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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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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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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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Mechanical design, modeling, and identification for a novel antagonistic variable stiffness dexterous

《机械工程前沿（英文）》 2022年 第17卷 第3期 doi: 10.1007/s11465-022-0691-5

摘要： This study traces the development of dexterous hand research and proposes a novel antagonistic variable stiffness dexterous finger mechanism to improve the safety of dexterous hand in unpredictable environments, such as unstructured or man-made operational errors through comprehensive consideration of cost, accuracy, manufacturing, and application. Based on the concept of mechanical passive compliance, which is widely implemented in robots for interactions, a finger is dedicated to improving mechanical robustness. The finger mechanism not only achieves passive compliance against physical impacts, but also implements the variable stiffness actuator principle in a compact finger without adding supererogatory actuators. It achieves finger stiffness adjustability according to the biologically inspired stiffness variation principle of discarding some mobilities to adjust stiffness. The mechanical design of the finger and its stiffness adjusting methods are elaborated. The stiffness characteristics of the finger joint and the actuation unit are analyzed. Experimental results of the finger joint stiffness identification and finger impact tests under different finger stiffness presets are provided to verify the validity of the model. Fingers have been experimentally proven to be robust against physical impacts. Moreover, the experimental part verifies that fingers have good power, grasping, and manipulation performance.

关键词： multifingered hand     mechanism design     robot safety     variable stiffness actuator    

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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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Investigating the influence of delamination on the stiffness of composite pipes under compressive transverse

Sattar MALEKI, Roham RAFIEE, Abolfazl HASANNIA, Mohammad Reza HABIBAGAHI

《结构与土木工程前沿（英文）》 2019年 第13卷 第6期   页码 1316-1323 doi: 10.1007/s11709-019-0555-1

摘要： The effect of delamination on the stiffness reduction of composite pipes is studied in this research. The stiffness test of filament wound composite pipes is simulated using cohesive zone method. The modeling is accomplished to study the effect of the geometrical parameters including delamination size and its position with respect to loading direction on stiffness of the composite pipes. At first, finite element results for stiffness test of a perfect pipe without delamination are validated with the experimental results according to ASTM D2412. It is seen that the finite element results agree well with experimental results. Then the finite element model is developed for composite pips with delaminated areas with different primary shapes. Thus, the effect of the size of delaminated region on longitudinal and tangential directions and also its orientation with respect to loading direction on delamination propagation and stiffness reduction of the pipes is assessed.

关键词： delamination     composite pipes     stiffness test     cohesive zone method    

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A numerical framework for underground structures in layered ground under inclined P-SV waves using stiffness

《结构与土木工程前沿（英文）》 2023年 第17卷 第1期   页码 10-24 doi: 10.1007/s11709-022-0904-3

摘要： A numerical framework was proposed for the seismic analysis of underground structures in layered ground under inclined P-SV waves. The free-field responses are first obtained using the stiffness matrix method based on plane-wave assumptions. Then, the domain reduction method was employed to reproduce the wavefield in the numerical model of the soil–structure system. The proposed numerical framework was verified by providing comparisons with analytical solutions for cases involving free-field responses of homogeneous ground, layered ground, and pressure-dependent heterogeneous ground, as well as for an example of a soil–structure interaction simulation. Compared with the viscous and viscous-spring boundary methods adopted in previous studies, the proposed framework exhibits the advantage of incorporating oblique incident waves in a nonlinear heterogeneous ground. Numerical results show that SV-waves are more destructive to underground structures than P-waves, and the responses of underground structures are significantly affected by the incident angles.

关键词： underground structures     seismic response     stiffness matrix method     domain reduction method     P-SV waves    

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Gear fault diagnosis using gear meshing stiffness identified by gearbox housing vibration signals

《机械工程前沿（英文）》 2022年 第17卷 第4期 doi: 10.1007/s11465-022-0713-3

摘要： Gearbox fault diagnosis based on vibration sensing has drawn much attention for a long time. For highly integrated complicated mechanical systems, the intercoupling of structure transfer paths results in a great reduction or even change of signal characteristics during the process of original vibration transmission. Therefore, using gearbox housing vibration signal to identify gear meshing excitation signal is of great significance to eliminate the influence of structure transfer paths, but accompanied by huge scientific challenges. This paper establishes an analytical mathematical description of the whole transfer process from gear meshing excitation to housing vibration. The gear meshing stiffness (GMS) identification approach is proposed by using housing vibration signals for two stages of inversion based on the mathematical description. Specifically, the linear system equations of transfer path analysis are first inverted to identify the bearing dynamic forces. Then the dynamic differential equations are inverted to identify the GMS. Numerical simulation and experimental results demonstrate the proposed method can realize gear fault diagnosis better than the original housing vibration signal and has the potential to be generalized to other speeds and loads. Some interesting properties are discovered in the identified GMS spectra, and the results also validate the rationality of using meshing stiffness to describe the actual gear meshing process. The identified GMS has a clear physical meaning and is thus very useful for fault diagnosis of the complicated equipment.

关键词： gearbox fault diagnosis     meshing stiffness     identification     transfer path     signal processing    

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Stiffness of a 3-degree of freedom translational parallel kinematic machine

null

《机械工程前沿（英文）》 2014年 第9卷 第3期   页码 233-241 doi: 10.1007/s11465-014-0312-z

摘要：

In this paper, a typical 3-degree of freedom (3-DOF) translational parallel kinematic machine (PKM) is studied and analyzed whose tool platform has only translations along X-, Y- and Z-axes. It consists of three limbs, each of which have arm and forearm with prismatic-revolute-revolute-revolute (PRRR) joints. Inverse kinematics analysis is carried out to find the slider coordinates and joint angles for a given position of tool platform. Stiffness modeling is done based on the compliance matrices of arm and forearm of each limb. Using the stiffness modeling the variations of minimum and maximum translational stiffness in the workspace are analyzed. For various architectural parameters of the 3-DOF PKM the tendency of variations on the minimum and maximum stiffness over the entire workspace is studied; and also the deflections of the tool platform along X, Y, and Z directions with respect to various forces are presented.

关键词： 3-DOF translational PKM     inverse kinematics     stiffness modeling     translational stiffness    

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Design and experimental study of a passive power-source-free stiffness-self-adjustable mechanism

Yuwang LIU, Dongqi WANG, Shangkui YANG, Jinguo LIU, Guangbo HAO

《机械工程前沿（英文）》 2021年 第16卷 第1期   页码 32-45 doi: 10.1007/s11465-020-0604-4

摘要： Passive variable stiffness joints have unique advantages over active variable stiffness joints and are currently eliciting increased attention. Existing passive variable stiffness joints rely mainly on sensors and special control algorithms, resulting in a bandwidth-limited response speed of the joint. We propose a new passive power-source-free stiffness-self-adjustable mechanism that can be used as the elbow joint of a robot arm. The new mechanism does not require special stiffness regulating motors or sensors and can realize large-range self-adaptive adjustment of stiffness in a purely mechanical manner. The variable stiffness mechanism can automatically adjust joint stiffness in accordance with the magnitude of the payload, and this adjustment is a successful imitation of the stiffness adjustment characteristics of the human elbow. The response speed is high because sensors and control algorithms are not needed. The variable stiffness principle is explained, and the design of the variable stiffness mechanism is analyzed. A prototype is fabricated, and the associated hardware is set up to validate the analytical stiffness model and design experimentally.

关键词： variable stiffness mechanism     stiffness self-regulation     bionic robot     modeling    

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Variable stiffness and damping magnetorheological isolator

Yang ZHOU, Xingyu WANG, Xianzhou ZHANG, Weihua LI

《机械工程前沿（英文）》 2009年 第4卷 第3期   页码 310-315 doi: 10.1007/s11465-009-0039-4

摘要： This paper presents the development and characterization of a magnetorheological (MR) fluid-based variable stiffness and damping isolator. The prototype of the MR fluid isolator is fabricated, and its dynamic behavior is measured under various applied magnetic fields. The parameters of the model under various magnetic fields are identified, and the dynamic performance of the isolator is evaluated in simulation. Experimental results indicate that both the stiffness and damping capability of the developed MR isolator can be controlled by an external magnetic field.

关键词： magnetorheological (MR) fluid     stiffness     damping     mathematical model     dynamic performance     parameter identification    

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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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Identification of dynamic stiffness matrix of bearing joint region

Feng HU, Bo WU, Youmin HU, Tielin SHI

《机械工程前沿（英文）》 2009年 第4卷 第3期   页码 289-299 doi: 10.1007/s11465-009-0064-3

摘要： The paper proposes an identification method of the dynamic stiffness matrix of a bearing joint region on the basis of theoretical analysis and experiments. The author deduces an identification model of the dynamic stiffness matrix from the synthetic substructure method. The dynamic stiffness matrix of the bearing joint region can be identified by measuring the matrix of frequency response function (FRFs) of the substructure (axle) and whole structure (assembly of the axle, bearing, and bearing housing) in different positions. Considering difficulty in measuring angular displacement, applying moment, and directly measuring relevant FRFs of rotational degree of freedom, the author employs an accurately calibrated finite element model of the unconstrained structure for indirect estimation. With experiments and simulation analysis, FRFs related with translational degree of freedom, which is estimated through the finite element model, agrees with experimental results, and there is very high reliability in the identified dynamic stiffness matrix of the bearing joint region.

关键词： frequency response function (FRFs)     dynamic stiffness     finite element     synthetic substructure method     joint region    

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Initial stiffness and moment resistance of reinforced joint with end-plate connection

Sufang WANG, Yiyi CHEN,

《结构与土木工程前沿（英文）》 2009年 第3卷 第4期   页码 345-351 doi: 10.1007/s11709-009-0054-x

摘要： In beam-to-column joint with bolted end-plate connection, the structural details of column flange reinforced by backing plate and column web panel reinforced by supplementary plate are analyzed. The joint is divided into some basic components, and the initial stiffness of each component is obtained. Especially, the initial stiffness of reinforced components is drawn by theoretical model and finite element analysis. The initial stiffness of reinforced joint can be obtained by assembling the initial stiffness of each component. The design moment resistance of column flange reinforced by backing plate is deduced based on yield line method, and the design moment resistances of other components are deduced based on present codes. The design moment resistance of the reinforced joint is then determined by the minimum of the design moment resistances of all components. By comparison with the results of finite element calculation, it is verified that the method to calculate the initial stiffness of reinforced joint is accurate enough to be used to estimate the rigid behavior of the joint and to make parametric study.

关键词： steel structure     end-plate connection     backing plate     supplementary web plate     initial stiffness     moment resistance    

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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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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

Comparison of indices for stiffness performance evaluation

Giuseppe CARBONE, Marco CECCARELLI,

期刊论文

New nonlinear stiffness actuator with predefined torque‒deflection profile

期刊论文

Mechanical design, modeling, and identification for a novel antagonistic variable stiffness dexterous

期刊论文

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

期刊论文

Investigating the influence of delamination on the stiffness of composite pipes under compressive transverse

Sattar MALEKI, Roham RAFIEE, Abolfazl HASANNIA, Mohammad Reza HABIBAGAHI

期刊论文

A numerical framework for underground structures in layered ground under inclined P-SV waves using stiffness

期刊论文

Gear fault diagnosis using gear meshing stiffness identified by gearbox housing vibration signals

期刊论文

Stiffness of a 3-degree of freedom translational parallel kinematic machine

null

期刊论文

Design and experimental study of a passive power-source-free stiffness-self-adjustable mechanism

Yuwang LIU, Dongqi WANG, Shangkui YANG, Jinguo LIU, Guangbo HAO

期刊论文

Variable stiffness and damping magnetorheological isolator

Yang ZHOU, Xingyu WANG, Xianzhou ZHANG, Weihua LI

期刊论文

Stiffness analysis and experimental validation of robotic systems

Giuseppe CARBONE

期刊论文

Identification of dynamic stiffness matrix of bearing joint region

Feng HU, Bo WU, Youmin HU, Tielin SHI

期刊论文

Initial stiffness and moment resistance of reinforced joint with end-plate connection

Sufang WANG, Yiyi CHEN,

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