Sharif Digital Repository

Robotic devices are traditionally actuated by hydraulic systems or electric motors. However, in compact robotic systems, new actuator technologies are required. Ionic Polymer-Metal Composites (IPMCs) are attractive electroactivc polymer actuators because of their characteristics of large electrically induced bending, mechanical flexibility, low excitation voltage, low density, and ease of fabrication. A dynamic analytical model of IPMC is developed in this study. An RC model is employed based on time response results of a typical silver deposited IPMC. Results show that the electrical model is a suitable presentation of IPMC actuators. The model is tested with two experimental data of IPMC... 

In this study, dynamic response of a micro- and nanobeams under electrostatic actuation is investigated using strain gradient theory. To solve the governing sixth-order partial differential equation, mode shapes and natural frequencies of beam using Euler–Bernoulli and strain gradient theories are derived and then compared with classical theory. Galerkin projection is utilized to convert the partial differential equation to ordinary differential equations representing the system mode shapes. Accuracy of proposed one degree of freedom model is verified by comparing the dynamic response of the electrostatically actuated micro-beam with analogue equation and differential quadrature methods.... 

Prior to the design and fabrication of MEMS/NEMS devices, analysis of static and dynamic behaviors of these systems is necessary. In the present study, the nonlinear dynamic behavior of micro- and nano-mechanical resonators is investigated and classified based on the resonator’s physical parameters for first time. The Galerkin method is used to convert the distributed-parameter model to a nonlinear ordinary differential equation where mid-plane stretching, axial stress, DC electrostatic and AC harmonic voltages are taken into account. To obtain the analytical frequency response of the micro resonator near its primary resonance, the second order multiple scales method is applied to the... 

Prior to the design and fabrication of MEMS/NEMS devices, analysis of static and dynamic behaviors of these systems is necessary. In the present study, the nonlinear dynamic behavior of micro- and nano-mechanical resonators is investigated and classified based on the resonator’s physical parameters for first time. The Galerkin method is used to convert the distributed-parameter model to a nonlinear ordinary differential equation where mid-plane stretching, axial stress, DC electrostatic and AC harmonic voltages are taken into account. To obtain the analytical frequency response of the micro resonator near its primary resonance, the second order multiple scales method is applied to the... 

In this study, a gait optimization routine is developed to generate walking patterns which demand the lowest friction forces for implementation. The aim of this research is to fully address the question “which walking pattern demands the lowest coefficient of friction amongst all feasible patterns?”. To this end, first, the kinematic structure of the considered 31 DOF (Degrees of Freedom) humanoid robot is investigated and a closed-form dynamics model for its lower-body is developed. Then, the medium through which the walking pattern generation is conducted is presented. In this medium, after designing trajectories for the feet and the pelvis, the joint space variables are obtained, using... 

In this study, a gait optimization routine is developed to generate walking patterns which demand the lowest friction forces for implementation. The aim of this research is to fully address the question which walking pattern demands the lowest coefficient of friction amongst all feasible patterns?. To this end, first, the kinematic structure of the considered 31 DOF (Degrees of Freedom) humanoid robot is investigated and a closed-form dynamics model for its lower-body is developed. Then, the medium through which the walking pattern generation is conducted is presented. In this medium, after designing trajectories for the feet and the pelvis, the joint space variables are obtained, using the... 

In recent years, extensive experiments have shown that classical continuum theory cannot predict the behavior of mechanical microstructures with small size. To accurately design and analyze micro- and nano-electro-mechanical systems, size-dependent continuum theories should be used. These theories model micro- and nano-electro-mechanical systems with higher accuracy because they include size-dependent parameters. In this paper, polysilicon nano-beam is modeled using modified couple stress and Eringen's nonlocal elasticity theories. First, partial differential equations governing the vibration of nano-beams are converted to a one D.O.F. differential equations using Galerkin method, resulting... 

Different nonlinearities in micro-electro-mechanical resonators lead to various nonlinear behaviors such as chaotic motion which can affect the resonator performance. As a result, it is important to properly identify and analyze the chaotic regions in resonators. In this paper, a novel method is proposed for prediction of the chaos in the micro- and nano-electro-mechanical resonators. Based on the proposed method, first an accurate analytical solution for the dynamics behavior of the nano-resonators is derived using the multiple scales method up to the second order. The results obtained by this analytical solution are validated by comparing them with the numerical ones. Using the analytical... 

Contact modeling plays a central role in motion planning, simulation and control of legged robots, as legged locomotion is realized through contact. The two prevailing approaches to model the contact consider rigid and compliant premise at interaction ports. Contrary to the dynamics model of legged systems with rigid contact (without impact) which is straightforward to develop, there is no consensus among researchers to employ a standard compliant contact model. Our main goal in this paper is to study the dynamics model structure of bipedal walking systems with rigid contact and a novel compliant contact model, and to present experimental validation of both models. For the model with rigid... 

This paper presents a general integrated procedure of fabricating a Hybrid Electric Motorcycle (HEM). Firstly, a simple model designed and simulated using ADVISOR2002 and the proposed model is exported to MATLAB/SIMULINK. Secondly, the controller schematic and its optimized control strategy are described. In addition, the ratings of the components including the batteries, electric motor, and internal combustion engine (ICE) are calculated based on the design. A 125 cc ICE motorcycle is selected for conversion to HEM. A brushless DC (BLDC) motor assembled in front wheel as accessory propellant. The nominal powers are 8.2 kW at 8500 rpm and 500 W for the ICE and BLDC respectively. The original... 

Analytical and numerical system identification (system ID) techniques of smart structures with piezoelements are introduced and compared in this paper. Simplicity and low cost of numerical system ID methods developed here make them beneficial in control design and implementation as well as in optimization of location and size of actuators and sensors of the smart structure. The accuracy of these techniques is then verified using analytical system ID, which derives the dynamic model of the structure from differential equations. In the first numerical system ID technique, Finite Element Method (FEM) is employed to model the dynamic system and to obtain the Frequency Response Function (FRF).... 

In this paper, two online path planning methods are presented for SURENA III humanoid robot by using model predictive control scheme. The methods are general control schemes which can generate the online motions for walking of a humanoid robot. For lowering computational costs a three dimensional linear inverted pendulum model is used instead of the full dynamical model of the robot. The generated trajectories are then used for computing the zero-moment point (ZMP) of the robot and the joint torques. The resulted joint torques of the two methods are compared to torques obtained from Genetic Algorithm (GA) path planning method presented for SURENA III humanoid robot in previous studies. The... 

Conventional continuum theory does not account for contributions from length scale effects which are important in modeling of nano-beams. Failure to include size-dependent contributions can lead to underestimates of deflection, stresses, and pull-in voltage of electrostatic actuated micro and nano-beams. This research aims to use nonlocal and strain gradient elasticity theories to study the static behavior of electrically actuated micro- and nano-beams. To solve the boundary value nonlinear differential equations, analogue equation and Gauss–Seidel iteration methods are used. Both clamped-free and clamped–clamped micro- and nano-beams under electrostatical actuation are considered where... 

Conventional continuum theory does not account for contributions from length scale effects. Failure to include size-dependent contributions can lead to underestimates of deflection and stresses of micro and nanobeams. This research aims to use strain gradient elasticity theory to model size-dependent behavior of small beams. In this regard, Young's modulus and length scale parameters of poly silicon are estimated by fitting the predicted static pull-in voltages to the reported experimental results in the literature. The results demonstrate that decreasing the beam thickness results in higher pull-in voltage, lower deflection and lower sensitivity to axial stress and mid-plane stretching in... 

The understudy SURENA III humanoid robot was designed and fabricated at the Center of Advanced Systems and Technologies (CAST) located in the Universityof Tehran. In this paper, a full dynamic model of SURENA III in different walking phases including heel-offand heel-strike motions is presented. To this end, first a trajectory planning method based on robot kinematics is introduced. Then, the multi-body dynamics of the robot links are calculated using Lagrange and Kane approaches which are then verified. In this model, the power transmissionsystem is considered to be ideal. Afterward, system identification routine is adopted to model the dynamic behavior of the power transmission system. By... 

A 37 dBm power amplifier (PA) is designed on a 0.25 μm optical T-gate pseudomorphic high electron mobility transistor (pHEMT) technology. The design of this two-stage PA along with a step-by-step design procedure is presented in this paper. This methodology can be used for design of PA in different technologies and frequencies. The PA delivers 5 W output power over the frequency band of 13-19 GHz. It shows average power-added efficiency of 37% and large signal gain of 15 dB in measurements which is consistent with simulation results. The output power and efficiency of the realised amplifier reach maximums of 37.6 dBm and 45%, respectively. Considering output power, bandwidth, chip area and... 

In this paper, a robust control system is developed for a flexible beam with piezoelectric actuators (called Smart Beam). The active control system of smart beam satisfied desired properties for all admissible measurement and plant noises, disturbances and model uncertainties. Thus it is the best candidate for sensitive industrial, medical and etc. robot arms and bases a new concept in the use of smart structures in robotics. The Frequency Response Function (FRF) of the smart beam was obtained from a Finite Element (FE) model. The corresponding transfer function was derived from the □ synthesis and several control schemes were then designed to suppress the vibration. Results showed the... 

This paper aims to explore the dynamic behaviour of a nano-resonator under ac and dc excitation using strain gradient theory. To achieve this goal, the partial differential equation of nano-beam vibration is first converted to an ordinary differential equation by the Galerkin projection method and the lumped model is derived. Lumped parameters of the nano-resonator, such as linear and nonlinear springs and damper coefficients, are compared with those of classical theory and it is demonstrated that beams with smaller thickness display greater deviation from classical parameters. Stable and unstable equilibrium points based on classic and non-classical theories are also compared. The results... 

With the successes in numerous applications from signal filtering to chemical and mass sensing, micro- and nano-electro-mechanical resonators continue to be one of the most widely studied topics of the micro-electro-mechanical systems community. Nonlinearities arising out of different sources such as mid-plane stretching and electrostatic force lead to a rich nonlinear dynamics in the time response of these systems which should be investigated for appropriate design and fabrication of them. Motivated by this need, present study is devoted to analyzing the nonlinear dynamics and chaotic behavior of nano resonators with electrostatic forces on both sides. Based on the potential function and... 

This study addresses optimal walking pattern generation for SURENA III humanoid robot in a stair-climbing scenario. To this end, the kinematic configuration of the 31-DOF humanoid robot is studied. Integrating the detailed dynamic properties of the robot, a comprehensive and precise dynamic model is developed for its lower-limb. In order to generate the optimal walking pattern for the considered humanoid robot, trajectories for feet and pelvis are first designed, and then joint angles are derived by means of inverse kinematics. Such a complete model provides the designer with the necessary tools to optimize the trajectory generation. Using two different types of objective functions, namely...