Discrete Layer Jamming for Variable Stiffness Co-Robot Arms

2019 ◽  
Vol 12 (1) ◽  
Author(s):  
Yitong Zhou ◽  
Leon M. Headings ◽  
Marcelo J. Dapino
Keyword(s):  
Variable Stiffness ◽  
Variable Pressure ◽  
Robot Arm ◽  
Compression Tests ◽  
Element Analysis ◽  
Continuous Layer ◽  
Air Supply ◽  
Multilayered Beam ◽  
Multiple Variable ◽  
Discrete Layer

Abstract Continuous layer jamming is an effective tunable stiffness mechanism that utilizes vacuum to vary friction between laminates enclosed in a membrane. In this paper, we present a discrete layer jamming mechanism that is composed of a multilayered beam and multiple variable pressure clamps placed discretely along the beam; system stiffness can be varied by changing the pressure applied by the clamps. In comparison to continuous layer jamming, discrete layer jamming is simpler as it can be implemented with dynamic variable pressure actuators for faster control, better portability, and no sealing issues due to no need for an air supply. Design and experiments show that discrete layer jamming can be used for a variable stiffness co-robot arm. The concept is validated by quasi-static cantilever bending experiments. The measurements show that clamping 10% of the beam area with two clamps increases the bending stiffness by around 17 times when increasing the clamping pressure from 0 to 3 MPa. Computational case studies using finite element analysis for the five key parameters are presented, including clamp location, clamp width, number of laminates, friction coefficient, and number of clamps. Clamp location, number of clamps, and number of laminates are found to be most useful for optimizing a discrete layer jamming design. Actuation requirements for a variable pressure clamp are presented based on results from laminate beam compression tests.

scholarly journals Investigation of Energy-Absorbing Properties of a Bio-Inspired Structure

Metals ◽  
2021 ◽  
Vol 11 (6) ◽  
pp. 881
Author(s):  
Adrian Dubicki ◽  
Izabela Zglobicka ◽  
Krzysztof J. Kurzydłowski
Keyword(s):  
Absorption Capacity ◽  
Compression Tests ◽  
Element Analysis ◽  
Lightweight Structures ◽  
New Energy ◽  
Absorbing Material ◽  
Lightweight Structure ◽  
3D Printed ◽  
Deformation Force ◽  
Energy Absorbing

Numerous engineering applications require lightweight structures with excellent absorption capacity. The problem of obtaining such structures may be solved by nature and especially biological structures with such properties. The paper concerns an attempt to develop a new energy-absorbing material using a biomimetic approach. The lightweight structure investigated here is mimicking geometry of diatom shells, which are known to be optimized by nature in terms of the resistance to mechanical loading. The structures mimicking frustule of diatoms, retaining the similarity with the natural shell, were 3D printed and subjected to compression tests. As required, the bio-inspired structure deformed continuously with the increase in deformation force. Finite element analysis (FEA) was carried out to gain insight into the mechanism of damage of the samples mimicking diatoms shells. The experimental results showed a good agreement with the numerical results. The results are discussed in the context of further investigations which need to be conducted as well as possible applications in the energy absorbing structures.

scholarly journals Behavior of Offshore Pile in Calcareous Sand—Case Study

2021 ◽  
Vol 9 (8) ◽  
pp. 839
Author(s):  
Tarek N. Salem ◽  
Nadia M. Elkhawas ◽  
Ahmed M. Elnady
Keyword(s):  
Load Capacity ◽  
High Stress ◽  
Embedment Depth ◽  
Shear Stresses ◽  
Northern Coast ◽  
Compression Tests ◽  
Calcareous Sand ◽  
Element Analysis ◽  
Mixing Ratios

The erosion of limestone and calcarenite ridges that existed parallel to the Mediterranean shoreline forms the calcareous sand (CS) formation at the surface layer of Egypt's northern coast. The CS is often combined with broken shells which are considered geotechnically problematic due to their possible crushability and relatively high compressibility. In this research, CS samples collected from a site along the northern coast of Egypt are studied to better understand its behavior under normal and shear stresses. Reconstituted CS specimens with different ratios of broken shells (BS) are also investigated to study the effect of BS ratios on the soil mixture strength behavior. The strength is evaluated using laboratory direct-shear and one-dimensional compression tests (oedometer test). The CS specimens are not exposed to significant crushability even under relatively high-stress levels. In addition, a 3D finite element analysis (FEA) is presented in this paper to study the degradation offshore pile capacity in CS having different percentages of BS. The stress–strain results using oedometer tests are compared with a numerical model, and it gave identical matching for most cases. The effects of pile diameter and embedment depth parameters are then studied for the case study on the northern coast. Three different mixing ratios of CS and BS have been used, CS + 10% BS, CS + 30% BS, and CS + 50% BS, which resulted in a decrease of the ultimate vertical compression pile load capacity by 8.8%, 15%, and 16%, respectively.

Strength envelope of granular soil stabilized by multi-axial geogrid in large triaxial tests

2020 ◽  
Vol 57 (3) ◽  
pp. 448-452 ◽  
Author(s):  
A.S. Lees ◽  
J. Clausen
Keyword(s):  
Triaxial Compression ◽  
Triaxial Tests ◽  
Compression Tests ◽  
Failure Envelope ◽  
Element Analysis ◽  
Linear Elastic ◽  
Perfectly Plastic ◽  
Elastic Perfectly Plastic ◽  
Triaxial Compression Tests ◽  
Properties Of Soil

Conventional methods of characterizing the mechanical properties of soil and geogrid separately are not suited to multi-axial stabilizing geogrid that depends critically on the interaction between soil particles and geogrid. This has been overcome by testing the soil and geogrid product together as one composite material in large specimen triaxial compression tests and fitting a nonlinear failure envelope to the peak failure states. As such, the performance of stabilizing, multi-axial geogrid can be characterized in a measurable way. The failure envelope was adopted in a linear elastic – perfectly plastic constitutive model and implemented into finite element analysis, incorporating a linear variation of enhanced strength with distance from the geogrid plane. This was shown to produce reasonably accurate simulations of triaxial compression tests of both stabilized and nonstabilized specimens at all the confining stresses tested with one set of input parameters for the failure envelope and its variation with distance from the geogrid plane.

Constitutive Equation for 3104 Alloy at High Temperatures in Consideration of Strain

2016 ◽  
Vol 35 (6) ◽  
pp. 599-605 ◽  
Author(s):  
Fuqiang Zhen ◽  
Jianlin Sun ◽  
Jian Li
Keyword(s):  
Hot Deformation ◽  
Flow Behavior ◽  
Temperature Correction ◽  
Strain Rates ◽  
Compression Tests ◽  
Hot Deformation Behavior ◽  
Element Analysis ◽  
Hollomon Parameter ◽  
The Finite Element Analysis ◽  
Effects Of Temperature

AbstractThe flow behavior of 3104 aluminum alloy was investigated at temperatures ranging from 250°C to 500°C, and strain rates from 0.01 to 10 s−1 by isothermal compression tests. The true stress–strain curves were obtained from the measured load–stroke data and then modified by friction and temperature correction. The effects of temperature and strain rate on hot deformation behavior were represented by Zener–Hollomon parameter including Arrhenius term. Additionally, the influence of strain was incorporated considering the effect of strain on material constants. The derived constitution equation was applied to the finite element analysis of hot compression. The results show that the simulated force is consistent with the measured one. Consequently, the developed constitution equation is valid and feasible for numerical simulation in hot deformation process of 3104 alloy.

A Geometric Parametric Analysis of a Magnetorheological Engine Mount

2010 ◽  
Author(s):  
Walter Anderson ◽  
Constantine Ciocanel ◽  
Mohammad Elahinia
Keyword(s):  
High Frequency ◽  
New Technology ◽  
Low Frequency ◽  
Variable Stiffness ◽  
Small Displacement ◽  
Element Analysis ◽  
Mr Fluid ◽  
Wide Range ◽  
Engine Mount ◽  
Vehicle Technology

Engine vibration has caused a great deal of research for isolation to be performed. Traditionally, isolation was achieved through the use of pure elastomeric (rubber) mounts. However, with advances in vehicle technology, these types of mounts have become inadequate. The inadequacy stems from the vibration profile associated with the engine, i.e. high displacement at low frequency and small displacement at high frequency. Ideal isolation would be achieved through a stiff mount for low frequency and a soft mount for high frequency. This is contradictory to the performance of the elastomeric mounts. Hydraulic mounts were then developed to address this problem. A hydraulic mount has variable stiffness and damping due to the use of a decoupler and an inertia track. However, further advances in vehicle technology have rendered these mounts inadequate as well. Examples of these advances are hybridization (electric and hydraulic) and cylinder on demand (VCM, MDS & ACC). With these technologies, the vibration excitation has a significantly different profile, occurs over a wide range of frequencies, and calls for a new technology that can address this need. Magnetorheological (MR) fluid is a smart material that is able to change viscosity in the presence of a magnetic field. With the use of MR fluid, variable damping and stiffness can be achieved. An MR mount has been developed and tested. The performance of the mount depends on the geometry of the rubber part as well as the behavior of the MR fluid. The rubber top of the mount is the topic of this study due to its major impact on the isolation characteristics of the MR mount. To develop a design methodology to address the isolation needs of different hybrid vehicles, a geometric parametric finite element analysis has been completed and presented in this paper.

DESIGN AND ANALYSIS OF AN INTEGRATED THREE- BAY THERMOPLASTIC COMPOSITE WINGBOX

2021 ◽  
Author(s):  
VINCENZO OLIVERI ◽  
GIOVANNI ZUCCO ◽  
MOHAMMAD ROUHI ◽  
ENZO COSENTINO ◽  
RONAN O’HIGGINS ◽  
...  
Keyword(s):  
Variable Stiffness ◽  
Thermoplastic Composite ◽  
High Fidelity ◽  
Material System ◽  
Load Carrying Capacity ◽  
Element Analysis ◽  
Single Piece ◽  
Load Carrying ◽  
Post Buckling ◽  
Composite Material System

The design of a multi-part aerospace structural component, such as a wingbox, is a challenging process because of the complexity arising from assembly and integration, and their associated limitations and considerations. In this study, a design process of a stiffeners-integrated variable stiffness three-bay wingbox is presented. The wingbox has been designed for a prescribed buckling and post-buckling performance (a prescribed real testing scenario) and made from thermoplastic composite material system (Carbon-PEEK) with the total length of three meters. The stiffeners and spars are integrated into the top and bottom panels of the wingbox resulting a single-piece blended structure with no fasteners or joints. The bottom skin also has an elliptical cut-out for access purposes. The composite tows are steered around this cutout for strain concentration reduction purposes. The fiber/tow steering in the top skin bays (compression side) has also been considered for improved compression-induced buckling load carrying capacity. The proposed design has been virtually verified via high fidelity finite element analysis.

Experimental and Numerical Investigation on Radial Stiffness of Origami-inspired Tubular Structures

2021 ◽  
pp. 1-30
Author(s):  
Weijun Shen ◽  
Yang Cao ◽  
Xuepeng Jiang ◽  
Zhan Zhang ◽  
Gül E. Okudan Kremer ◽  
...  
Keyword(s):  
Circular Tube ◽  
Weight Ratio ◽  
Design Parameters ◽  
Thin Wall ◽  
Tubular Structures ◽  
Compression Tests ◽  
Element Analysis ◽  
Radial Stiffness ◽  
Paper Folding ◽  
Engineering Problems

Abstract Origami structures, which were inspired by traditional paper folding arts, have been applied for engineering problems for the last two decades. Origami-based thin-wall tubes have been extensively investigated under axial loadings. However, less has been done with radial stiffness as one of the critical mechanical properties of a tubular structure working under lateral loadings. In this study, the radial stiffness of novel thin-wall tubular structures based on origami patterns have been studied with compression tests and finite element analysis (FEA) simulations. The results show that the radial stiffness of an origami-inspired tube can achieve about 27.1 times that of a circular tube with the same circumcircle diameter (100 mm), height (60 mm), and wall-thickness (2 mm). Yoshimura, Kresling, and modified Yoshimura patterns are selected as the basic frames, upon which the influences of different design parameters are tested and discussed. Given that the weight can vary due to different designs, the stiffness-to-weight ratio is also calculated. The origami-inspired tubular structures with superior stiffness performances are obtained and can be extended to crashworthy structures, functional structures, and stiffness enhancement with low structural weight.

Design, Kinematics and Prototype of a Flexible Robot Arm With Planar Springs

2015 ◽  
Author(s):  
Peng Qi ◽  
Hongbin Liu ◽  
Lakmal Seneviratne ◽  
Kaspar Althoefer
Keyword(s):  
Preliminary Test ◽  
Industrial Applications ◽  
Robot Arm ◽  
Kinematic Modeling ◽  
Flexible Robot ◽  
Element Analysis ◽  
Robot Arms ◽  
Environmental Interactions ◽  
In Series ◽  
Fea Simulation

Flexible robot arms have been developed for various medical and industrial applications because of their compliant structures enabling safe environmental interactions. This paper introduces a novel flexible robot arm comprising a number of elastically deformable planar spring elements arranged in series. The effects of flexure design variations on their layer compliance properties are investigated. Numerical studies of the different layer configurations are presented and finite Element Analysis (FEA) simulation is conducted. Based on the suspended platform’s motion of each planar spring, this paper then provides a new method for kinematic modeling of the proposed robot arm. The approach is based on the concept of simultaneous rotation and the use of Rodrigues’ rotation formula and is applicable to a wide class of continuum-style robot arms. At last, the flexible robot arms respectively integrated with two different types of compliance layers are prototyped. Preliminary test results are reported.

scholarly journals A reduced order computational model of a semi-active variable-stiffness foot prosthesis

2020 ◽  
Author(s):  
Michael McGeehan ◽  
Peter Adamczyk ◽  
Kieran Nichols ◽  
Michael Hahn
Keyword(s):  
Body Weight ◽  
Center Of Pressure ◽  
Reaction Force ◽  
Variable Stiffness ◽  
Performance Standard ◽  
Design Parameters ◽  
Compression Tests ◽  
Static Compression ◽  
Lumped Parameter ◽  
Contact Models

INTRODUCTION: Passive energy storage and return (ESR) feet are the current performance standard in lower limb prostheses. A recently developed semi-active variable-stiffness foot (VSF) prosthesis balances the simplicity of a passive ESR device with the adaptability of a powered design. The purpose of this study was to model and simulate the ESR properties of the VSF prosthesis. METHODS: The ESR properties of the VSF were modeled as a lumped parameter overhung beam. The overhung length is variable, allowing the model to exhibit variable ESR stiffness. Foot-ground contact was modeled using sphere-to-plane contact models. Contact parameters were optimized to represent the geometry and dynamics of the VSF and its foam base. Static compression tests and gait were simulated. Simulation outcomes were compared to corresponding experimental data. RESULTS: Stiffness of the model matched that of the physical VSF (R2: 0.98, RMSE: 1.37 N/mm). Model-predicted resultant ground reaction force (GRFR) matched well under optimized parameter conditions (R2: 0.98, RMSE: 5.3% body weight,) and unoptimized parameter conditions (R2: 0.90, mean RMSE: 13% body weight). Anterior-posterior center of pressure matched well with R2 > 0.94 and RMSE < 9.5% foot length in all conditions. CONCLUSIONS: The ESR properties of the VSF were accurately simulated under benchtop testing and dynamic gait conditions. These methods may be useful for predicting GRFR arising from gait with novel prostheses. Such data are useful to optimize prosthesis design parameters on a user-specific basis.

scholarly journals Novel Design of a Soft Lightweight Pneumatic Continuum Robot Arm with Decoupled Variable Stiffness and Positioning

Soft Robotics ◽  
2018 ◽  
Vol 5 (1) ◽  
pp. 54-70 ◽  
Author(s):  
Maria Elena Giannaccini ◽  
Chaoqun Xiang ◽  
Adham Atyabi ◽  
Theo Theodoridis ◽  
Samia Nefti-Meziani ◽  
...  
Keyword(s):  
Variable Stiffness ◽  
Robot Arm ◽  
Continuum Robot ◽  
Novel Design
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