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Dynamical research on spherical micro actuator with piezoelectric ceramic stacks drivers

ZHANG Ruihua, CHEN Haichu

《机械工程前沿（英文）》 2007年第2卷第4期页码 433-438 doi: 10.1007/s11465-007-0074-y

摘要： This paper develops a 30 mm × 30 mm × 50 mm spherical micro actuator driven by piezoelectric ceramic stacks (PZT), and analyzes its dynamic performances. First, the space coordinate relationship of the spherical micro actuator and a dynamic model are set up. Second, The Runge-Kutta arithmetic is used to calculate the dynamical parameters of the micro actuator; the SIMULINK module of MATLAB is used to build the dynamical simulating model and then simulate it. Third, an experimental sample of the spherical micro actuator is developed, a micromanipulator is integrated with a micro-gripper based on the sample spherical micro actuator, and the experimental research on the micro assembly is conducted between a micro shaft of 180 μm and a micro spindle sleeve of 200 μm. Finally, the characteristics of the spherical micro actuator influenced by the mass of the metal sphere of the micro actuator, driving signal frequency, friction coefficient of the contact surface between the metal sphere and the friction block of the micro driving unit are analyzed. The experimental results indicate that the rotation resolution of the micro actuator reaches 0.000 1°, the rotation positioning precision reaches 0.000 5°, and the maximum working frequency is about 1200 Hz. The experimental results validate the back rotation vibration model of the spherical micro actuator. The micromanipulator integrated by the spherical micro actuator can meet the requirements of precise micro operation and assembly for micro electro mechanical systems (MEMS) or other microelements in micro degree fields.

关键词： spherical micro-gripper friction coefficient dynamic frequency

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Design and analysis of the gripper mechanism based on generalized parallel mechanisms with configurable

《机械工程前沿（英文）》 2021年第16卷第4期页码 765-781 doi: 10.1007/s11465-021-0655-1

摘要： Generalized parallel mechanisms with a configurable moving platform have become popular in the research field of parallel mechanism. This type of gripper mechanism can be applied to grasp large or heavy objects in different environments that are dangerous and complex for humans. This study proposes a family of novel (5 + 1) degrees of freedom (three translations and two rotations plus an additional grasping motion) gripper mechanisms based on the generalized parallel mechanisms with a configurable moving platform. First, the configurable moving platform, which is a closed loop, is designed for grasping manipulation. The hybrid topological arrangement is determined to improve the stiffness of the manipulator and realize high load-to-weight ratios. A sufficient rule based on Lie group theory is proposed to synthesize the mechanism. The hybrid limb structure is also enumerated. A family of novel gripper mechanisms can be assembled through the hybrid limbs by satisfying the rule. Two examples of the gripper mechanisms with and without parallelogram pairs are shown in this study. A kinematic analysis of the example mechanism is presented. The workspace shows that the mechanism possesses high rotational capability. In addition, a stiffness analysis is performed.

关键词： generalized parallel mechanism configurable moving platform gripper mechanism type synthesis kinematic analysis

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A novel shape memory alloy actuated soft gripper imitated hand behavior

《机械工程前沿（英文）》 2022年第17卷第4期 doi: 10.1007/s11465-022-0700-8

摘要： The limited length shrinkage of shape memory alloy (SMA) wire seriously limits the motion range of SMA-based gripper. In this paper, a new soft finger without silicone gel was designed based on pre bent SMA wire, and the finger was back to its original shape by heating SMA wire, rather than relying only on heat exchange with the environment. Through imitating palm movement, a structure with adjustable spacing between fingers was made using SMA spring and rigid spring. The hook structure design at the fingertip can form self-locking to further improve the load capacity of gripper. Through the long thin rod model, the relationship of the initial pre bent angle on the bending angle and output force of the finger was analyzed. The stress-strain model of SMA spring was established for the selection of rigid spring. Three grasping modes were proposed to adapt to the weight of the objects. Through the test of the gripper, it was proved that the gripper had large bending amplitude, bending force, and response rate. The design provides a new idea for the lightweight design and convenient design of soft gripper based on SMA.

关键词： shape memory alloy (SMA) pre bent wire gripper grasping mode lightweight

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IPMC gripper static analysis based on finite element analysis

Hanmin PENG, Yao HUI, Qingjun DING, Huafeng LI, Chunsheng ZHAO,

《机械工程前沿（英文）》 2010年第5卷第2期页码 204-211 doi: 10.1007/s11465-010-0005-1

摘要： Recently, a type of flexible grippers with low power supply (0–5 V) has been designed and developed for grasping small but precision parts. In previous work, the authors manufactured a soft gripper whose actuating components are made of ionic polymer-metal composite (IPMC) materials; however, there is not a comprehensive model to analyze the complete mechanics for this IPMC gripper. Therefore, this paper provides a finite element method for analyzing its static mechanics characteristics in the state with maximal stress and strain (i.e., the gripper opening largest, including the IPMC deformation, stress, and strain). Further, these electromechanical coupling relationships can be simulated by using the piezoelectric analysis module based on ANSYS software. The simulation results show that the maximal tip displacement of IPMC strips can nearly reach their own free length, the maximal stress is 54 MPa in the center of copper electrodes, and the maximal strain is 0.0286 on the IPMC strip. The results provide detailed numerical solutions and appropriate finite element analysis methodologies beneficial for further research on the optimization design, forecast analysis, and control field.

关键词： ionic polymer-metal composite (IPMC) artificial muscles actuator flexible gripper finite element analysis electromechanical coupling

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Flexible micro flow sensor for micro aerial vehicles

Rong ZHU, Ruiyi QUE, Peng LIU

《机械工程前沿（英文）》 2017年第12卷第4期页码 539-545 doi: 10.1007/s11465-017-0427-0

摘要：

This article summarizes our studies on micro flow sensors fabricated on a flexible polyimide circuit board by a low-cost hybrid process of thin-film deposition and circuit printing. The micro flow sensor has merits of flexibility, structural simplicity, easy integrability with circuits, and good sensing performance. The sensor, which adheres to an object surface, can detect the surface flow around the object. In our study, we install the fabricated micro flow sensors on micro aerial vehicles (MAVs) to detect the surface flow variation around the aircraft wing and deduce the aerodynamic parameters of the MAVs in flight. Wind tunnel experiments using the sensors integrated with the MAVs are also conducted.

关键词： micro flow sensor flexible sensor surface flow sensing aerodynamic parameter micro aerial vehicle (MAV)

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Dependence of error sensitivity of frequency on bias voltage in force-balanced micro accelerometer

Lili CHEN, Wu ZHOU

《机械工程前沿（英文）》 2013年第8卷第2期页码 146-149 doi: 10.1007/s11465-013-0260-z

摘要：

To predict more precisely the frequency of force-balanced micro accelerometer with different bias voltages, the effects of bias voltages on error sensitivity of frequency is studied. The resonance frequency of accelerometer under closed loop control is derived according to its operation principle, and its error sensitivity is derived and analyzed under over etching structure according to the characteristics of Deep Reaction Ion Etching (DRIE). Based on the theoretical results, micro accelerometer is fabricated and tested to study the influences of AC bias voltage and DC bias voltage on sensitivity, respectively. Experimental results indicate that the relative errors between test data and theory data are less than 7%, and the fluctuating value of error sensitivity under the range of voltage adjustment is less than 0.01 μm . It is concluded that the error sensitivity with designed parameters of structure, circuit and process error can be used to predict the frequency of accelerometer with no need to consider the influence of bias voltage.

关键词： Micro-Electro-Mechanical Systems (MEMS) micro accelerometer force-balanced micro accelerometer frequency error sensitivity

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Numerical simulation of micro scale flowing and boiling

Wen WANG, Rui ZHUAN,

《能源前沿（英文）》 2009年第3卷第4期页码 396-401 doi: 10.1007/s11708-009-0049-2

摘要： Numerical simulations of flowing and boiling in micro channels are presented, including the modeling of bubble dynamics of nucleate boiling, and a description of the interface of two phases with the volume-of-fluid (VOF). The two calculated cases are compared with related experimental data in literature. Some simulated results are found corresponding well to the experimental data. The simulated results also show the details of 3-dimensional heat transfer and the flow in micro channels, which are helpful to the investigation of the mechanism of two-phase heat transfer and flow in micro channels.

关键词： volume-of-fluid (VOF) micro channel nucleate boiling bubble dynamics simulation

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Learning from biological attachment devices: applications of bioinspired reversible adhesive methods in robotics

《机械工程前沿（英文）》 2022年第17卷第3期 doi: 10.1007/s11465-022-0699-x

摘要： Many organisms have attachment organs with excellent functions, such as adhesion, clinging, and grasping, as a result of biological evolution to adapt to complex living environments. From nanoscale to macroscale, each type of adhesive organ has its own underlying mechanisms. Many biological adhesive mechanisms have been studied and can be incorporated into robot designs. This paper presents a systematic review of reversible biological adhesive methods and the bioinspired attachment devices that can be used in robotics. The study discussed how biological adhesive methods, such as dry adhesion, wet adhesion, mechanical adhesion, and sub-ambient pressure adhesion, progress in research. The morphology of typical adhesive organs, as well as the corresponding attachment models, is highlighted. The current state of bioinspired attachment device design and fabrication is discussed. Then, the design principles of attachment devices are summarized in this article. The following section provides a systematic overview of climbing robots with bioinspired attachment devices. Finally, the current challenges and opportunities in bioinspired attachment research in robotics are discussed.

关键词： adhesion bioinspired attachment biomimetic gripper climbing robot

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Laboratory assessment of Alaska aggregates using Micro-Deval test

Jenny LIU,Sheng ZHAO,Anthony MULLIN

《结构与土木工程前沿（英文）》 2017年第11卷第1期页码 27-34 doi: 10.1007/s11709-016-0359-5

摘要： Aggregates suitable for use in asphalt concrete (AC) pavement construction must meet durability criteria. Thus, it is critical to select appropriate tests to properly characterize aggregate durability. In Alaska, durability tests currently being used for aggregates in AC pavement include Los Angeles (LA) abrasion test, sulfate soundness test and Washington degradation test. However, there have long been concerns arising over Washington degradation test used as an acceptance tool, motivating pavement practitioners to seek more suitable alternatives. This paper presents a study to investigate the feasibility of using Micro-Deval test, commonly used in other states, to evaluate the durability of Alaskan aggregates in AC pavement as well as its potential to replace Washington degradation test. Micro-Deval test, Washington degradation test and other tests currently specified in Alaska were conducted on aggregates from 16 batches representing statewide sources. Based on the testing results, it is found that using Micro-Deval test for durability assessment of Alaska aggregates was feasible and reproducible, and a high potential was revealed to use Micro-Deval test to replace Washington degradation test in Alaska. It is recommended that Micro-Deval test be considered as an additional test for a certain period, but in the long run should be used along with current LA abrasion and sulfate soundness tests to provide a more desirable durability assessment of Alaska aggregates used in AC pavement.

关键词： aggregate durability Washington degradation test Micro-Deval test

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Characterization of micro-mixing in a novel impinging streams reactor

Hui HU, Zhiming CHEN, Zhen JIAO

《化学科学与工程前沿（英文）》 2009年第3卷第1期页码 58-64 doi: 10.1007/s11705-009-0106-8

摘要： This paper presents an experimental investigation of a novel impinging stream reactor (ISR) with the aim of high mixing intensity. The integral mixing quality in the reactor was measured with the iodide-iodate reaction and showed excellent mixing performance. The impact of the operating parameters, such as fluxes, circulation and inter-nozzle distances, was investigated in terms of segregation index. The results showed that the increase of flux, the decrease of inter-nozzle distance and a suitable circulation can improve the micro-mixing efficiency. Based on turbulence theory, it was estimated that the characteristic micro-mixing time was 0.002—0.02 s, which was much shorter than that in the stirred tank reactor. The micro-mixing time was related to the segregation index, which was in good agreement with those in the literature.

关键词： micro-mixing impinging streams reactor turbulent mixing mass transfer

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Recent advances in micro- and nano-machining technologies

Shang GAO, Han HUANG

《机械工程前沿（英文）》 2017年第12卷第1期页码 18-32 doi: 10.1007/s11465-017-0410-9

摘要：

Device miniaturization is an emerging advanced technology in the 21st century. The miniaturization of devices in different fields requires production of micro- and nano-scale components. The features of these components range from the sub-micron to a few hundred microns with high tolerance to many engineering materials. These fields mainly include optics, electronics, medicine, bio-technology, communications, and avionics. This paper reviewed the recent advances in micro- and nano-machining technologies, including micro-cutting, micro-electrical-discharge machining, laser micro-machining, and focused ion beam machining. The four machining technologies were also compared in terms of machining efficiency, workpiece materials being machined, minimum feature size, maximum aspect ratio, and surface finish.

关键词： micro machining cutting electro discharge machining (EDM) laser machining focused ion beam (FIB)

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Special issue: Micro-electromechanical systems (MEMS)

Zhuangde JIANG

《机械工程前沿（英文）》 2017年第12卷第4期页码 457-458 doi: 10.1007/s11465-017-0492-4

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microbial fuel cell for enhancing the nitrogen removal of the anammox process coupled with iron-carbon micro-electrolysis

《环境科学与工程前沿（英文）》 2021年第15卷第6期 doi: 10.1007/s11783-021-1409-3

摘要：

• MFC promoted the nitrogen removal of anammox with Fe-C micro-electrolysis.

关键词： Waste tire MFCs Micro-electrolysis Anammox Feammox

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Boiling heat transfer correlations for refrigerant mixtures flowing inside micro-fin tubes

ZHANG Xiaoyan, ZHANG Xingqun, CHEN Yunguang, YUAN Xiuling

《能源前沿（英文）》 2008年第2卷第4期页码 489-493 doi: 10.1007/s11708-008-0110-6

摘要： Based on experimental results of ternary non-azeotropic refrigerant mixture R417A flowing and boiling in one smooth and two internally grooved horizontal tubes with different geometrical parameters, a boiling heat transfer correlations was developed for refrigerant mixtures flowing inside micro-fin tubes by applying the enhancement factor in the present modified-Kattan model which was modified by the experimental data of R417A in a smooth tube. The comparison between the calculation and the experimental results indicates that the prediction by the present correlations is in good agreement with the experiment of refrigerant mixtures inside different micro-fin tubes with a standard deviation of ± 30% for vapor qualities below 80%.

关键词： comparison micro-fin calculation transfer prediction

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Machinability of ultrasonic vibration-assisted micro-grinding in biological bone using nanolubricant

《机械工程前沿（英文）》 2023年第18卷第1期 doi: 10.1007/s11465-022-0717-z

摘要： Bone grinding is an essential and vital procedure in most surgical operations. Currently, the insufficient cooling capacity of dry grinding, poor visibility of drip irrigation surgery area, and large grinding force leading to high grinding temperature are the technical bottlenecks of micro-grinding. A new micro-grinding process called ultrasonic vibration-assisted nanoparticle jet mist cooling (U-NJMC) is innovatively proposed to solve the technical problem. It combines the advantages of ultrasonic vibration (UV) and nanoparticle jet mist cooling (NJMC). Notwithstanding, the combined effect of multi parameter collaborative of U-NJMC on cooling has not been investigated. The grinding force, friction coefficient, specific grinding energy, and grinding temperature under dry, drip irrigation, UV, minimum quantity lubrication (MQL), NJMC, and U-NJMC micro-grinding were compared and analyzed. Results showed that the minimum normal grinding force and tangential grinding force of U-NJMC micro-grinding were 1.39 and 0.32 N, which were 75.1% and 82.9% less than those in dry grinding, respectively. The minimum friction coefficient and specific grinding energy were achieved using U-NJMC. Compared with dry, drip, UV, MQL, and NJMC grinding, the friction coefficient of U-NJMC was decreased by 31.3%, 17.0%, 19.0%, 9.8%, and 12.5%, respectively, and the specific grinding energy was decreased by 83.0%, 72.7%, 77.8%, 52.3%, and 64.7%, respectively. Compared with UV or NJMC alone, the grinding temperature of U-NJMC was decreased by 33.5% and 10.0%, respectively. These results showed that U-NJMC provides a novel approach for clinical surgical micro-grinding of biological bone.

关键词： micro-grinding biological bone ultrasonic vibration (UV) nanoparticle jet mist cooling (NJMC) grinding force grinding temperature