theorems,the modified couple stress theory is applied in order to capture the size-dependant properties of the carbon nanotubes.Both of the static and dynamic behaviors under static DC and step DC voltages are discussed.The effects of various dimensions and boundary conditions on the deflection and pull-in voltages of the carbon nanotubes are to be investigated in detail via application of the homotopy perturbation method to solve the nonlinear governing equations semi-analytically.
