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Mechanical design and analysis of a novel variable stiffness actuator with symmetrical pivot adjustment

《机械工程前沿（英文）》 2021年 第16卷 第4期   页码 711-725 doi: 10.1007/s11465-021-0647-1

摘要： The safety of human–robot interaction is an essential requirement for designing collaborative robotics. Thus, this paper aims to design a novel variable stiffness actuator (VSA) that can provide safer physical human–robot interaction for collaborative robotics. VSA follows the idea of modular design, mainly including a variable stiffness module and a drive module. The variable stiffness module transmits the motion from the drive module in a roundabout manner, making the modularization of VSA possible. As the key component of the variable stiffness module, a stiffness adjustment mechanism with a symmetrical structure is applied to change the positions of a pair of pivots in two levers linearly and simultaneously, which can eliminate the additional bending moment caused by the asymmetric structure. The design of the double-deck grooves in the lever allows the pivot to move freely in the groove, avoiding the geometric constraint between the parts. Consequently, the VSA stiffness can change from zero to infinity as the pivot moves from one end of the groove to the other. To facilitate building a manipulator in the future, an expandable electrical system with a distributed structure is also proposed. Stiffness calibration and control experiments are performed to evaluate the physical performance of the designed VSA. Experiment results show that the VSA stiffness is close to the theoretical design stiffness. Furthermore, the VSA with a proportional–derivative feedback plus feedforward controller exhibits a fast response for stiffness regulation and a good performance for position tracking.

关键词： variable stiffness actuator     variable stiffness module     drive module     symmetrical structure     double-deck grooves     expandable electrical system    

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Mechanical performance analysis and stiffness test of a new type of suspension bridge

《结构与土木工程前沿（英文）》 2021年 第15卷 第5期   页码 1160-1180 doi: 10.1007/s11709-021-0760-6

摘要： A new type of suspension bridge is proposed based on the gravity stiffness principle. Compared with a conventional suspension bridge, the proposed bridge adds rigid webs and cross braces. The rigid webs connect the main cable and main girder to form a truss that can improve the bending stiffness of the bridge. The cross braces connect the main cables to form a closed space truss structure that can improve the torsional stiffness of the bridge. The rigid webs and cross braces are installed after the construction of a conventional suspension bridge is completed to resist different loads with different structural forms. A new type of railway suspension bridge with a span of 340 m and a highway suspension bridge with a span of 1020 m were designed and analysed using the finite element method. The stress, deflection of the girders, unbalanced forces of the main towers, and natural frequencies were compared with those of conventional suspension bridges. A stiffness test was carried out on the new type of suspension bridge with a small span, and the results were compared with those for a conventional bridge. The results showed that the new suspension bridge had a better performance than the conventional suspension bridge.

关键词： new type of suspension bridge     stiffness test     mechanical performance     railway bridge     space truss    

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Stiffness analysis and experimental validation of robotic systems

Giuseppe CARBONE

《机械工程前沿（英文）》 2011年 第6卷 第2期   页码 182-196 doi: 10.1007/s11465-011-0221-3

摘要：

Stiffness can be considered of primary importance in order to guarantee the successful use of any robotic system for a given task. Therefore, this paper proposes procedures for carrying out both numerical and experimental estimations of stiffness performance for multibody robotic systems. The proposed numerical procedure is based on models with lumped parameters for deriving the Cartesian stiffness matrix. Stiffness performance indices are also proposed for comparing stiffness performance. Then, an experimental procedure for the evaluation stiffness performance is proposed as based on a new measuring system named as Milli-CATRASYS (Milli Cassino Tracking System) and on a trilateration technique. Cases of study are reported to show the soundness and engineering feasibility of both the proposed numerical formulation for stiffness analysis and experimental validation of stiffness performance.

关键词： robotics     stiffness performance     numerical and experimental estimations    

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Meshing stiffness property and meshing status simulation of harmonic drive under transmission loading

《机械工程前沿（英文）》 2022年 第17卷 第2期 doi: 10.1007/s11465-022-0674-6

摘要： The multitooth meshing state of harmonic drive (HD) is an important basic characteristic of its high transformation precision and high bearing capacity. Meshing force distribution affects the load sharing of the tooth during meshing, and theoretical research remains insufficient at present. To calculate the spatial distributed meshing forces and loading backlashes along the axial direction, an iterative algorithm and finite element model (FEM) is proposed to investigate the meshing state under varied transmission loading. The displacement formulae of meshing point under tangential force are derived according to the torsion of the flexspline cylinder and the bending of the tooth. Based on the relationship of meshing forces and circumferential displacements, meshing forces and loading backlashes in three cross-sections are calculated with the algorithm under gradually increased rotation angles of circular spline, and the results are compared with FEM. Owing to the taper deformation of the cup-shaped flexspline, the smallest initial backlash and the earliest meshing point appear in the front cross-section far from the cup bottom, and then the teeth in the middle cross-section of the tooth rim enter the meshing and carry most of the loading. Theoretical and numerical research show that the flexibility is quite different for varied meshing points and tangential force amplitude because of the change of contact status between the flexspline and the wave generator. The meshing forces and torsional stiffness of the HD are nonlinear with the torsional angle.

关键词： harmonic drive     meshing flexibility matrix     meshing force     loading backlash     flexspline     contact analysis    

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A dynamic stiffness-based framework for harmonic input estimation and response reconstruction considering

Yixian LI; Limin SUN; Wang ZHU; Wei ZHANG

《结构与土木工程前沿（英文）》 2022年 第16卷 第4期   页码 448-460 doi: 10.1007/s11709-022-0805-5

摘要： In structural health monitoring (SHM), the measurement is point-wise but structures are continuous. Thus, input estimation has become a hot research subject with which the full-field structural response can be calculated with a finite element model (FEM). This paper proposes a framework based on the dynamic stiffness theory, to estimate harmonic input, reconstruct responses, and to localize damages from seriously deficient measurements. To begin, Fourier transform converts the dynamic equilibrium equation to an equivalent static one in the frequency domain, which is under-determined since the dimension of measurement vector is far less than the FEM-node number. The principal component analysis has been adopted to “compress” the under-determined equation, and formed an over-determined equation to estimate the unknown input. Then, inverse Fourier transform converts the estimated input in the frequency domain to the time domain. Applying this to the FEM can reconstruct the target responses. If a structure is damaged, the estimated nodal force can localize the damage. To improve the damage-detection accuracy, a multi-measurement-based indicator has been proposed. Numerical simulations have validated that the proposed framework can capably estimate input and reconstruct multi-types of full-field responses, and the damage indicator can localize minor damages even with the existence of noise.

关键词： dynamic stiffness     principal component analysis     response reconstruction     damage localization     under-determined equation    

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Discontinuous mechanical behaviors of existing shield tunnel with stiffness reduction at longitudinal

《结构与土木工程前沿（英文）》 2023年 第17卷 第1期   页码 37-52 doi: 10.1007/s11709-022-0920-3

摘要： An analytical model is proposed to estimate the discontinuous mechanical behavior of an existing shield tunnel above a new tunnel. The existing shield tunnel is regarded as a Timoshenko beam with longitudinal joints. The opening and relative dislocation of the longitudinal joints can be calculated using Dirac delta functions. Compared with other approaches, our method yields results that are consistent with centrifugation test data. The effects of the stiffness reduction at the longitudinal joints (α and β), the shearing stiffness of the Timoshenko beam GA, and different additional pressure profiles on the responses of the shield tunnel are investigated. The results indicate that our proposed method is suitable for simulating the discontinuous mechanical behaviors of existing shield tunnels with longitudinal joints. The deformation and internal forces decrease as α, β, and GA increase. The bending moment and shear force are discontinuous despite slight discontinuities in the deflection, opening, and dislocation. The deflection curve is consistent with the additional pressure profile. Extensive opening, dislocation, and internal forces are induced at the location of mutation pressures. In addition, the joints allow rigid structures to behave flexibly in general, as well as allow flexible structures to exhibit locally rigid characteristics. Owing to the discontinuous characteristics, the internal forces and their abrupt changes at vulnerable sections must be monitored to ensure the structural safety of existing shield tunnels.

关键词： tunnel–soil interaction     discontinuous analysis     longitudinal joints     existing shield tunnel     Timoshenko beam     Dirac delta function    

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Mesh relationship modeling and dynamic characteristic analysis of external spur gears with gear wear

《机械工程前沿（英文）》 2022年 第17卷 第1期   页码 9-9 doi: 10.1007/s11465-021-0665-z

摘要： Gear wear is one of the most common gear failures, which changes the mesh relationship of normal gear. A new mesh relationship caused by gear wear affects meshing excitations, such as mesh stiffness and transmission error, and further increases vibration and noise level. This paper aims to establish the model of mesh relationship and reveal the vibration characteristics of external spur gears with gear wear. A geometric model for a new mesh relationship with gear wear is proposed, which is utilized to evaluate the influence of gear wear on mesh stiffness and unloaded static transmission error (USTE). Based on the mesh stiffness and USTE considering gear wear, a gear dynamic model is established, and the vibration characteristics of gear wear are numerically studied. Comparison with the experimental results verifies the proposed dynamic model based on the new mesh relationship. The numerical and experimental results indicate that gear wear does not change the structure of the spectrum, but it alters the amplitude of the meshing frequencies and their sidebands. Several condition indicators, such as root-mean-square, kurtosis, and first-order meshing frequency amplitude, can be regarded as important bases for judging gear wear state.

关键词： gear wear     mesh relationship     mesh stiffness     transmission error     vibration characteristics    

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Nonlinear analysis of cable structures using the dynamic relaxation method

Mohammad REZAIEE-PAJAND, Mohammad MOHAMMADI-KHATAMI

《结构与土木工程前沿（英文）》 2021年 第15卷 第1期   页码 253-274 doi: 10.1007/s11709-020-0639-y

摘要： The analysis of cable structures is one of the most challenging problems for civil and mechanical engineers. Because they have highly nonlinear behavior, it is difficult to find solutions to these problems. Thus far, different assumptions and methods have been proposed to solve such structures. The dynamic relaxation method (DRM) is an explicit procedure for analyzing these types of structures. To utilize this scheme, investigators have suggested various stiffness matrices for a cable element. In this study, the efficiency and suitability of six well-known proposed matrices are assessed using the DRM. To achieve this goal, 16 numerical examples and two criteria, namely, the number of iterations and the analysis time, are employed. Based on a comprehensive comparison, the methods are ranked according to the two criteria. The numerical findings clearly reveal the best techniques. Moreover, a variety of benchmark problems are suggested by the authors for future studies of cable structures.

关键词： nonlinear analysis     cable structure     stiffness matrix     dynamic relaxation method    

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Advanced finite element analysis of a complex deep excavation case history in Shanghai

Yuepeng DONG, Harvey BURD, Guy HOULSBY, Yongmao HOU

《结构与土木工程前沿（英文）》 2014年 第8卷 第1期   页码 93-100 doi: 10.1007/s11709-014-0232-3

摘要： The construction of the North Square Shopping Center of the Shanghai South Railway Station is a large scale complex top-down deep excavation project. The excavation is adjacent to several current and newly planned Metro lines, and influenced by a neighboring Exchange Station excavation. The highly irregular geometry of this excavation greatly increases the complexity in 3D Finite Element modeling. The advanced numerical modeling described in this paper includes detailed structural and geotechnical behavior. Important features are considered in the analysis, e.g., 1) the small-strain stiffness of the soil, 2) the construction joints in the diaphragm wall, 3) the shrinkage in the concrete floor slabs and beams, 4) the complex construction sequences, and 5) the shape effect of the deep excavation. The numerical results agree well with the field data, and some valuable conclusions are generated.

关键词： advanced finite element analysis     deep excavations     case history     small-strain stiffness    

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Development of a masticatory robot using a novel cable-driven linear actuator with bidirectional motion

《机械工程前沿（英文）》 2022年 第17卷 第4期 doi: 10.1007/s11465-022-0687-1

摘要： Masticatory robots are an effective in vitro performance testing device for dental material and mandibular prostheses. A cable-driven linear actuator (CDLA) capable of bidirectional motion is proposed in this study to design a masticatory robot that can achieve increasingly human-like chewing motion. The CDLA presents remarkable advantages, such as lightweight and high stiffness structure, in using cable amplification and pulley systems. This work also exploits the proposed CDLA and designs a masticatory robot called Southeast University masticatory robot (SMAR) to solve existing problems, such as bulky driving linkage and position change of the muscle’s origin. Stiffness analysis and performance experiment validate the CDLA’s efficiency, with its stiffness reaching 1379.6 N/mm (number of cable parts n = 4), which is 21.4 times the input wire stiffness. Accordingly, the CDLA’s force transmission efficiencies in two directions are 84.5% and 85.9%. Chewing experiments are carried out on the developed masticatory robot to verify whether the CDLA can help SMAR achieve a natural human-like chewing motion and sufficient chewing forces for potential applications in performance tests of dental materials or prostheses.

关键词： masticatory robot     cable-driven     linear actuator     parallel robot     stiffness analysis    

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Comparison of indices for stiffness performance evaluation

Giuseppe CARBONE, Marco CECCARELLI,

《机械工程前沿（英文）》 2010年 第5卷 第3期   页码 270-278 doi: 10.1007/s11465-010-0023-z

摘要： This paper addresses the problem of a numerical evaluation of the stiffness performance for multibody robotic systems. An overview is presented with basic formulation concerning indices that are proposed in literature. New indices are also outlined. Stiffness indices are computed and compared for a case study. Results are used for comparing the effectiveness of the stiffness indices. The main goal is to propose a performance index describing synthetically the elastostatic response of a multibody robotic system and also for design purposes.

关键词： robotics     stiffness     performance indices    

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桥塔刚度对悬索桥的影响分析

崔冰,林恰,于旭东,唐茂林,童育强

《中国工程科学》 2010年 第12卷 第7期   页码 33-38

摘要：

为了研究悬索桥中桥塔刚度对悬索桥整体刚度的影响，以西堠门大桥为原型，采用西南交通大学编制的桥梁非线性计算软件BNLAS建立了双塔单跨悬索桥计算模型，该计算模型中跨主缆的跨度为1 650 m，加劲梁为单跨简支结构体系。通过比较不同桥塔刚度（相对原型的0.7，0.8，0.9，1.0，1.1，1.2及1.3倍）情况下悬索桥受力的变化，分析桥塔刚度对悬索桥受力的影响。同时，随着越来越多的多塔多跨悬索桥的建造，笔者也研究了中间桥塔刚度变化对多塔多跨悬索桥受力的影响。

关键词： 桥塔刚度     BNLAS     多塔多跨     中间桥塔    

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Analysis of stiffness and flexural strength of a reinforced concrete beam using an invented reinforcement

Nazim Abdul NARIMAN, Martin HUSEK, Ilham Ibrahim MOHAMMAD, Kaywan Othman AHMED, Diyako DILSHAD, Ibrahim KHIDR

《结构与土木工程前沿（英文）》 2021年 第15卷 第2期   页码 378-389 doi: 10.1007/s11709-021-0706-z

摘要： In this study, we conducted experimental tests on two specimens of reinforced concrete beams using a three-point bending test to optimize the flexure and stiffness designs. The first specimen is a reinforced concrete beam with an ordinary reinforcement, and the second specimen has an invented reinforcement system that consists of an ordinary reinforcement in addition to three additional bracings using steel bars and steel plates. The results of the flexure test were collected and analyzed, and the flexural strength, the rate of damage during bending, and the stiffness were determined. Finite element modeling was applied for both specimens using the LS-DYNA program, and the simulation results of the flexure test for the same outputs were determined. The results of the experimental tests showed that the flexural strength of the invented reinforcement system was significantly enhanced by 15.5% compared to the ordinary system. Moreover, the flexural cracks decreased to a significant extent, manifesting extremely small and narrow cracks in the flexure spread along the bottom face of the concrete. In addition, the maximum deflection for the invented reinforced concrete beam decreased to 1/3 compared to that of an ordinary reinforced concrete beam. The results were verified through numerical simulations, which demonstrated excellent similarities between the flexural failure and the stiffness of the beam. The invented reinforcement system exhibited a high capability in boosting the flexure design and stiffness.

关键词： three-point flexure test     softening stage     flexural crack     flexural strain    

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New nonlinear stiffness actuator with predefined torque‒deflection profile

《机械工程前沿（英文）》 2023年 第18卷 第1期 doi: 10.1007/s11465-022-0721-3

摘要： A nonlinear stiffness actuator (NSA) could achieve high torque/force resolution in low stiffness range and high bandwidth in high stiffness range, both of which are beneficial for physical interaction between a robot and the environment. Currently, most of NSAs are complex and hardly used for engineering. In this paper, oriented to engineering applications, a new simple NSA was proposed, mainly including leaf springs and especially designed cams, which could perform a predefined relationship between torque and deflection. The new NSA has a compact structure, and it is lightweight, both of which are also beneficial for its practical application. An analytical methodology that maps the predefined relationship between torque and deflection to the profile of the cam was developed. The optimal parameters of the structure were given by analyzing the weight of the NSA and the mechanic characteristic of the leaf spring. Though sliding friction force is inevitable because no rollers were used in the cam-based mechanism, the sliding displacement between the cam and the leaf spring is very small, and consumption of sliding friction force is very low. Simulations of different torque‒deflection profiles were carried out to verify the accuracy and applicability of performing predefined torque‒deflection profiles. Three kinds of prototype experiments, including verification experiment of the predefined torque‒deflection profile, torque tracking experiment, and position tracking experiment under different loads, were conducted. The results prove the accuracy of performing the predefined torque‒deflection profile, the tracking performance, and the interactive performance of the new NSA.

关键词： compliant actuator     nonlinear stiffness actuator     nonlinear spring     predefined torque−deflection profile    

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Optimization of the mechanical performance and damage failure characteristics of laminated composites based on fiber orientation

《结构与土木工程前沿（英文）》   页码 1357-1369 doi: 10.1007/s11709-023-0996-4

摘要： In this study, the effect of fiber angle on the tensile load-bearing performance and damage failure characteristics of glass composite laminates was investigated experimentally, analytically, and numerically. The glass fabric in the laminate was perfectly aligned along the load direction (i.e., at 0°), offset at angles of 30° and 45°, or mixed in different directions (i.e., 0°/30° or 0°/45°). The composite laminates were fabricated using vacuum-assisted resin molding. The influence of fiber orientation angle on the mechanical properties and stiffness degradation of the laminates was studied via cyclic tensile strength tests. Furthermore, simulations have been conducted using finite element analysis and analytical approaches to evaluate the influence of fiber orientation on the mechanical performance of glass laminates. Experimental testing revealed that, although the composite laminates laid along the 0° direction exhibited the highest stiffness and strength, their structural performance deteriorated rapidly. We also determined that increasing the fiber offset angle (i.e., 30°) could optimize the mechanical properties and damage failure characteristics of glass laminates. The results of the numerical and analytical approaches demonstrated their ability to capture the mechanical behavior and damage failure modes of composite laminates with different fiber orientations, which may be used to prevent the catastrophic failures that occur in composite laminates.

关键词： fiber orientation     composite laminates     stiffness degradation     analytical approaches     finite element analysis    

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标题 作者 时间 类型 操作

Mechanical design and analysis of a novel variable stiffness actuator with symmetrical pivot adjustment

期刊论文

Mechanical performance analysis and stiffness test of a new type of suspension bridge

期刊论文

Stiffness analysis and experimental validation of robotic systems

Giuseppe CARBONE

期刊论文

Meshing stiffness property and meshing status simulation of harmonic drive under transmission loading

期刊论文

A dynamic stiffness-based framework for harmonic input estimation and response reconstruction considering

Yixian LI; Limin SUN; Wang ZHU; Wei ZHANG

期刊论文

Discontinuous mechanical behaviors of existing shield tunnel with stiffness reduction at longitudinal

期刊论文

Mesh relationship modeling and dynamic characteristic analysis of external spur gears with gear wear

期刊论文

Nonlinear analysis of cable structures using the dynamic relaxation method

Mohammad REZAIEE-PAJAND, Mohammad MOHAMMADI-KHATAMI

期刊论文

Advanced finite element analysis of a complex deep excavation case history in Shanghai

Yuepeng DONG, Harvey BURD, Guy HOULSBY, Yongmao HOU

期刊论文

Development of a masticatory robot using a novel cable-driven linear actuator with bidirectional motion

期刊论文

Comparison of indices for stiffness performance evaluation

Giuseppe CARBONE, Marco CECCARELLI,

期刊论文

桥塔刚度对悬索桥的影响分析

崔冰,林恰,于旭东,唐茂林,童育强

期刊论文

Analysis of stiffness and flexural strength of a reinforced concrete beam using an invented reinforcement

Nazim Abdul NARIMAN, Martin HUSEK, Ilham Ibrahim MOHAMMAD, Kaywan Othman AHMED, Diyako DILSHAD, Ibrahim KHIDR

期刊论文

New nonlinear stiffness actuator with predefined torque‒deflection profile

期刊论文

Optimization of the mechanical performance and damage failure characteristics of laminated composites based on fiber orientation

期刊论文