Membrane-Enhanced Lamina Emergent Torsional Joints for Surrogate Folds

2018 ◽  
Vol 140 (6) ◽  
Author(s):  
Guimin Chen ◽  
Spencer P. Magleby ◽  
Larry L. Howell
Keyword(s):  
Change Point ◽  
Degrees Of Freedom ◽  
Compliant Mechanisms ◽  
Parasitic Motion ◽  
Spherical Mechanisms ◽  
Wide Range ◽  
Mechanical Devices ◽  
Planar Fabrication

Lamina emergent compliant mechanisms (including origami-adapted compliant mechanisms) are mechanical devices that can be fabricated from a planar material (a lamina) and have motion that emerges out of the fabrication plane. Lamina emergent compliant mechanisms often exhibit undesirable parasitic motions due to the planar fabrication constraint. This work introduces a type of lamina emergent torsion (LET) joint that reduces parasitic motions of lamina emergent mechanisms, and presents equations for modeling parasitic motion of LET joints. The membrane joint also makes possible one-way joints that can ensure origami-based mechanisms emerge from their flat state (a change point) into the desired configuration. Membrane-enhanced LET (M-LET) joints, including one-way surrogate folds, are described here and show promise for use in a wide range of compliant mechanisms and origami-based compliant mechanisms. They are demonstrated as individual joints and in mechanisms such as a kaleidocycle (a 6R Bricard linkage), degree-4 origami vertices (spherical mechanisms), and waterbomb base mechanisms (an 8R multi-degrees-of-freedom origami-based mechanism).

Analytical and Experimental Characterization of Parasitic Motion in Flexure-Based Selectively Compliant Precision Mechanisms

2008 ◽  
Author(s):  
Chinmaya B. Patil ◽  
S. V. Sreenivasan ◽  
Raul G. Longoria
Keyword(s):  
Degrees Of Freedom ◽  
Compliant Mechanisms ◽  
Ideal Behavior ◽  
Modeling And Analysis ◽  
Flexure Mechanism ◽  
Parasitic Motion ◽  
Pure Rotation ◽  
The One ◽  
Spatial Kinematics

Flexure-based selectively compliant mechanisms with less than six degrees of freedom are capable of meeting the demanding requirements of ultra precision positioning and scanning systems. However, machining imperfections induce undesirable motion and limit the mechanisms precision capability. A spatial kinematics based kinetostatic model is presented here that not only enables determination of inherently spatial parasitic motion due to machining imperfections, but also offers critical geometric insight into the motion characteristics of flexure mechanisms. The analytical development reveals that the geometric errors induced by machining imperfections perturb the special screw systems of motion of ideal flexure mechanisms to their corresponding general screw systems. This insight leads to clearly defined metrics that can capture the non-ideal behavior using screw system theory and is applicable to all selectively compliant mechanisms. This result is illustrated using one and two DOF mechanisms as examples. In the case of rotational DOF flexure mechanisms, the pitch of twist of motion captures the difference between the special and general screw systems and represents the intrinsic parasitic motion. The machining imperfections are regarded as Gaussian random variables with known variance, and the model is used to determine the variance of the pitch of twist via Monte Carlo simulation, leading to determination of the precision capability of the flexure mechanisms. The modeling and analysis is illustrated using one and two DOF rotation flexure mechanisms. Finally, the details of a test setup built to determine the parasitic motion of the one DOF rotational mechanism are presented. Experimental results indicate that the one DOF flexure mechanism is indeed executing screw motion rather than pure rotation.

Understanding Conformational Entropy in Small Molecules

2020 ◽  
Author(s):  
Lucian Chan ◽  
Garrett Morris ◽  
Geoffrey Hutchison
Keyword(s):  
Small Molecules ◽  
Degrees Of Freedom ◽  
Absolute Error ◽  
Low Energy ◽  
Standard Entropy ◽  
Free Energies ◽  
Conformational Entropy ◽  
Wide Range ◽  
High Degree ◽  
Empirical Corrections

The calculation of the entropy of flexible molecules can be challenging, since the number of possible conformers grows exponentially with molecule size and many low-energy conformers may be thermally accessible. Different methods have been proposed to approximate the contribution of conformational entropy to the molecular standard entropy, including performing thermochemistry calculations with all possible stable conformations, and developing empirical corrections from experimental data. We have performed conformer sampling on over 120,000 small molecules generating some 12 million conformers, to develop models to predict conformational entropy across a wide range of molecules. Using insight into the nature of conformational disorder, our cross-validated physically-motivated statistical model can outperform common machine learning and deep learning methods, with a mean absolute error ≈4.8 J/mol•K, or under 0.4 kcal/mol at 300 K. Beyond predicting molecular entropies and free energies, the model implies a high degree of correlation between torsions in most molecules, often as- sumed to be independent. While individual dihedral rotations may have low energetic barriers, the shape and chemical functionality of most molecules necessarily correlate their torsional degrees of freedom, and hence restrict the number of low-energy conformations immensely. Our simple models capture these correlations, and advance our understanding of small molecule conformational entropy.

scholarly journals Quantum information probes of charge fractionalization in large-N gauge theories

2021 ◽  
Vol 2021 (5) ◽  
Author(s):  
Brandon S. DiNunno ◽  
Niko Jokela ◽  
Juan F. Pedraza ◽  
Arttu Pönni
Keyword(s):  
Degrees Of Freedom ◽  
Gauge Theories ◽  
Entanglement Entropy ◽  
Coarse Grained ◽  
Strongly Coupled ◽  
Information Theoretic ◽  
Large N ◽  
Wide Range ◽  
Charge Fractionalization ◽  
Electric Flux

Abstract We study in detail various information theoretic quantities with the intent of distinguishing between different charged sectors in fractionalized states of large-N gauge theories. For concreteness, we focus on a simple holographic (2 + 1)-dimensional strongly coupled electron fluid whose charged states organize themselves into fractionalized and coherent patterns at sufficiently low temperatures. However, we expect that our results are quite generic and applicable to a wide range of systems, including non-holographic. The probes we consider include the entanglement entropy, mutual information, entanglement of purification and the butterfly velocity. The latter turns out to be particularly useful, given the universal connection between momentum and charge diffusion in the vicinity of a black hole horizon. The RT surfaces used to compute the above quantities, though, are largely insensitive to the electric flux in the bulk. To address this deficiency, we propose a generalized entanglement functional that is motivated through the Iyer-Wald formalism, applied to a gravity theory coupled to a U(1) gauge field. We argue that this functional gives rise to a coarse grained measure of entanglement in the boundary theory which is obtained by tracing over (part) of the fractionalized and cohesive charge degrees of freedom. Based on the above, we construct a candidate for an entropic c-function that accounts for the existence of bulk charges. We explore some of its general properties and their significance, and discuss how it can be used to efficiently account for charged degrees of freedom across different energy scales.

scholarly journals Analysis of Dynamic Response of a Two Degrees of Freedom (2-DOF) Ball Bearing Nonlinear Model

2021 ◽  
Vol 11 (2) ◽  
pp. 787
Author(s):  
Bartłomiej Ambrożkiewicz ◽  
Grzegorz Litak ◽  
Anthimos Georgiadis ◽  
Nicolas Meier ◽  
Alexander Gassner
Keyword(s):  
Mathematical Model ◽  
Degrees Of Freedom ◽  
Ball Bearing ◽  
Hertzian Contact ◽  
Two Degrees Of Freedom ◽  
Wide Range ◽  
Shape Errors ◽  
Nonlinear Features ◽  
Fourier Transform Phase ◽  
Hertzian Contact Theory

Often the input values used in mathematical models for rolling bearings are in a wide range, i.e., very small values of deformation and damping are confronted with big values of stiffness in the governing equations, which leads to miscalculations. This paper presents a two degrees of freedom (2-DOF) dimensionless mathematical model for ball bearings describing a procedure, which helps to scale the problem and reveal the relationships between dimensionless terms and their influence on the system’s response. The derived mathematical model considers nonlinear features as stiffness, damping, and radial internal clearance referring to the Hertzian contact theory. Further, important features are also taken into account including an external load, the eccentricity of the shaft-bearing system, and shape errors on the raceway investigating variable dynamics of the ball bearing. Analysis of obtained responses with Fast Fourier Transform, phase plots, orbit plots, and recurrences provide a rich source of information about the dynamics of the system and it helped to find the transition between the periodic and chaotic response and how it affects the topology of RPs and recurrence quantificators.

Estimation of the Thermodynamic Properties of Branched Hydrocarbons

2000 ◽  
Vol 122 (3) ◽  
pp. 147-152 ◽  
Author(s):  
Hui He ◽  
Mohamad Metghalchi ◽  
James C. Keck
Keyword(s):  
Thermodynamic Properties ◽  
Degrees Of Freedom ◽  
Statistical Thermodynamic ◽  
Motion Modes ◽  
Branched Alkanes ◽  
Branched Hydrocarbons ◽  
Wide Range ◽  
On Line ◽  
Kinetic Calculations ◽  
Good Agreement

A simple model has been developed to estimate the sensible thermodynamic properties such as Gibbs free energy, enthalpy, heat capacity, and entropy of hydrocarbons over a wide range of temperatures with special attention to the branched molecules. The model is based on statistical thermodynamic expressions incorporating translational, rotational and vibrational motions of the atoms. A method to determine the number of degrees of freedom for different motion modes (bending and torsion) has been established. Branched rotational groups, such as CH3 and OH, have been considered. A modification of the characteristic temperatures for different motion mode has been made which improves the agreement with the exact values for simple cases. The properties of branched alkanes up to 2,3,4,-trimthylpentane have been calculated and the results are in good agreement with the experimental data. A relatively small number of parameters are needed in this model to estimate the sensible thermodynamic properties of a wide range of species. The model may also be used to estimate the properties of molecules and their isomers, which have not been measured, and is simple enough to be easily programmed as a subroutine for on-line kinetic calculations. [S0195-0738(00)00902-X]

scholarly journals Multi-stable composite twisting structure for morphing applications

2012 ◽  
Vol 468 (2141) ◽  
pp. 1230-1251 ◽  
Author(s):  
X. Lachenal ◽  
P. M. Weaver ◽  
S. Daynes
Keyword(s):  
Analytical Model ◽  
Material Properties ◽  
Degrees Of Freedom ◽  
Design Parameters ◽  
Engineering Structures ◽  
The Past ◽  
Wide Range ◽  
Morphing Structure ◽  
Low Mass ◽  
Unstable States

Conventional shape-changing engineering structures use discrete parts articulated around a number of linkages. Each part carries the loads, and the articulations provide the degrees of freedom of the system, leading to heavy and complex mechanisms. Consequently, there has been increased interest in morphing structures over the past decade owing to their potential to combine the conflicting requirements of strength, flexibility and low mass. This article presents a novel type of morphing structure capable of large deformations, simply consisting of two pre-stressed flanges joined to introduce two stable configurations. The bistability is analysed through a simple analytical model, predicting the positions of the stable and unstable states for different design parameters and material properties. Good correlation is found between experimental results, finite-element modelling and predictions from the analytical model for one particular example. A wide range of design parameters and material properties is also analytically investigated, yielding a remarkable structure with zero stiffness along the twisting axis.

Gearbox (China) Ltd.: Will the Company's ERP System Support its Ambitious Growth Strategy?

2004 ◽  
Vol 19 (2) ◽  
pp. 140-148 ◽  
Author(s):  
Kai Reimers
Keyword(s):  
Operations Management ◽  
Emerging Market ◽  
Growth Strategy ◽  
Medium Size ◽  
Cultural Issues ◽  
Erp System ◽  
Organizational Behaviour ◽  
Main Challenge ◽  
Wide Range ◽  
Mechanical Devices

This case describes the experience of a wholly foreign-owned manufacturing company in Tianjin/China regarding the use of its ERP system in its main functional departments, purchasing, production planning, sales/distribution, and finance. The company is part of a group which is a global leader in the manufacturing and distribution of mechanical devices, called gearboxes, that are needed to drive a wide range of facilities such as escalators and baggage conveyor belts in airports. It has entered China in 1995 and the Tianjin manufacturing facility has soon become a hub for the Asian market. The main challenge confronting the management team is to support the breakneck growth rate of this young company. The company's ERP system plays a crucial role in this task. However, it seems that middle managers are frequently hitting an invisible wall when trying to expand the use of the ERP system in order to cope with ever-increasing workloads and coordination tasks. This case serves to illustrate cultural issues implicated in the use of an enterprise wide information system in a medium size company operating in an emerging market economy. In addition, issues of operations management, global management, and organizational behaviour are addressed.

Analysis of Parasitic Motion in Compliant Mechanisms Using Eigenwrenches and Eigentwists

2018 ◽  
Author(s):  
Werner W. P. J. van de Sande ◽  
Just L. Herder
Keyword(s):  
Compliant Mechanisms ◽  
Screw Theory ◽  
Compliant Mechanism ◽  
Degree Of Freedom ◽  
Compliance Matrix ◽  
Parasitic Motion ◽  
Actual Degree ◽  
Motion Metrics ◽  
Mechanism Kinematic ◽  
Kinematic Information

Parasitic motion is undesired in precision mechanisms, it causes unwanted kinematics. These erroneous motions are especially apparent in compliant mechanisms. Usually an analysis of parasitic motion is only valid for one type of mechanism. Kinematic information is imbedded in the compliance matrix of any mechanism; an eigenscrew decomposition expresses this kinematic information as screws. It uses screw theory to identify the lines along which a force yields a parallel translation and a rotation yields a parallel moment. These lines are called eigenwrenches and eigentwists. Any other load on the compliant mechanism will lead to parasitic motion. This article introduces two parasitic motion metrics using eigenscrew decomposition: the parasitic resultant from an applied screw and the deviation of an actual degree of freedom from a desired degree of freedom. These metrics are applicable to all compliant mechanism and allow comparison between two compliant mechanisms. These metrics are applied to some common compliant mechanisms as an example.

Unified Rotational and Translational Stiffness Characterization of Compliant Shell Mechanisms

2018 ◽  
Author(s):  
Joost R. Leemans ◽  
Charles J. Kim ◽  
Werner W. P. J. van de Sande ◽  
Just L. Herder
Keyword(s):  
Degrees Of Freedom ◽  
Compliant Mechanisms ◽  
Screw Theory ◽  
Characterization Methods ◽  
Six Degrees Of Freedom ◽  
Thin Walled Structures ◽  
Spatial Mechanisms ◽  
Eigen Decomposition ◽  
Comprehensive Characterization

Compliant shell mechanisms utilize spatially curved thin-walled structures to transfer or transmit force, motion or energy through elastic deformation. To design with spatial mechanisms designers need comprehensive characterization methods, while existing methods fall short of meaningful comparisons between rotational and translational degrees of freedom. This paper presents two approaches, both of which are based on the principle of virtual loads and potential energy, utilizing properties of screw theory, Plücker coordinates and an eigen-decomposition, leading to two unification lengths that can be used to compare and visualize all six degrees of freedom directions and magnitudes of compliant mechanisms in a non-arbitrary physically meaningful manner.

scholarly journals Dielectric Elastomer Actuator Driven Soft Robotic Structures With Bioinspired Skeletal and Muscular Reinforcement

2020 ◽  
Vol 7 ◽  
Author(s):  
M. Franke ◽  
A. Ehrenhofer ◽  
S. Lahiri ◽  
E.-F. M. Henke ◽  
T. Wallmersperger ◽  
...  
Keyword(s):  
Degrees Of Freedom ◽  
Aerosol Deposition ◽  
Dielectric Elastomer ◽  
Artificial Muscles ◽  
Soft Systems ◽  
Natural Motion ◽  
Dielectric Elastomer Actuators ◽  
Resonance Frequencies ◽  
Wide Range ◽  
Laminate Theory

Natural motion types found in skeletal and muscular systems of vertebrate animals inspire researchers to transfer this ability into engineered motion, which is highly desired in robotic systems. Dielectric elastomer actuators (DEAs) have shown promising capabilities as artificial muscles for driving such structures, as they are soft, lightweight, and can generate large strokes. For maximum performance, dielectric elastomer membranes need to be sufficiently pre-stretched. This fact is challenging, because it is difficult to integrate pre-stretched membranes into entirely soft systems, since the stored strain energy can significantly deform soft elements. Here, we present a soft robotic structure, possessing a bioinspired skeleton integrated into a soft body element, driven by an antagonistic pair of DEA artificial muscles, that enable the robot bending. In its equilibrium state, the setup maintains optimum isotropic pre-stretch. The robot itself has a length of 60 mm and is based on a flexible silicone body, possessing embedded transverse 3D printed struts. These rigid bone-like elements lead to an anisotropic bending stiffness, which only allows bending in one plane while maintaining the DEA's necessary pre-stretch in the other planes. The bones, therefore, define the degrees of freedom and stabilize the system. The DEAs are manufactured by aerosol deposition of a carbon-silicone-composite ink onto a stretchable membrane that is heat cured. Afterwards, the actuators are bonded to the top and bottom of the silicone body. The robotic structure shows large and defined bimorph bending curvature and operates in static as well as dynamic motion. Our experiments describe the influence of membrane pre-stretch and varied stiffness of the silicone body on the static and dynamic bending displacement, resonance frequencies and blocking forces. We also present an analytical model based on the Classical Laminate Theory for the identification of the main influencing parameters. Due to the simple design and processing, our new concept of a bioinspired DEA based robotic structure, with skeletal and muscular reinforcement, offers a wide range of robotic application.

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