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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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Preload characteristics identification of the piezoelectric-actuated 1-DOF compliant nanopositioning

Ruizhou WANG, Xianmin ZHANG

《机械工程前沿（英文）》 2015年 第10卷 第1期   页码 20-36 doi: 10.1007/s11465-015-0328-z

摘要：

Packaged piezoelectric ceramic actuators (PPCAs) and compliant mechanisms are attractive for nanopositioning and nanomanipulation due to their ultra-high precision. The way to create and keep a proper and steady connection between both ends of the PPCA and the compliant mechanism is an essential step to achieve such a high accuracy. The connection status affects the initial position of the terminal moving plate, the positioning accuracy and the dynamic performance of the nanopositioning platform, especially during a long-time or high-frequency positioning procedure. This paper presents a novel external preload mechanism and tests it in a 1-degree of freedom (1-DOF) compliant nanopositioning platform. The 1-DOF platform utilizes a parallelogram guiding mechanism and a parallelogram load mechanism to provide a more accurate actual input displacement and output displacement. The simulation results verify the proposed stiffness model and dynamic model of the platform. The values of the preload displacement, actual input displacement and output displacement can be measured by three capacitive sensors during the whole positioning procedure. The test results show the preload characteristics vary with different types or control modes of the PPCA. Some fitting formulas are derived to describe the preload displacement, actual input displacement and output displacement using the nominal elongation signal of the PPCA. With the identification of the preload characteristics, the actual and comprehensive output characteristics of the PPCA can be obtained by the strain gauge sensor (SGS) embedded in the PPCA.

关键词： nanopositioning     preload characteristic     packaged piezoelectric ceramic actuator     compliant mechanism    

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Mechanical and geometric advantages in compliant mechanism optimization

Michael Yu WANG

《机械工程前沿（英文）》 2009年 第4卷 第3期   页码 229-241 doi: 10.1007/s11465-009-0066-1

摘要： This paper presents a focused examination of the mechanical and geometric advantages in compliant mechanisms and their ramifications in the design formulations of compliant mechanisms posed as a topology optimization problem. With a linear elastic structural analysis, we quantify mechanical (and geometric) advantage in terms of the stiffness elements of the mechanism's structure. We then analyze the common formulations of compliant mechanism optimization and the role of the external springs added in the formulations. It is shown that the common formulations using mechanical (or geometric) advantage would directly emulate at best a rigid-body linkage to the true optimum design. As a result, the topology optimization generates point flexures in the resulting optimal mechanisms. A case study is investigated to demonstrate the resulting trends in the current formulations.

关键词： compliant mechanisms     topology optimization     mechanical advantage     pseudo rigid-body mechanisms    

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Analysis of frequency characteristics of compliant mechanisms

WANG Wenjing, YU Yueqing

《机械工程前沿（英文）》 2007年 第2卷 第3期   页码 267-271 doi: 10.1007/s11465-007-0046-2

摘要： Much work is needed for a further study on the dynamic analysis of compliant mechanisms to improve their performance and operational accuracy. This paper uses the finite element method to develop a dynamic equation of the compliant mechanism. Natural frequencies and modes are derived. Using the differentials of a stiffness matrix to design parameters, a method for calculating the sensitivity of natural frequency is presented. The numerical simulation results indicate that the design parameters have an impact on the frequency characteristics of the compliant mechanisms and the proposed method is more accurate and convenient for analyzing frequency characteristics.

关键词： compliant mechanisms     convenient     sensitivity     work     analysis    

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A brief review on nonlinear modeling methods and applications of compliant mechanisms

Guangbo HAO,Jingjun YU,Haiyang LI

《机械工程前沿（英文）》 2016年 第11卷 第2期   页码 119-128 doi: 10.1007/s11465-016-0387-9

摘要：

Compliant mechanisms (CMs) have become one of the most popular research themes in mechanisms and robotics because of their merits. This paper aims to provide a brief systematic review on the advances of nonlinear static modeling approaches and the applications of CMs to promote interdisciplinary/multidisciplinary development for associated theories and other new applications. It also predicts likely future directions of applications and theory development.

关键词： compliant mechanisms     modelling     nonlinearity     applications     review    

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Understanding coupled factors that affect the modelling accuracy of typical planar compliant mechanisms

Guangbo HAO,Haiyang LI,Suzen KEMALCAN,Guimin CHEN,Jingjun YU

《机械工程前沿（英文）》 2016年 第11卷 第2期   页码 129-134 doi: 10.1007/s11465-016-0392-z

摘要：

In order to accurately model compliant mechanism utilizing plate flexures, qualitative planar stress (Young’s modulus) and planar strain (plate modulus) assumptions are not feasible. This paper investigates a quantitative equivalent modulus using nonlinear finite element analysis (FEA) to reflect coupled factors in affecting the modelling accuracy of two typical distributed-compliance mechanisms. It has been shown that all parameters have influences on the equivalent modulus with different degrees; that the presence of large load-stiffening effect makes the equivalent modulus significantly deviate from the planar assumptions in two ideal scenarios; and that a plate modulus assumption is more reasonable for a very large out-of-plane thickness if the beam length is large.

关键词： coupling factors     modelling accuracy     compliant mechanisms     equivalent modulus    

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Conceptual design of compliant translational joints for high-precision applications

Guangbo HAO,Haiyang LI,Xiuyun HE,Xianwen KONG

《机械工程前沿（英文）》 2014年 第9卷 第4期   页码 331-343 doi: 10.1007/s11465-014-0321-y

摘要：

Compliant translational joints (CTJs) have been extensively used in precision engineering and microelectromechanical systems (MEMS). There is an increasing need for designing higher-performance CTJs. This paper deals with the conceptual design of CTJs via three approaches: parallelogram based method, straight-line motion mechanism based method and combination based method. Typical emerging CTJ designs are reviewed by explaining their design principles and qualitatively analyzing their characteristics. New CTJs are proposed using three approaches, including an asymmetric double parallelogram mechanism with slaving mechanism, several compact and symmetric double parallelogram mechanisms with slaving mechanisms and a general CTJ using the center drift compensation and a CTJ using Roberts linkage and several combination designs. This paper provides an overview of the current advances/progresses of CTJ designs and lays the foundation for further optimization, quantitative analysis and characteristic comparisons.

关键词： compliant mechanisms     translational joints     conceptual design     parallelogram     straight-line motion     combination method    

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Robust topology optimization of hinge-free compliant mechanisms with material uncertainties based on

Junjie ZHAN, Yangjun LUO

《机械工程前沿（英文）》 2019年 第14卷 第2期   页码 201-212 doi: 10.1007/s11465-019-0529-y

摘要： This paper presents a new robust topology optimization framework for hinge-free compliant mechanisms with spatially varying material uncertainties, which are described using a non-probabilistic bounded field model. Bounded field uncertainties are efficiently represented by a reduced set of uncertain-but-bounded coefficients on the basis of the series expansion method. Robust topology optimization of compliant mechanisms is then defined to minimize the variation in output displacement under constraints of the mean displacement and predefined material volume. The nest optimization problem is solved using a gradient-based optimization algorithm. Numerical examples are presented to illustrate the effectiveness of the proposed method for circumventing hinges in topology optimization of compliant mechanisms.

关键词： compliant mechanisms     robust topology optimization     hinges     uncertainty     bounded field    

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Modeling of large-deflection links for compliant mechanisms

Zhonglei FENG, Yueqing YU, Wenjing WANG,

《机械工程前沿（英文）》 2010年 第5卷 第3期   页码 294-301 doi: 10.1007/s11465-010-0019-8

摘要： The traditional pseudo-rigid-body model (PRBM) has one degree of freedom (DOF) and performs a good simulation to the tip locus of flexible links for compliant mechanisms on the basis of a parametric approximation method. In this study, a new approach of a two-DOF PRBM is proposed to simulate both the tip locus and tip deflection angle of large-deflection links for compliant mechanisms on the basis of the angular deflection approximation technique. A linear regression for the spring stiffness coefficient of the 2R PRBM using the optimization technique is presented. The advantage of the new model is well illustrated through a numerical comparison between the 1R and the 2R PRBM.

关键词： compliant mechanism     pseudo-rigid-body model (PRBM)     large-deflection link     angular deflection approximation    

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Review on piezoelectric actuators: materials, classifications, applications, and recent trends

《机械工程前沿（英文）》 2024年 第19卷 第1期 doi: 10.1007/s11465-023-0772-0

摘要： Piezoelectric actuators are a class of actuators that precisely transfer input electric energy into displacement, force, or movement outputs efficiently via inverse piezoelectric effect-based electromechanical coupling. Various types of piezoelectric actuators have sprung up and gained widespread use in various applications in terms of compelling attributes, such as high precision, flexibility of stoke, immunity to electromagnetic interference, and structural scalability. This paper systematically reviews the piezoelectric materials, operating principles, representative schemes, characteristics, and potential applications of each mainstream type of piezoelectric actuator. Herein, we intend to provide a more scientific and nuanced perspective to classify piezoelectric actuators into direct and indirect categories with several subcategories. In addition, this review outlines the pros and cons and the future development trends for all kinds of piezoelectric actuators by exploring the relations and mechanisms behind them. The rich content and detailed comparison can help build an in-depth and holistic understanding of piezoelectric actuators and pave the way for future research and the selection of practical applications.

关键词： piezoelectric actuator     piezoelectric effect     amplified piezoelectric actuator     ultrasonic actuator     stepping actuator     piezoelectric polymer    

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Conceptual design of compliant mechanisms using level set method

Shi-kui CHEN, Michael Yu WANG

《机械工程前沿（英文）》 2006年 第1卷 第2期   页码 131-145 doi: 10.1007/s11465-006-0018-y

摘要： We propose a level set method-based framework for the conceptual design of compliant mechanisms. In this method, the compliant mechanism design problem is recast as an infinite dimensional optimization problem, where the design variable is the geometric shape of the compliant mechanism and the goal is to find a suitable shape in the admissible design space so that the objective functional can reach a minimum. The geometric shape of the compliant mechanism is represented as the zero level set of a one-higher dimensional level set function, and the dynamic variations of the shape are governed by the Hamilton-Jacobi partial differential equation. The application of level set methods endows the optimization process with the particular quality that topological changes of the boundary, such as merging or splitting, can be handled in a natural fashion. By making a connection between the velocity field in the Hamilton-Jacobi partial differential equation with the shape gradient of the objective functional, we go further to transform the optimization problem into that of finding a steady-state solution of the partial differential equation. Besides the above-mentioned methodological issues, some numerical examples together with prototypes are presented to validate the performance of the method.

关键词： splitting     minimum     dimensional optimization     Hamilton-Jacobi     topological    

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A model reference adaptive control based method for actuator delay estimation in real-time testing

Cheng CHEN, James M. RICLES

《结构与土木工程前沿（英文）》 2010年 第4卷 第3期   页码 277-286 doi: 10.1007/s11709-010-0072-8

摘要： Real-time testing provides a viable experimental technique to evaluate the performance of structural systems subjected to dynamic loading. Servo-hydraulic actuators are often utilized to apply calculated displacements from an integration algorithm to the experimental structures in a real-time manner. The compensation of actuator delay is therefore critical to achieve stable and reliable experimental results. The advances in compensation methods based on adaptive control theory enable researchers to accommodate variable actuator delay and achieve good actuator control for real-time tests. However, these adaptive methods all require time duration for actuator delay adaptation. Experiments show that a good actuator delay estimate can help optimize the performance of the adaptive compensation methods. The rate of adaptation also requires that a good actuator delay estimate be acquired especially for the tests where the peak structural response might occur at the beginning of the tests. This paper presents a model reference adaptive control based method to identify the parameter of a simplified discrete model for servo-hydraulic dynamics and the resulting compensation method. Simulations are conducted using both numerical analysis and experimental results to evaluate the effectiveness of the proposed estimation method.

关键词： real-time testing     actuator delay     compensation     adaptive control     MIT rule     discrete transfer function    

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Untethered quadrupedal hopping and bounding on a trampoline

Boxing WANG, Chunlin ZHOU, Ziheng DUAN, Qichao ZHU, Jun WU, Rong XIONG

《机械工程前沿（英文）》 2020年 第15卷 第2期   页码 181-192 doi: 10.1007/s11465-019-0559-5

摘要： For quadruped robots with springy legs, a successful jump usually requires both suitable elastic parts and well-designed control algorithms. However, these two problems are mutually restricted and hard to solve at the same time. In this study, we attempt to solve the problem of controller design with the help of a robot without any elastic mounted parts, in which the untethered robot is made to jump on a trampoline. The differences between jumping on hard surfaces with springy legs and jumping on springy surfaces with rigid legs are briefly discussed. An intuitive control law is proposed to balance foot contact forces; in this manner, excessive pitch oscillation during hopping or bounding can be avoided. Hopping height is controlled by tuning the time delay of the leg stretch. Together with other motion generators based on kinematic law, the robot can perform translational and rotational movements while hopping or bounding on the trampoline. Experiments are conducted to validate the effectiveness of the proposed control framework.

关键词： hopping and bounding gait     compliant mechanism     compliant contact     balance control strategy     legged locomotion control     quadruped robot    

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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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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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标题 作者 时间 类型 操作

New nonlinear stiffness actuator with predefined torque‒deflection profile

期刊论文

Preload characteristics identification of the piezoelectric-actuated 1-DOF compliant nanopositioning

Ruizhou WANG, Xianmin ZHANG

期刊论文

Mechanical and geometric advantages in compliant mechanism optimization

Michael Yu WANG

期刊论文

Analysis of frequency characteristics of compliant mechanisms

WANG Wenjing, YU Yueqing

期刊论文

A brief review on nonlinear modeling methods and applications of compliant mechanisms

Guangbo HAO,Jingjun YU,Haiyang LI

期刊论文

Understanding coupled factors that affect the modelling accuracy of typical planar compliant mechanisms

Guangbo HAO,Haiyang LI,Suzen KEMALCAN,Guimin CHEN,Jingjun YU

期刊论文

Conceptual design of compliant translational joints for high-precision applications

Guangbo HAO,Haiyang LI,Xiuyun HE,Xianwen KONG

期刊论文

Robust topology optimization of hinge-free compliant mechanisms with material uncertainties based on

Junjie ZHAN, Yangjun LUO

期刊论文

Modeling of large-deflection links for compliant mechanisms

Zhonglei FENG, Yueqing YU, Wenjing WANG,

期刊论文

Review on piezoelectric actuators: materials, classifications, applications, and recent trends

期刊论文

Conceptual design of compliant mechanisms using level set method

Shi-kui CHEN, Michael Yu WANG

期刊论文

A model reference adaptive control based method for actuator delay estimation in real-time testing

Cheng CHEN, James M. RICLES

期刊论文

Untethered quadrupedal hopping and bounding on a trampoline

Boxing WANG, Chunlin ZHOU, Ziheng DUAN, Qichao ZHU, Jun WU, Rong XIONG

期刊论文

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

期刊论文

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

期刊论文