Continuum manipulators with controllable shape and exerting force are attractive devices. Utilizing great features of shape memory alloys (SMAs), thin continuum modules are developed. SMAs are embedded around an elastic rod and activated through a control algorithm to set a desired shape. However, complex behavior of SMAs in such a multi-input multi-output system, make the control challenging. Additionally, simultaneous control of position and the force applied by the module, as a challenging problem, has not been investigated so far. Handling this problem may increase the application of continuum robots when utilized as manipulators or when pass through narrow and complex canals with sensitive wall. In this research, position and force control of such continuum module is under focus for achieving a more practical tool for better non-invasive medical devices. Further to the position control, the amount of force applied to the environment is adjusted in different locations of the workspace through a novel fuzzy controller. The results indicate the possibility of simultaneous control of the position and force using fuzzy controller with a reasonable accuracy of 0.5° for angle and 0.05 N for the force. The concluded results may be utilized in developing smarter soft robots.
{"title":"Simultaneous position and force control of a SMA-actuated continuum robotic module","authors":"Alireza Hadi, Hourieh Shamshirgaran, Bahram Tarvirdizadeh, Khalil Alipour","doi":"10.1177/1045389x241272965","DOIUrl":"https://doi.org/10.1177/1045389x241272965","url":null,"abstract":"Continuum manipulators with controllable shape and exerting force are attractive devices. Utilizing great features of shape memory alloys (SMAs), thin continuum modules are developed. SMAs are embedded around an elastic rod and activated through a control algorithm to set a desired shape. However, complex behavior of SMAs in such a multi-input multi-output system, make the control challenging. Additionally, simultaneous control of position and the force applied by the module, as a challenging problem, has not been investigated so far. Handling this problem may increase the application of continuum robots when utilized as manipulators or when pass through narrow and complex canals with sensitive wall. In this research, position and force control of such continuum module is under focus for achieving a more practical tool for better non-invasive medical devices. Further to the position control, the amount of force applied to the environment is adjusted in different locations of the workspace through a novel fuzzy controller. The results indicate the possibility of simultaneous control of the position and force using fuzzy controller with a reasonable accuracy of 0.5° for angle and 0.05 N for the force. The concluded results may be utilized in developing smarter soft robots.","PeriodicalId":16121,"journal":{"name":"Journal of Intelligent Material Systems and Structures","volume":"84 1","pages":""},"PeriodicalIF":2.7,"publicationDate":"2024-09-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142259699","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"材料科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2024-09-14DOI: 10.1177/1045389x241272994
Dipal Patel, Ramesh V Upadhyay, Saiful Amri Mazlan, SB Choi
The magneto-rheological elastomer is mostly used in vibration isolation, for which higher modulus and lower Payne effect factors are crucial parameters. Strain amplitudes and frequencies influence many applications under dynamic modes. In this work, the dynamic viscoelastic properties of MRE, fabricated using electrolyte iron (EI) particles, were measured for varying strain amplitude, magnetic field and frequency. A fractional Kelvin-Voigt (KV) model is used in a frequency region from 0.01 to 40 Hz to predict the rheological behaviour. However, the available models failed to explain the observed behaviour at low frequencies and high magnetic fields and increasing strain amplitude (i.e. in the non-viscoelastic region). Therefore, a new modified KV model is proposed in this work to incorporate the drawbacks and hence can validate for varying frequency, magnetic field and strain amplitudes. The added terms can also be used in the fractional derivative Maxwell model to explain the effect of strain amplitude and magnetic field at various frequencies. The proposed model significantly improves the quality of experimental prediction in the low-frequency range, corresponding to a slow dissipative process at different strain amplitudes.
{"title":"A modified parametric model to predict visco-elastic properties of magneto-rheological elastomers at non-LVE region","authors":"Dipal Patel, Ramesh V Upadhyay, Saiful Amri Mazlan, SB Choi","doi":"10.1177/1045389x241272994","DOIUrl":"https://doi.org/10.1177/1045389x241272994","url":null,"abstract":"The magneto-rheological elastomer is mostly used in vibration isolation, for which higher modulus and lower Payne effect factors are crucial parameters. Strain amplitudes and frequencies influence many applications under dynamic modes. In this work, the dynamic viscoelastic properties of MRE, fabricated using electrolyte iron (EI) particles, were measured for varying strain amplitude, magnetic field and frequency. A fractional Kelvin-Voigt (KV) model is used in a frequency region from 0.01 to 40 Hz to predict the rheological behaviour. However, the available models failed to explain the observed behaviour at low frequencies and high magnetic fields and increasing strain amplitude (i.e. in the non-viscoelastic region). Therefore, a new modified KV model is proposed in this work to incorporate the drawbacks and hence can validate for varying frequency, magnetic field and strain amplitudes. The added terms can also be used in the fractional derivative Maxwell model to explain the effect of strain amplitude and magnetic field at various frequencies. The proposed model significantly improves the quality of experimental prediction in the low-frequency range, corresponding to a slow dissipative process at different strain amplitudes.","PeriodicalId":16121,"journal":{"name":"Journal of Intelligent Material Systems and Structures","volume":"39 1","pages":""},"PeriodicalIF":2.7,"publicationDate":"2024-09-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142259693","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"材料科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
This paper presents a new efficient method for manufacturing auxetic foams, a subcategory of metamaterials with intriguing mechanical properties. Unlike previous methods that require two steps involving heating or the use of a chemical solvent, the present method involves compressing the foam during the manufacturing process after cells have been formed in the die, but while the material remains soft. This one-step process is more time-efficient, energy-efficient, and flexible; it also requires fewer facilities and materials. After the manufacturing process, various mechanical properties of the auxetic foams were evaluated by compression tests (energy absorption, mean force, and maximum force) and indentation tests (stiffness, absorbed energy, and hysteresis energy). The results confirmed that the auxetic foams exhibited superior behavior compared with conventional foam at the same density. To further investigate the foam microstructures and deformation mechanisms, in situ compression tests were conducted; the macro behaviors of the foams were explained based on these observations. Overall, this paper presents a promising approach for the manufacturing of auxetic foams with improved mechanical properties that can be used in applications typically dominated by conventional foams.
{"title":"A facile method to fabricate auxetic polymer foams","authors":"Javad Sharifi Dowlatabadi, Reza Jafari Nedoushan, Abdulreza Kabiri Ataabadi, Mahmood Farzin, Woong-Ryeol Yu","doi":"10.1177/1045389x241264849","DOIUrl":"https://doi.org/10.1177/1045389x241264849","url":null,"abstract":"This paper presents a new efficient method for manufacturing auxetic foams, a subcategory of metamaterials with intriguing mechanical properties. Unlike previous methods that require two steps involving heating or the use of a chemical solvent, the present method involves compressing the foam during the manufacturing process after cells have been formed in the die, but while the material remains soft. This one-step process is more time-efficient, energy-efficient, and flexible; it also requires fewer facilities and materials. After the manufacturing process, various mechanical properties of the auxetic foams were evaluated by compression tests (energy absorption, mean force, and maximum force) and indentation tests (stiffness, absorbed energy, and hysteresis energy). The results confirmed that the auxetic foams exhibited superior behavior compared with conventional foam at the same density. To further investigate the foam microstructures and deformation mechanisms, in situ compression tests were conducted; the macro behaviors of the foams were explained based on these observations. Overall, this paper presents a promising approach for the manufacturing of auxetic foams with improved mechanical properties that can be used in applications typically dominated by conventional foams.","PeriodicalId":16121,"journal":{"name":"Journal of Intelligent Material Systems and Structures","volume":"48 1","pages":""},"PeriodicalIF":2.7,"publicationDate":"2024-09-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142204878","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"材料科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Vibration energy harvesting using piezoelectric mechanism has attracted much attention for powering wireless sensors over the last decade. This paper proposes a low-frequency multidirectional piezoelectric vibration energy harvester (LM-PVEH) using a universal joint structure. Unlike conventional PVEHs, LM-PVEH utilized a pendulum instead of a proof mass in a typical piezoelectric beam and employed a universal joint to indirectly pluck the piezoelectric beam, ensuring the beam was only subjected to compressive stress. With the multidirectional rotation characteristic of the universal joint, the harvester efficiently scavenged multidirectional energy. To verify the feasibility of principle and investigate the effect of structural parameters on the power generation performance of LM-PVEH, theoretical analysis and experimental test were conducted. The results demonstrated that LM-PVEH exhibited different power-generating characteristics in various vibration directions. The resonant frequency of LM-PVEH could be efficiently tuned by adjusting proof mass and mass distance to accommodate low-frequency environments. The proposed harvester achieved a maximum power of 4.99 mW with the load resistance of 300 kΩ at 7.3 Hz. The LM-PVEH could power 100 LEDs, a temperature sensor, and a transmitting module. Additionally, the successful demonstration of powering a calculator from human motion highlights the practical application of the proposed harvester.
{"title":"A low-frequency multidirectional piezoelectric vibration energy harvester using a universal joint structure","authors":"Junwu Kan, Silei Wu, Yazhi Lin, Zhenli Kuang, Wenchao Wu, Zhenxin Cao, Zhonghua Zhang","doi":"10.1177/1045389x241273065","DOIUrl":"https://doi.org/10.1177/1045389x241273065","url":null,"abstract":"Vibration energy harvesting using piezoelectric mechanism has attracted much attention for powering wireless sensors over the last decade. This paper proposes a low-frequency multidirectional piezoelectric vibration energy harvester (LM-PVEH) using a universal joint structure. Unlike conventional PVEHs, LM-PVEH utilized a pendulum instead of a proof mass in a typical piezoelectric beam and employed a universal joint to indirectly pluck the piezoelectric beam, ensuring the beam was only subjected to compressive stress. With the multidirectional rotation characteristic of the universal joint, the harvester efficiently scavenged multidirectional energy. To verify the feasibility of principle and investigate the effect of structural parameters on the power generation performance of LM-PVEH, theoretical analysis and experimental test were conducted. The results demonstrated that LM-PVEH exhibited different power-generating characteristics in various vibration directions. The resonant frequency of LM-PVEH could be efficiently tuned by adjusting proof mass and mass distance to accommodate low-frequency environments. The proposed harvester achieved a maximum power of 4.99 mW with the load resistance of 300 kΩ at 7.3 Hz. The LM-PVEH could power 100 LEDs, a temperature sensor, and a transmitting module. Additionally, the successful demonstration of powering a calculator from human motion highlights the practical application of the proposed harvester.","PeriodicalId":16121,"journal":{"name":"Journal of Intelligent Material Systems and Structures","volume":"48 1","pages":""},"PeriodicalIF":2.7,"publicationDate":"2024-08-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142204879","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"材料科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2024-08-30DOI: 10.1177/1045389x241272927
Takehito Kikuchi, Rihiro Fukuyama, Isao Abe
An important design strategy in the safety of any mechanical system is the “fail-safe” concept, which is used to prevent inevitable mistakes from resulting in accidents. For a failsafe design, the proper combination or selection of both normally open and closed devices is important. However, most conventional Magnetorheological fluid (MRF) devices are normally open, and their output force/torque disappears in the off state of the current input. Therefore, the development of a normally closed MRF device (NC-MRD) may contribute to a fail-safe mechatronics system. In this study, we analytically and experimentally investigated the effects of separated axial magnetized permanent magnets (PM) on normally closed and rotary-type MRF devices. We used two types of separated axial PM as magnetization resources in the off state of the electric magnet (EM). The distributions of the magnetic flux densities in the off and balanced states were evaluated as representative values of the NC-MRD. As a real testbed, we designed and developed the NC-MRD using three commercially available sectional axial neodymium magnets. The experimental results showed that the device generated a braking torque in the off state of the EM. With a positive input current of approximately 200 mA, the torque was almost balanced, and the minimum torque was less than 0.1 Nm, which was less than 2% of the maximum torque.
{"title":"Development of a fail-safe magnetorheological fluid device using electro and permanent magnets","authors":"Takehito Kikuchi, Rihiro Fukuyama, Isao Abe","doi":"10.1177/1045389x241272927","DOIUrl":"https://doi.org/10.1177/1045389x241272927","url":null,"abstract":"An important design strategy in the safety of any mechanical system is the “fail-safe” concept, which is used to prevent inevitable mistakes from resulting in accidents. For a failsafe design, the proper combination or selection of both normally open and closed devices is important. However, most conventional Magnetorheological fluid (MRF) devices are normally open, and their output force/torque disappears in the off state of the current input. Therefore, the development of a normally closed MRF device (NC-MRD) may contribute to a fail-safe mechatronics system. In this study, we analytically and experimentally investigated the effects of separated axial magnetized permanent magnets (PM) on normally closed and rotary-type MRF devices. We used two types of separated axial PM as magnetization resources in the off state of the electric magnet (EM). The distributions of the magnetic flux densities in the off and balanced states were evaluated as representative values of the NC-MRD. As a real testbed, we designed and developed the NC-MRD using three commercially available sectional axial neodymium magnets. The experimental results showed that the device generated a braking torque in the off state of the EM. With a positive input current of approximately 200 mA, the torque was almost balanced, and the minimum torque was less than 0.1 Nm, which was less than 2% of the maximum torque.","PeriodicalId":16121,"journal":{"name":"Journal of Intelligent Material Systems and Structures","volume":"1 1","pages":""},"PeriodicalIF":2.7,"publicationDate":"2024-08-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142204880","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"材料科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2024-08-30DOI: 10.1177/1045389x241271940
Shiwei Chen, Jie Yang, Pan Jiang, Yang He, Honghui Zhang
Magnetorheological fluids (MRFs) have demonstrated remarkable potential in engineering vibration damping. Nonetheless, the substantial density difference between the dispersed phase and the dispersing medium causes inevitable sedimentation in MRFs, significantly affecting the material’s service life and restricting its engineering applications. Monitoring technology for MRF sedimentation plays a crucial role in comprehending sedimentation behavior and holds significant importance for the subsequent redispersion of MRFs. Consequently, the monitoring technology for MRFs has been gaining increasing attention in recent times. This study proposes a machine vision-based real-time and in situ monitoring method to test and evaluate the suspension stability of MRFs. Firstly, an infrared wide-angle night vision lens (IWNVL) is fixed at the side of a MRF column for capturing the sequential MRF images during its sediment process. Then, the gray values (GVs) could be obtained by utilizing Gaussian filtering and morphological filtering. Secondly, by combining the Kynch sedimentation theory and Lambert-Beer composite material optical transmission theory, an analytic model is established in this works to find the relationship between the MRFs’ concentration gradient to its GVs. In what follows, the concentration distribution varied with time could be tested by the GVs of the sequential MRF images. Finally, a sentimental experiment for prepared MRF column is carried out in this works, and the testing results are verified and discussed by a capacitance sensor and a simple visual observation. The experimental results demonstrate that the proposed method could accurately measure the concentration distribution during MRFs’ sedimentation process under different initial light intensities.
{"title":"Monitoring sedimentation of magnetorheological fluids using an infrared night vision wide-angle lens visual monitoring system with dynamic calibration method","authors":"Shiwei Chen, Jie Yang, Pan Jiang, Yang He, Honghui Zhang","doi":"10.1177/1045389x241271940","DOIUrl":"https://doi.org/10.1177/1045389x241271940","url":null,"abstract":"Magnetorheological fluids (MRFs) have demonstrated remarkable potential in engineering vibration damping. Nonetheless, the substantial density difference between the dispersed phase and the dispersing medium causes inevitable sedimentation in MRFs, significantly affecting the material’s service life and restricting its engineering applications. Monitoring technology for MRF sedimentation plays a crucial role in comprehending sedimentation behavior and holds significant importance for the subsequent redispersion of MRFs. Consequently, the monitoring technology for MRFs has been gaining increasing attention in recent times. This study proposes a machine vision-based real-time and in situ monitoring method to test and evaluate the suspension stability of MRFs. Firstly, an infrared wide-angle night vision lens (IWNVL) is fixed at the side of a MRF column for capturing the sequential MRF images during its sediment process. Then, the gray values (GVs) could be obtained by utilizing Gaussian filtering and morphological filtering. Secondly, by combining the Kynch sedimentation theory and Lambert-Beer composite material optical transmission theory, an analytic model is established in this works to find the relationship between the MRFs’ concentration gradient to its GVs. In what follows, the concentration distribution varied with time could be tested by the GVs of the sequential MRF images. Finally, a sentimental experiment for prepared MRF column is carried out in this works, and the testing results are verified and discussed by a capacitance sensor and a simple visual observation. The experimental results demonstrate that the proposed method could accurately measure the concentration distribution during MRFs’ sedimentation process under different initial light intensities.","PeriodicalId":16121,"journal":{"name":"Journal of Intelligent Material Systems and Structures","volume":"1 1","pages":""},"PeriodicalIF":2.7,"publicationDate":"2024-08-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142204881","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"材料科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2024-08-17DOI: 10.1177/1045389x241273008
Yongmin Zhang, Hailong Zhang, Enrong Wang
Mechanism models based on chain-like structures are often used to characterize the morphology of magneto-rheological elastomer (MRE) and provide theoretical guidance for MRE preparation. However, widely used shear and tension mechanism models based on oblique straight chain or bent-chain structures have the limitation of insufficient accuracy in characterization, mainly because the internal particle chains of anisotropic MRE are not simple oblique straight or bent from scanning electron microscope (SEM) results. Therefore, the particle chain formation and particle interaction mechanism within MRE are revealed firstly. The theoretical results shows that particles tend to form S-like chain structures due to complex attraction and extrusion. On this basis, a novel “S” chain mechanism model is proposed, which is confirmed to have higher accuracy than the ideal shear model and tension model by comparing with the experimental results. The main reason is that the “S” chain mechanism model has realized the unification of shear, compressive, or tension mode, and integrates the fully coupled magnetic field, distribution parameters and interface stretching. The “S” chain mechanism model also takes into account the radius and volume fraction of the particles in MRE preparation, which makes it a more accurate guide to subsequent preparation.
{"title":"A novel “S” chain structure mechanism model of magneto-rheological elastomer","authors":"Yongmin Zhang, Hailong Zhang, Enrong Wang","doi":"10.1177/1045389x241273008","DOIUrl":"https://doi.org/10.1177/1045389x241273008","url":null,"abstract":"Mechanism models based on chain-like structures are often used to characterize the morphology of magneto-rheological elastomer (MRE) and provide theoretical guidance for MRE preparation. However, widely used shear and tension mechanism models based on oblique straight chain or bent-chain structures have the limitation of insufficient accuracy in characterization, mainly because the internal particle chains of anisotropic MRE are not simple oblique straight or bent from scanning electron microscope (SEM) results. Therefore, the particle chain formation and particle interaction mechanism within MRE are revealed firstly. The theoretical results shows that particles tend to form S-like chain structures due to complex attraction and extrusion. On this basis, a novel “S” chain mechanism model is proposed, which is confirmed to have higher accuracy than the ideal shear model and tension model by comparing with the experimental results. The main reason is that the “S” chain mechanism model has realized the unification of shear, compressive, or tension mode, and integrates the fully coupled magnetic field, distribution parameters and interface stretching. The “S” chain mechanism model also takes into account the radius and volume fraction of the particles in MRE preparation, which makes it a more accurate guide to subsequent preparation.","PeriodicalId":16121,"journal":{"name":"Journal of Intelligent Material Systems and Structures","volume":"5 1","pages":""},"PeriodicalIF":2.7,"publicationDate":"2024-08-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142204882","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"材料科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2024-08-05DOI: 10.1177/1045389x241265617
Scott Kennedy, Nicholas Vlajic, Edmon Perkins
Shape memory alloy morphing actuators are a type of composite soft actuator with many attractive properties such as large deformation, small form factor, self-sensing ability, and physical reservoir computing potential. These actuators are composed of active shape memory alloy wires and a passive material to magnify the overall deflection. However, the dynamic modeling of these actuators is difficult due to both shape memory alloy characteristics and the nonlinearity of the passive layer. Here, a hybrid dynamical model is proposed that couples the phase kinetics and thermal modeling for the shape memory alloy with a dynamic Cosserat beam model. This hybrid model is benchmarked against experimental linear and morphing actuators resulting in a root mean squared error of 0.87 mm for the linear actuator and root mean squared error of 1.34 and 1.42 mm for the two morphing actuator configurations evaluated in this work. This model applies continuous phase kinetic equations in a comprehensive hybrid dynamical model to accurately simulate the hysteretic transition of the alloy, which is then coupled to a high deformation beam model. This work can expand the capability and design of novel morphing actuators to achieve specified dynamic characteristics for increased application in robotic fields.
{"title":"Hybrid dynamical modeling of shape memory alloy actuators with phase kinetic equations","authors":"Scott Kennedy, Nicholas Vlajic, Edmon Perkins","doi":"10.1177/1045389x241265617","DOIUrl":"https://doi.org/10.1177/1045389x241265617","url":null,"abstract":"Shape memory alloy morphing actuators are a type of composite soft actuator with many attractive properties such as large deformation, small form factor, self-sensing ability, and physical reservoir computing potential. These actuators are composed of active shape memory alloy wires and a passive material to magnify the overall deflection. However, the dynamic modeling of these actuators is difficult due to both shape memory alloy characteristics and the nonlinearity of the passive layer. Here, a hybrid dynamical model is proposed that couples the phase kinetics and thermal modeling for the shape memory alloy with a dynamic Cosserat beam model. This hybrid model is benchmarked against experimental linear and morphing actuators resulting in a root mean squared error of 0.87 mm for the linear actuator and root mean squared error of 1.34 and 1.42 mm for the two morphing actuator configurations evaluated in this work. This model applies continuous phase kinetic equations in a comprehensive hybrid dynamical model to accurately simulate the hysteretic transition of the alloy, which is then coupled to a high deformation beam model. This work can expand the capability and design of novel morphing actuators to achieve specified dynamic characteristics for increased application in robotic fields.","PeriodicalId":16121,"journal":{"name":"Journal of Intelligent Material Systems and Structures","volume":"26 1","pages":""},"PeriodicalIF":2.7,"publicationDate":"2024-08-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141939798","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"材料科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2024-08-01DOI: 10.1177/1045389x241261755
Huixing Wang, Kun Qian, Mengwei Du, Jiong Wang
To avoid performance degradation of the magnetorheological (MR) mount due to the traditional inside built-in coil structure and the settling of the MR fluid, a coil external MR mount featuring carefully-tailored MR grease considering sedimentation and zero-field viscosity balance is proposed and its dynamic performances are experimentally investigated. Firstly, a kind of composite lithium-based MR grease is firstly prepared by adjusting the content of Lithium based thickener in the lubricating grease matrix to meet the requirement of relatively low zero-field viscosity under the premise of maintaining stability, and its rheological properties under shear and squeeze mode are studied. Then the coil external MR mount operating in the radial valve-squeeze mixed mode is designed, with an evaluation of the magnetic circuit focusing on its capability to supply a satisfactory magnetic field. The dynamic behavior of coil external MR mount utilizing the carefully-tailored MR grease as the carrier fluid under various magnetic fields has been investigated using oscillatory cycles over a frequency range of 0.5–5 Hz for various displacement amplitudes from 0.5 to 1.5 mm. The results demonstrate that the novel MR grease mount could provide large damping force up to 17.81 kN with a limited stroke. Finally, a Bouc–Wen–Baber–Noori parametric model is proposed to describe the necking hysteretic behavior of the proposed MR grease mount, and a numerical study was conducted to investigate the effects of some key parameters of the model on force-displacement loops. It shows that the model agrees well with the experimental data and it can be used for the dynamics analysis and the real-time control.
{"title":"A coil external mount featuring carefully-tailored magnetorheological grease: Design, characterization, and modeling","authors":"Huixing Wang, Kun Qian, Mengwei Du, Jiong Wang","doi":"10.1177/1045389x241261755","DOIUrl":"https://doi.org/10.1177/1045389x241261755","url":null,"abstract":"To avoid performance degradation of the magnetorheological (MR) mount due to the traditional inside built-in coil structure and the settling of the MR fluid, a coil external MR mount featuring carefully-tailored MR grease considering sedimentation and zero-field viscosity balance is proposed and its dynamic performances are experimentally investigated. Firstly, a kind of composite lithium-based MR grease is firstly prepared by adjusting the content of Lithium based thickener in the lubricating grease matrix to meet the requirement of relatively low zero-field viscosity under the premise of maintaining stability, and its rheological properties under shear and squeeze mode are studied. Then the coil external MR mount operating in the radial valve-squeeze mixed mode is designed, with an evaluation of the magnetic circuit focusing on its capability to supply a satisfactory magnetic field. The dynamic behavior of coil external MR mount utilizing the carefully-tailored MR grease as the carrier fluid under various magnetic fields has been investigated using oscillatory cycles over a frequency range of 0.5–5 Hz for various displacement amplitudes from 0.5 to 1.5 mm. The results demonstrate that the novel MR grease mount could provide large damping force up to 17.81 kN with a limited stroke. Finally, a Bouc–Wen–Baber–Noori parametric model is proposed to describe the necking hysteretic behavior of the proposed MR grease mount, and a numerical study was conducted to investigate the effects of some key parameters of the model on force-displacement loops. It shows that the model agrees well with the experimental data and it can be used for the dynamics analysis and the real-time control.","PeriodicalId":16121,"journal":{"name":"Journal of Intelligent Material Systems and Structures","volume":"1 1","pages":""},"PeriodicalIF":2.7,"publicationDate":"2024-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141887143","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"材料科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2024-07-31DOI: 10.1177/1045389x241263878
Salvatore Garofalo, Chiara Morano, Michele Perrelli, Leonardo Pagnotta, Giuseppe Carbone, Domenico Mundo, Luigi Bruno
Brain injuries resulting from spinal cord injuries, strokes, or cerebral palsy are among the traumas most capable of compromising the motor activities of human limbs, hence the necessity for the development of exoskeletons dedicated to the rehabilitation of these organs. This review examines the landscape of actuators essential for the design of cutting-edge upper-limb rehabilitation exoskeletal structures. Beyond merely surveying the current types of actuators available, the paper aims to provide guidelines for selecting actuators that fit optimally with the objectives of upper-limb rehabilitation. The description starts with a brief discussion on the biomechanics of the upper limbs, focusing on the kinematics of pivotal joints (wrist, elbow, shoulder). Subsequently, the existing actuators are systematically reviewed, offering detailed insights into their primary features, operational principles, strengths, weaknesses, and noteworthy applications within the realm of rehabilitation robotics. After the discussion about the actuators, the paper advances by furnishing valuable guidelines for actuators’ selection tailored for upper limb rehabilitation. These guidelines discuss crucial factors, such as the forces required and the natural Range Of Motions (ROMs) of upper limb joints. Finally, the manuscript serves as a valuable resource for researchers, engineers, and practitioners involved in the development of innovative upper-limb rehabilitation devices.
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