Design and Analysis of Flexible Continuum Robot Based on Origami and Mortise-Tenon Structure (FCRBOM)

2021 ◽  
Author(s):  
Yue Yu ◽  
Lifang Qiu ◽  
Decheng Wang ◽  
Jing Zou
Keyword(s):  
Degrees Of Freedom ◽  
High Capacity ◽  
Element Analysis ◽  
Compliance Matrix ◽  
The Finite Element Analysis ◽  
Continuum Robot ◽  
Dimensional Parameters ◽  
Compliance Matrix Method ◽  
The Impact ◽  
The Continuum

Abstract The continuum robot is a soft robot with infinite degrees of freedom. Origami has a high capacity for spatial deployment. This paper proposes a flexible continuum robot based on origami and mortise-tenon structure (FCRBOM). The robot consists of some flexible hinges based on origami and mortise-tenon structure (FHBOM). The design process of the FCRBOM is given. The compliance of the FCRBOM is analyzed by the compliance matrix method. The Finite element analysis (FEA) is used to simulate and analyze the FCRBOM, and the correctness of the theoretical analysis is verified. Then a spatial FCRBOM (SFCRBOM) is designed. The impact of key dimensional parameters on the flexibility of SFCRBOM is discussed. Finally, an SFCRBOM with higher flexibility is presented.

Design and Assessment of a Flexure-Based 2-DOF Micromanipulator for Automatic Cell Micro-Injection

2012 ◽  
Vol 457-458 ◽  
pp. 445-448 ◽  
Author(s):  
Hui Tang ◽  
Yang Min Li ◽  
Ji Ming Huang ◽  
Qin Min Yang
Keyword(s):  
Finite Element Analysis ◽  
Finite Element ◽  
Theoretical Analysis ◽  
Degrees Of Freedom ◽  
Lagrange Equation ◽  
Element Analysis ◽  
Compliance Matrix ◽  
Cell Injection ◽  
Modeling And Analysis ◽  
Compliance Matrix Method

The design and assessment of a flexure-based parallel micromanipulator with two-degrees-of-freedom (2-DOF) for automatic cell injection is presented in this paper. The design and modeling of the micromanipulator are conducted by employing compliance matrix method. The dynamic modeling and analysis via Lagrange equation are conducted to improve the bandwidth of the mechanism. Both theoretical analysis and finite element analysis (FEA) results well validate the good performance of the micromanipulator which will be applied to practical cell manipulations.

scholarly journals Design and Analysis of a Novel Flexure-Based XY Micropositioning Stage

2020 ◽  
Vol 10 (23) ◽  
pp. 8336
Author(s):  
Chenlei Jiao ◽  
Zhe Wang ◽  
Bingrui Lv ◽  
Guilian Wang ◽  
Weiliang Yue
Keyword(s):  
Piezoelectric Actuators ◽  
Analytical Models ◽  
Element Analysis ◽  
Compliance Matrix ◽  
Input Signals ◽  
The Finite Element Analysis ◽  
Response Performance ◽  
Compliance Matrix Method ◽  
Micropositioning Stages ◽  
Two Degree Of Freedom

Flexure-based micropositioning stages with high positioning precision are really attractive. This paper reports the design and analysis processes of a two-degree-of-freedom (2-DOF) flexure-based XY micropositioning stage driven by piezoelectric actuators to improve the positioning accuracy and motion performance. First, the structure of the stage was proposed, which was based on rectangular flexure hinges and piezoelectric actuators (PZT) that were arranged symmetrically to realize XY motion. Then, analytical models describing the output stiffness in the XY directions of the stage were established using the compliance matrix method. The finite element analysis method (FEA) was used to validate the analytical models and analyze the static characteristics and the natural frequency of the stage simultaneously. Furthermore, a prototype of the micropositioning stage was fabricated for the performance tests. The output response performance of the stage without an end load was tested using different input signals. The results indicated that the stage had a single direction amplification capability, low hysteresis, and a wide positioning space. The conclusion was that the proposed stage possessed an ideal positioning property and could be well applied to the positioning system.

A two degrees of freedom comb capacitive-type accelerometer with low cross-axis sensitivity

2019 ◽  
Vol 13 (3) ◽  
pp. 5334-5346
Author(s):  
M. N. Nguyen ◽  
L. Q. Nguyen ◽  
H. M. Chu ◽  
H. N. Vu
Keyword(s):  
Degrees Of Freedom ◽  
Proof Mass ◽  
Vibration Modes ◽  
Electrode Structure ◽  
Element Analysis ◽  
Mechanical Coupling ◽  
Fully Differential ◽  
Mode Effects ◽  
The Finite Element Analysis ◽  
Cross Axis

In this paper, we report on a SOI-based comb capacitive-type accelerometer that senses acceleration in two lateral directions. The structure of the accelerometer was designed using a proof mass connected by four folded-beam springs, which are compliant to inertial displacement causing by attached acceleration in the two lateral directions. At the same time, the folded-beam springs enabled to suppress cross-talk causing by mechanical coupling from parasitic vibration modes. The differential capacitor sense structure was employed to eliminate common mode effects. The design of gap between comb fingers was also analyzed to find an optimally sensing comb electrode structure. The design of the accelerometer was carried out using the finite element analysis. The fabrication of the device was based on SOI-micromachining. The characteristics of the accelerometer have been investigated by a fully differential capacitive bridge interface using a sub-fF switched-capacitor integrator circuit. The sensitivities of the accelerometer in the two lateral directions were determined to be 6 and 5.5 fF/g, respectively. The cross-axis sensitivities of the accelerometer were less than 5%, which shows that the accelerometer can be used for measuring precisely acceleration in the two lateral directions. The accelerometer operates linearly in the range of investigated acceleration from 0 to 4g. The proposed accelerometer is expected for low-g applications.

Response of Mild Steel Pipes Under High Mass Low Velocity Impacts

2014 ◽  
Author(s):  
Shamsoon Fareed ◽  
Ian May
Keyword(s):  
Finite Element ◽  
Mild Steel ◽  
Impact Energy ◽  
High Mass ◽  
Low Velocity ◽  
Element Analysis ◽  
Steel Pipes ◽  
Impact Tests ◽  
The Finite Element Analysis ◽  
The Impact

Accidental loads, for example, due to heavy dropped objects, impact from the trawl gear and anchors of fishing vessels can cause damage to pipelines on the sea bed. The amount of damage will depend on the impact energy. The indentation will be localized at the contact area of the pipe and the impacting object, however, an understanding of the extent of the damage due to an impact is required so that if one should occur in practice an assessment can be made to determine if remedial action needs to be taken to ensure that the pipeline is still serviceable. There are a number of parameters, including the pipe cross section and impact energy, which influence the impact behaviour of a pipe. This paper describes the response, and assesses the damage, of mild steel pipes under high mass low velocity impacts. For this purpose full scale impacts tests were carried out on mild steel pipe having diameter of 457 mm, thickness of 25.4 mm and length of 2000 mm. The pipe was restrained along the base and a 2 tonnes mass with sharp impactor having a vertical downward velocity of 3870 mm/sec was used to impact the pipe transversely with an impact energy of 16 kJ. It was found from the impact tests that a smooth indentation was produced in the pipe. The impact tests were then used for validation of the non-linear dynamic implicit analyses using the finite element analysis software ABAQUS. Deformations at the impact zone, the rebound velocity, etc, recorded in the tests and the results of the finite element analysis were found to be in good agreement. The impact tests and finite element analyses described in this paper will help to improve the understanding of the response of steel pipes under impact loading and can be used as a benchmark for further finite element modelling of impacts on pipes.

Study on Rock-Breaking Simulation and Experiment of Double Disc Cutter of TBM

2016 ◽  
Vol 23 ◽  
pp. 80-88
Author(s):  
F. Lu ◽  
C. Zhang ◽  
J. Sun ◽  
J.X. Tian ◽  
M. Liu ◽  
...  
Keyword(s):  
Rock Breaking ◽  
Disc Cutter ◽  
Element Analysis ◽  
Breaking Effect ◽  
The Finite Element Analysis ◽  
Breaking Mechanism ◽  
Simulation And Experiment ◽  
Tbm Cutter ◽  
Cutter Spacing ◽  
The Impact

In order to improve working efficiency of the tunneling process and extend working life of disc cutter, explore the impact of cutter spacing and loading for the cutter rock-breaking effect. With the theory of rock crushing, Based on the finite element analysis software ABAQUS, the process of disc cutter breaking rock is simulated, considering the adjacent cutters sequential constraints, then, to make sure two cutter space with the method of SE in experiment.The simulation results showed that the optimal cutter spacings were both about 80mm in the same loading and the sequentially loading, but the rock-breaking effect of sequentially loading is better than the same loading. The experimental data showed that the minimum specific energy of rock breaking is appeared cutter spacing between 80mm and 90mm. Thus, the correctness and rationality of the simulation was verified. The study is good for understanding the rock-breaking mechanism of double disc cutter and has a certain promoting value to optimize TBM cutter system.Keywords:TBM, rock fragmentation, ABAQUS, cutter spacing, sequentially cutting

scholarly journals Simulation and Analysis of Fluid-Solid Coupling of Wave Impact Sandcastle Based on COMSOL

2020 ◽  
Vol 3 (1) ◽  
Author(s):  
Zhen Ouyang ◽  
Ke Wang ◽  
Zihao Yu ◽  
Kaikai Xu ◽  
Qianyu Zhao ◽  
...  
Keyword(s):  
Finite Element Analysis ◽  
Finite Element ◽  
Simulation Analysis ◽  
Coupling Model ◽  
Complex Problem ◽  
Wave Impact ◽  
Element Analysis ◽  
Quantitative Calculation ◽  
The Finite Element Analysis ◽  
The Impact

It is a complex problem to study the interaction between sand castle and flowing water, which needs to consider the complexity of seawater flow and the stress of sand castle structure. The authors use the fluid-solid coupling model to establish the connection between the fluid field and the structural mechanical field, and use the finite element analysis to complete the simulation modeling of the transient process of wave impact and sandcastle foundation deformation. This paper analyzes the stress and the first principal strain of the sand castle foundation in the direction of flow velocity when the sand castle foundation is hit by waves, as a method to judge the strength of the sand castle.The best shape: the boundary value of sand castle collapse caused by strain have been determined, so as to obtain the maximum stress that a sand castle foundation can bear before collapse, which makes it possible to use the fatigue strength calculation theory of sand castle solid to carry out the quantitative calculation of sand castle durability. At the same time, the impact of waves is abstracted as wave motion equation. Finally, the finite element analysis technology is adopted to calculate the main strain of sandcastles of different shapes under the impact of the same wave, and through the comparison of the main strain, the authors get the sandcastle shape with the strongest anti-wave impact ability, which is the eccentric circular platform body.Affected by rain: the authors considered the effect of rainwater infiltration on the sandcastle's stress, and simplified the process of rain as a continuous and uniform infiltration of rain into the sandcastle's surface. The rain changes the gravity of the sand on the castle's surface. Simulation analysis is adopted to calculate the surface stress of sand castle with different degree of water seepage and different geometry. By comparison, it has been found that the smooth cone is more able to withstand the infiltration of rain without collapse. 

The Finite Element Analysis of Dynamic Interaction of High-Speed Shinkansen, the Rail, and Bridge

1993 ◽  
Author(s):  
Makoto Tanabe ◽  
Hajime Wakui ◽  
Nobuyuki Matsumoto
Keyword(s):  
Finite Element ◽  
Dynamic Response ◽  
High Speed ◽  
Response Analysis ◽  
Element Formulation ◽  
Element Analysis ◽  
Finite Element Program ◽  
The Finite Element Analysis ◽  
Element Program ◽  
The Impact

Abstract A finite element formulation to solve the dynamic behavior of high-speed Shinkansen cars, rail, and bridge is given. A mechanical model to express the interaction between wheel and rail is described, in which the impact of the rail on the flange of wheel is also considered. The bridge is modeled by using various finite elements such as shell, beam, solid, spring, and mass. The equations of motions of bridge and Shinkansen cars are solved under the constitutive and constraint equations to express the interaction between rail and wheel. Numerical method based on a modal transformation to get the dynamic response effectively is discussed. A finite element program for the dynamic response analysis of Shinkansen cars, rail, and bridge at the high-speed running has been developed. Numerical examples are also demonstrated.

Development of a Multi-Cable-Driven Continuum Robot Controlled by Parallel Platforms

2020 ◽  
pp. 1-11 ◽  
Author(s):  
Xinbo Chen ◽  
Jiantao Yao ◽  
Tong Li ◽  
Haili Li ◽  
Pan Zhou ◽  
...  
Keyword(s):  
Degrees Of Freedom ◽  
Load Capacity ◽  
Continuum Robots ◽  
Position Accuracy ◽  
Continuum Robot ◽  
In Series ◽  
Kinematic Models ◽  
Parallel Platform ◽  
Tube Structure ◽  
The Continuum

Abstract Cable-driven continuum robots exhibit excellent capabilities in the unstructured environment due to their inherent compliance and dexterity. To improve the reliability and load capacity of continuum robots, increasing the number of cables is often used in the control of continuum robots. However, the number of actuators will increase with the cables. To tackle this challenge, this work proposes a method for increasing the number of cables without increasing actuators in a continuum robot through parallel platforms. The parallel platforms are used to control all the cables in the continuum robot, and can be separated from the continuum robot to enable the remote drive of a manipulation arm by using the cable-tube structure. The manipulation arm is composed of several independent bending modules in series, which can be configured freely according to the demand of degrees of freedom. Further, each bending module is controlled independently by a parallel platform, which can avoid the mutual interference between the cables of one bending module and another one, improve the position accuracy and simplify the control difficulty of the manipulation arm. To evaluate the proposed method, this work develops a prototype of six-cable-driven continuum robot controlled by 3RPS parallel platforms, and presents some basic kinematic models to describe its function, and then an experimental work characterizing its performance. Experimental results illustrated the importance of increasing the number of cables, the rationality of kinematic models of the continuum robot, and the feasibility of controlling multiple cables by a parallel platform.

The Finite Element Analysis on Can Coiler of Gilling Machine

2012 ◽  
Vol 215-216 ◽  
pp. 837-841 ◽  
Author(s):  
Bin Lin ◽  
Xiao Fei Dong ◽  
Guan Wei Zhang
Keyword(s):  
Finite Element Analysis ◽  
Finite Element ◽  
Coordinate System ◽  
Contact Analysis ◽  
Element Analysis ◽  
The Finite Element Analysis ◽  
Comparison Of The Results ◽  
Distribution Of Stress ◽  
The Impact ◽  
Bearing Structure

This paper first analyzes the structure of can coiler to estimate the load of the internal bearing structure and then uses the Pro/e software to calculate the mass and centroid of the can coiler, in the same coordinate system to determine the load of the bearing. Next, the intensity of bearing under different conditions will be analyzed by using the ANSYS contact analysis module, from which the distribution of stress and size of extreme value can be observed. At last, the impact of load changes on the stress will be analyzed based on the comparison of the results.

Finite Element Quarter Vehicle Suspension Model under Periodic Bump and Sinusoidal Road Excitation

2018 ◽  
Vol 880 ◽  
pp. 163-170
Author(s):  
Ștefan Cristian Castravete ◽  
Gabriel Cătălin Marinescu ◽  
Nicolae Dumitru ◽  
Oana Victoria Oţăt
Keyword(s):  
Finite Element ◽  
Degrees Of Freedom ◽  
Element Model ◽  
Finite Model ◽  
Vehicle Speed ◽  
Element Analysis ◽  
Car Suspension ◽  
The Finite Element Analysis ◽  
Road Excitation ◽  
Suspension Model

The paper studies the behavior of a quarter-car suspension model under periodic road excitation: sinusoidal and bump (trapezoidal shape) for a constant vehicle speed. A theoretical and a finite element model were developed. The theoretical model has two degrees of freedom and a modal and sinusoidal excitation was performed to compare with finite model analysis. The finite element analysis consists of three parts: preload, modal analysis and deterministic external excitation. The study consists of the analysis of forces, displacements and accelerations that are transmitted to the vehicle regarding their variation in time and frequency.

Sign in / Sign up

Export Citation Format

Share Document