Equivalent Electronic Circuit of a System of Oscillators Connected With Periodically Variable Stiffness

In this paper, we have shown the electronic circuit equivalence of a mechanical system consists of two oscillators coupled with each other. The mechanical design has the effects of the magnetic, resistance forces and the spring constant of the system is periodically varying. We have shown that the system’s state variables, such as the displacements and the velocities, under the effects of different forces, lead to some nonlinear behaviors, like a transition from the fixed point attractor to the chaotic attractor through the periodic and quasi-periodic attractors. We have constructed the equivalent electronic circuit of this mechanical system and have verified the numerically obtained behaviors using the electronic circuit.

Design of variable stiffness fixture for computerized embroidery machine based on shape memory polymer

It is a challenge to handle the metal fixture used for cloth clamping in a computerized embroidery machine because of its fixed stiffness. Herein, a prototype that acts as a fixture to provide variable stiffness property is explored by discussing the potential of a thermal-sensitive epoxy resin-based shape memory polymer (SMP). The general model of fixture design is obtained after analyzing the working condition of the metal fixture. The structure of the SMP fixture is designed by discussing the material properties and working requirements of SMP, and a theoretical model is established to deduce the relationship between thickness and stiffness of the fixture. Six SMP fixtures that memorized clamping and opening state were manufactured with different proportions of raw materials. The results show that the designed fixtures have a lighter weight but higher clamping force than the metal fixture at room temperature (RT). It is the first work that demonstrates the potential of the SMP fixture to replace the metal fixture in the computerized embroidery machine and provides inspiration for product design with variable stiffness characteristic in engineering.

An obstacle-avoiding and stiffness-tunable modular bionic soft robot

The aim of this work is to design and model a novel modular bionic soft robot for crawling and crossing obstacles. The modular bionic soft robot is composed of several serial driving soft modules, each module is composed of two parallel soft actuators. By analyzing the influence of working pressure and manufacturing size on the stiffness of the modular bionic soft robot, the nonlinear variable stiffness model of the modular bionic soft robot is established. Based on this model, the spatial states and design parameters of the modular bionic soft robot are discussed when the modular bionic soft robot can pass through the obstacle. Experiments show that when the inflation air pressure of the modular bionic soft robot is 70 kPa, its speed can reach 7.89 mm/s and the height of obstacles passed by it can reach 42.8 mm. The feasibility of the proposed modular bionic soft robot and nonlinear variable stiffness model is verified by locomotion experiments.