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A modular design kit for task-adaptable low-cost robots based on BaPaMan design

G. BORCHERT, C. L?CHTE, G. CARBONE, A. RAATZ

《机械工程前沿（英文）》 2013年第8卷第1期页码 33-41 doi: 10.1007/s11465-013-0356-5

摘要：

This paper discusses the redesign of a binary parallel manipulator named BaPaMan (Binary Actuated Parallel Manipulator). The aim of this work is the improvement of the structures stiffness of BaPaMan. Additionally this paper shows the implementation of a construction kit which allows task-adaptation of low-cost robots based on the BaPaMan structure. BaPaMan is a three degree of freedom (DOF) spatial parallel robot which comprises flexure hinges and Shape Memory Alloy (SMA) actuators to achieve a low-cost design, well suited for easy operation applications. Measurements have shown that this comes at the cost of poor structural stiffness and end effector accuracy. To counter these issues BaPaMan2 and BaPaMan3 have been developed and are elaborated within this work. During the design phase, an empirical FEA is used to improve the flexure hinge performance, which analyses relations between several design parameters and the stiffness of the entire system. Finally, task-adaptation is achieved by using a design methodology and a parametric CAD model for BaPaMan. Besides the paper introduces first applications of the BaPaMan structure and shows future work.

关键词： binary actuation flexure hinges SMA actuators low-cost design kit task-adaptation

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A rate-dependent Prandtl-Ishlinskii model for piezoelectric actuators using the dynamic envelope function

Meiju YANG,Chunxia LI,Guoying GU,Limin ZHU

《机械工程前沿（英文）》 2015年第10卷第1期页码 37-42 doi: 10.1007/s11465-015-0326-1

摘要：

In this paper, a novel rate-dependent Prandtl-Ishlinskii (P-I) model is proposed to characterize the rate-dependent hysteresis nonlinearity of piezoelectric actuators. The new model is based on a modified rate-dependent play operator, in which a dynamic envelope function is introduced to replace the input function of the classical play operator. Moreover, a dynamic density function is utilized in the proposed P-I model. The parameters of the proposed model are identified by a modified particle swarm optimization algorithm. Finally, experiments are conducted on a piezo-actuated nanopositioning stage to validate the proposed P-I model under the sinusoidal inputs. The experimental results show that the developed rate-dependent P-I model precisely characterize the rate-dependent hysteresis loops up to 1000 Hz.

关键词： piezoelectric actuators hysteresis Prandtl-Ishlinskii rate-dependent

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Topology optimization and seismic collapse assessment of shape memory alloy (SMA)-braced frames: Effectiveness

Aydin HASSANZADEH; Saber MORADI

《结构与土木工程前沿（英文）》 2022年第16卷第3期页码 281-301 doi: 10.1007/s11709-022-0807-3

摘要： This paper presents a seismic topology optimization study of steel braced frames with shape memory alloy (SMA) braces. Optimal SMA-braced frames (SMA-BFs) with either Fe-based SMA or NiTi braces are determined in a performance-based seismic design context. The topology optimization is performed on 5- and 10-story SMA-BFs considering the placement, length, and cross-sectional area of SMA bracing members. Geometric, strength, and performance-based design constraints are considered in the optimization. The seismic response and collapse safety of topologically optimal SMA-BFs are assessed according to the FEMA P695 methodology. A comparative study on the optimal SMA-BFs is also presented in terms of total relative cost, collapse capacity, and peak and residual story drift. The results demonstrate that Fe-based SMA-BFs exhibit higher collapse capacity and more uniform distribution of lateral displacement over the frame height while being more cost-effective than NiTi braced frames. In addition to a lower unit price compared to NiTi, Fe-based SMAs reduce SMA material usage. In frames with Fe-based SMA braces, the SMA usage is reduced by up to 80%. The results highlight the need for using SMAs with larger recoverable strains.

关键词： topology optimization shape memory alloy Fe-based SMA steel braced frames performance-based seismic design collapse assessment

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Experimental flexural behavior of SMA-FRP reinforced concrete beam

Adeel ZAFAR, Bassem ANDRAWES

《结构与土木工程前沿（英文）》 2013年第7卷第4期页码 341-355 doi: 10.1007/s11709-013-0221-y

摘要： The most critical drawback in currently used steel reinforcement in reinforced concrete (RC) structures is susceptibility to accumulation of plastic deformation under excessive loads. Many concrete structures due to damaged (yielded) steel reinforcement have undergone costly repairs and replacements. This research presents a new type of shape memory alloy (SMA)-based composite reinforcement with ability to withstand high elongation while exhibiting pseudo-elastic behavior. In this study, small diameter SMA wires are embedded in thermoset resin matrix with or without additional glass fibers to develop composite reinforcement. Manufacturing technique of new proposed composite is validated using microscopy images. The proposed SMA-FRP composite square rebars are first fabricated and then embedded in small scale concrete T-beam. 3-point bending test is conducted on manufactured RC beam using a cyclic displacement controlled regime until failure. It is found that the SMA-FRP composite reinforcement is able to enhance the performance of concrete member by providing re-centering and crack closing capability.

关键词： re-centering shape memory alloys concrete composite fiber reinforced polymer scanning electron microscopy

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Robust isogeometric topology optimization for piezoelectric actuators with uniform manufacturability

《机械工程前沿（英文）》 2022年第17卷第2期 doi: 10.1007/s11465-022-0683-5

摘要： Piezoelectric actuators have received substantial attention among the industry and academia due to quick responses, such as high output force, high stiffness, high accuracy, and precision. However, the design of piezoelectric actuators always suffers from the emergence of several localized hinges with only one-node connection, which have difficulty satisfying manufacturing and machining requirements (from the over- or under-etching devices). The main purpose of the current paper is to propose a robust isogeometric topology optimization (RITO) method for the design of piezoelectric actuators, which can effectively remove the critical issue induced by one-node connected hinges and simultaneously maintain uniform manufacturability in the optimized topologies. In RITO, the isogeometric analysis replacing the conventional finite element method is applied to compute the unknown electro elastic fields in piezoelectric materials, which can improve numerical accuracy and then enhance iterative stability. The erode–dilate operator is introduced in topology representation to construct the eroded, intermediate, and dilated density distribution functions by non-uniform rational B-splines. Finally, the RITO formulation for the design of piezoelectric materials is developed, and several numerical examples are performed to test the effectiveness and efficiency of the proposed RITO method.

关键词： piezoelectric actuator isogeometric topology optimization uniform manufacturability robust formulation density distribution function

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Grafting of PEG400 onto the surface of LLDPE/SMA film

CHEN Gufeng, ZHANG Yi, XU Jiarui, ZHU Yafei

《化学科学与工程前沿（英文）》 2007年第1卷第2期页码 128-131 doi: 10.1007/s11705-007-0024-6

摘要： Linear low-density polyethylene (LLDPE) was melt and blended with styrene-maleic anhydride copolymer (SMA). The blending films were then immersed in poly(ethylene glycol)400 (PEG400) at room temperature. The surface composition of the blend films was determined by Fourier transform infra-red spectroscopy coupled with a variable incidence angle attenuated total reflection accessory (ATR-FTIR). Results show that PEG400 can be grafted onto the surface of the films via esterification with SMA. The immersion of PEG promotes the enrichment of SMA onto the surface of the films. The water contact angle data show that grafting of PEG400 onto PE can greatly improve the hydrophilicity of the PE surface. These experiments show that surface functionalization of polyethylene films by blending SMA and then surface grafting of PEG is feasible, which suggest an effective and simple route for PE surface modification via blending and grafting.

关键词： hydrophilicity temperature effective immersion reflection accessory

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Parametric study on damage control design of SMA dampers in frame-typed steel piers

Xiaoqun LUO, Hanbin GE, Tsutomu USAMI,

《结构与土木工程前沿（英文）》 2009年第3卷第4期页码 384-394 doi: 10.1007/s11709-009-0065-7

摘要： This paper focuses on damage control design of SMA dampers in steel frame piers. A parametric study based on time history analyses is carried out on frame-typed bridge piers with axial-type SMA damping device. The parameters examined are design parameters of strength ratio and stiffness ratio . Seismic performance indexes on displacement and strain are investigated under three JRA recommended Level 2 Ground Type П strong earthquake motions. Design recommendations are suggested following the results of the parametric study.

关键词： damage control design shape memory alloy parameter study displacement-based verification strain-based verification time history analysis

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Polymer nanocomposites for microactuation and magneto-electric transduction

Kaori YUSE, Benoit GUIFFARD, Rabah BELOUADAH, Lionel PETIT, Laurence SEVEYRAT, Daniel GUYOMAR

《机械工程前沿（英文）》 2009年第4卷第3期页码 350-354 doi: 10.1007/s11465-009-0056-3

摘要： In the last decade, electroactive polymers have attracted much attention especially because of their very actuating capabilities. Large strain is experimentally observed, but under quite high electrical field, which can be a severe drawback for actuating applications. First part of the present paper is concerned with the reduction of applied field onto electroactive polymer films to get a given strain level. Polyurethane (PU) films filled with carbon black (CB) nanoparticles exhibit relatively high strain level under a field of only 12.5 kV/mm. The simple easy-to-make method solution cast method was applied. Even though the generated stress level is still quite low, the present work shows high strain level under quite low field appliance by easy manufacturing, lightweight, and flexible polymer film. Besides, another interest of the present paper is in magneto-elasto-electric effect of a polymer film filled with some magnetic nano particles. Films filled with nonpiezoelectric but with magnetite particles has still short history. With the use of magneto materials, a large magnetic DC bias field is generally required, and it causes big problem on application. The films filled with some magnetite nanoparticles (Fe3O4 and Nickel) are fabricated then examined. It is clearly demonstrated that our films do not require any DC bias. Although linear polarization value is relatively small, the first step of the studies on magnetite nano-filled film is presented.

关键词： electroactive polymers carbon filling actuator nanocarbon electromechanical coupling dielectric polymer actuators polymer actuators microactuation magneto-electric effect

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Semi-active vibration control using piezoelectric actuators in smart structures

Jinhao QIU, Hongli JI, Kongjun ZHU

《机械工程前沿（英文）》 2009年第4卷第3期页码 242-251 doi: 10.1007/s11465-009-0068-z

摘要： The piezoelectric materials, as the most widely used functional materials in smart structures, have many outstanding advantages for sensors and actuators, especially in vibration control, because of their excellent mechanical-electrical coupling characteristics and frequency response characteristics. Semi-active vibration control based on state switching and pulse switching has been receiving much attention over the past decade because of several advantages. Compared with standard passive piezoelectric damping, these new semi-passive techniques offer higher robustness. Compared with active damping systems, their implementation does not require any sophisticated signal processing systems or any bulky power amplifier. In this review article, the principles of the semi-active control methods based on switched shunt circuit, including state-switched method, synchronized switch damping techniques, and active control theory-based switching techniques, and their recent developments are introduced. Moreover, the future directions of research in semi-active control are also summarized.

关键词： smart structure semi-active method vibration control piezoelectric actuator

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福岛核事故后中国广东核电集团核电厂抗震设计和评估进展

毛庆,吴应喜,张健,孟阿军,张涛,杨春菊,刘芳

《中国工程科学》 2013年第15卷第4期页码 46-51

摘要：

本文介绍了核电站抗震设计要求、在建和运行核电站的抗震设计情况以及运行核电站遭遇地震灾害的情况，简述了福岛核事故后世界各国核电站在抗震方面采取的措施，针对中国广东核电集团在福岛核事故后的行动进行了详细介绍，并提出了新建核电厂在抗震设计和评估方面的策略，以期通过技术手段持续提升核电站的抗震能力。

关键词：抗震设计基准超设计基准地震抗震裕量分析（SMA）隔震

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Seismic responses and resilience of novel SMA-based self-centring eccentrically braced frames under near-fault

Zhi-Peng CHEN; Songye ZHU

《结构与土木工程前沿（英文）》 2022年第16卷第8期页码 962-975 doi: 10.1007/s11709-022-0873-6

摘要： In this paper, the seismic responses and resilience of a novel K-type superelastic shape memory alloy (SMA) self-centring (SC) eccentrically braced frame (EBF) are investigated. The simulation models of the SMA-based SC-EBF and a corresponding equal-stiffness traditional EBF counterpart are first established based on some existing tests. Then twenty-four near-fault ground motions are used to examine the seismic responses of both EBFs under design basis earthquake (DBE) and maximum considered earthquake (MCE) levels. Structural fragility and loss analyses are subsequently conducted through incremental dynamic analyses (IDA), and the resilience of the two EBFs are eventually estimated. The resilience assessment basically follows the framework proposed by Federal Emergency and Management Agency (FEMA) with the additional consideration of the maximum residual inter-storey drift ratio (MRIDR). The novel SMA-based SC-EBF shows a much better resilience in the study and represents a promising attractive alternative for future applications.

关键词： shape memory alloy eccentrically braced frame self-centring fragility loss function resilience

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Computational studies on the seismic response of the State Route 99 bridge in Seattle with SMA/ECC plastic

Jiping GE, M. Saiid SAIIDI, Sebastian VARELA

《结构与土木工程前沿（英文）》 2019年第13卷第1期页码 149-164 doi: 10.1007/s11709-018-0482-6

摘要： This paper reports a computational study on the seismic response of a three-span highway bridge system incorporating conventional and novel substructure details for improved seismic performance. The bridge has three continuous spans supported by two single-column piers and integral abutments founded on drilled shafts. It will be the first full-scale highway bridge to use superelastic shape memory alloy bars (SMA) and engineered cementitious composite (ECC) to mitigate column plastic hinge damage and minimize residual displacements after a strong earthquake. A three-dimensional computational model capturing the nonlinear constitutive response of the novel materials and the effects of dynamic soil-structure interaction was developed to assess the seismic response of the bridge in finite-element software OpenSees. Two versions of the same bridge were analyzed and compared, one with conventional cast-in-place reinforced concrete columns, and the other with top plastic hinges incorporating Nickel-Titanium (NiTi) SMA reinforcing bars and ECC. The novel SMA/ECC plastic hinges were found to substantially reduce damage and post-earthquake residual displacements in the bridge substructure, but led to larger maximum drifts relative to the bridge with conventional reinforced concrete plastic hinges. The analysis results suggested that the novel plastic hinges could lead to improved post-earthquake serviceability of bridges after intense earthquakes.

关键词： seismic design analytical simulation near-fault earthquakes shape memory alloy engineered cementitious composite self-centering

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Topology optimization of piezoelectric bi-material actuators with velocity feedback control

Mariana MORETTI, Emílio C. N. SILVA

《机械工程前沿（英文）》 2019年第14卷第2期页码 190-200 doi: 10.1007/s11465-019-0537-y

摘要： In recent years, the new technologies and discoveries on manufacturing materials have encouraged researchers to investigate the appearance of material properties that are not naturally available. Materials featuring a specific stiffness, or structures that combine non-structural and structural functions are applied in the aerospace, electronics and medical industry fields. Particularly, structures designed for dynamic actuation with reduced vibration response are the focus of this work. The bi-material and multifunctional concepts are considered for the design of a controlled piezoelectric actuator with vibration suppression by means of the topology optimization method (TOM). The bi-material piezoelectric actuator (BPEA) has its metallic host layer designed by the TOM, which defines the structural function, and the electric function is given by two piezo-ceramic layers that act as a sensor and an actuator coupled with a constant gain active velocity feedback control (AVFC). The AVFC, provided by the piezoelectric layers, affects the structural damping of the system through the velocity state variables readings in time domain. The dynamic equation analyzed throughout the optimization procedure is fully elaborated and implemented. The dynamic response for the rectangular four-noded FE analysis is obtained by the Newmark’s time-integration method, which is applied to the physical and the adjoint systems, given that the adjoint formulation is needed for the sensitivity analysis. A gradient-based optimization method is applied to minimize the displacement energy output measured at a predefined degree-of-freedom of the BPEA when a transient mechanical load is applied. Results are obtained for different control gain values to evaluate their influence on the final topology.

关键词： topology optimization method bi-material piezoactuator active velocity feedback control time-domain transient analysis host structure design vibration suppression

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新型SMA隔震支座动载性能试验研究

邓宗才,孙宏俊,刘春国,牛坤,邓洪亮

《中国工程科学》 2005年第7卷第12期页码 61-68

摘要：

以提高SMA利用率为目的，设计了几种不同形式的SMA橡胶支座并进行了耗能试验。研究了水平位移幅值、水平加载频率以及竖向荷载等因素对SMA橡胶支座水平刚度、耗能量以及阻尼等基本力学性能的影响，结果表明，新型的SMA橡胶支座均可有效提高橡胶支座的耗能性能和回复能力，并为SMA橡胶支座优化设计提供了依据

关键词：形状记忆合金隔震支座初始刚度滞回耗能等效阻尼比

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Preparation and performance of soft actuator based on IPMC with silver electrodes

Qi CHEN, Ke XIONG, Kan BIAN, Ning JIN, Bangfeng WANG,

《机械工程前沿（英文）》 2009年第4卷第4期页码 436-440 doi: 10.1007/s11465-009-0054-5

摘要： The surface electrodes of traditional ionic polymer-metal composites (IPMC) are made of platinum. To reduce the production cost, nonprecious metals such as silver is proposed. A new approach of electroless silver plating based on chemical deposition method is adopted, getting two types of IPMCs, Pt-Ag IPMC, and Ag-Ag IPMC. The microscopic analysis, driving abilities tests, and their surface-electrode resistance analysis show that Ag and Pt particles penetrate inside Nafion membrane with gradient distribution throughout the membrane. The maximum electro-active bending deformation angles of the specimens, which are obtained under the same specimen dimension and constrains, are about 60° for Pt-Pt IPMC and Pt-Ag IPMC and 90° for the Ag-Ag IPMC, respectively, corresponding to the driving voltage of 3 V, 4 V, and 1.5 V. The surface-electrode resistance of Ag-Ag IPMC is the lowest and the most stable, which shows that the proposed approach is valid. The experiments show that the IPMC technology based on the silver electrode is feasible.

关键词： ionic polymer-metal composites (IPMC) Nafion intelligent material soft actuators electroless silver plating