Most references on hydropneumatic suspension analysis regard it as harden Duffing spring and take the white noise as the system input, which is quite different from real physical model. It will introduce considerable ...Most references on hydropneumatic suspension analysis regard it as harden Duffing spring and take the white noise as the system input, which is quite different from real physical model. It will introduce considerable errors to the analytical result compared with the numerical simulation which makes it impossible to give a good depiction of the hydropneumatic suspension dynamics. In this paper, the dynamic response of the hydropneumatic suspension is worked out using statistical linearization based on 2 DOFs nonlinear suspension model. The damping of the suspension and the tire stiffness are both regarded as linear components and the real road roughness spectrum is used to work out the system input. The explicit analytical equivalent stiffness, dynamic mean value offset from statistic equilibrium position and the sprung acceleration varied with parameters of hydropneumatic spring, road roughness and vehicle velocity are worked out by substituting the nonlinear stiffness of hydropneumatic spring with its first three terms Tyler series at the static equilibrium position using James formula. The comparison of the numerical simulation and analytical result both on statistical parameters and distribution shows the validity of the analysis. The explicit form provides a concise and valid method on hydropneumatic suspension design and optimization.展开更多
A phenomenological model for predicting the vortex-induced motion (VIM) of a single-column platform with non- linear stiffness has been proposed. The VIM model is based on the couple of the Duffing-van der Pol oscilla...A phenomenological model for predicting the vortex-induced motion (VIM) of a single-column platform with non- linear stiffness has been proposed. The VIM model is based on the couple of the Duffing-van der Pol oscillators and the motion equations with non-linear terms. The model with liner stiffness is presented for comparison and their results are compared with the experiments in order to calibrate the model. The computed results show that the predicted VIM amplitudes and periods of oscillation are in qualitative agreements with the experimental data. Compared with the results with linear stiffness, it is found that the application of non-linear stiffness causes the significant reductions in the in-line and transverse motion amplitudes. Under the non-linear stiffness constraint, the lock-in behavior is still identified at 8<Ur<15, and the trajectories of the VIM on the xy plane with eight-figure patterns are maintained. The results with different non-linear geometrically parameters show that both in-line and transverse non-linear characteristics can significantly affect the predict in-line and transverse motion amplitudes. Furthermore, the computed results for different aspect ratios indicate that the in-line and transverse motion amplitudes increase with the growth of aspect ratio, and the range of lock-in region is enlarged for the large aspect ratio.展开更多
Quasi-zero-stiffness(QZS)metamaterials have attracted significant interest for application in low-frequency vibration isolation.However,previous work has been limited by the design mechanism of QZS metamaterials,as it...Quasi-zero-stiffness(QZS)metamaterials have attracted significant interest for application in low-frequency vibration isolation.However,previous work has been limited by the design mechanism of QZS metamaterials,as it is still difficult to achieve a simplified structure suitable for practical engineering applications.Here,we introduce a class of programmable QZS metamaterials and a novel design mechanism that address this long-standing difficulty.The proposed QZS metamaterials are formed by an array of representative unit cells(RUCs)with the expected QZS features,where the QZS features of the RUC are tailored by means of a structural bionic mechanism.In our experiments,we validate the QZS features exhibited by the RUCs,the programmable QZS behavior,and the potential promising applications of these programmable QZS metamaterials in low-frequency vibration isolation.The obtained results could inspire a new class of programmable QZS metamaterials for low-frequency vibration isolation in current and future mechanical and other engineering applications.展开更多
Increased matrix stiffness of nucleus pulposus(NP)tissue is a main feature of intervertebral disc degeneration(IVDD)and affects various functions of nucleus pulposus cells(NPCs).Glycolysis is the main energy source fo...Increased matrix stiffness of nucleus pulposus(NP)tissue is a main feature of intervertebral disc degeneration(IVDD)and affects various functions of nucleus pulposus cells(NPCs).Glycolysis is the main energy source for NPC survival,but the effects and underlying mechanisms of increased extracellular matrix(ECM)stiffness on NPC glycolysis remain unknown.In this study,hydrogels with different stiffness were established to mimic the mechanical environment of NPCs.Notably,increased matrix stiffness in degenerated NP tissues from IVDD patients was accompanied with impaired glycolysis,and NPCs cultured on rigid substrates exhibited a reduction in glycolysis.展开更多
A conceptual model of intermittent joints is introduced to the cyclic shear test in the laboratory to explore the effects of loading parameters on its shear behavior under cyclic shear loading.The results show that th...A conceptual model of intermittent joints is introduced to the cyclic shear test in the laboratory to explore the effects of loading parameters on its shear behavior under cyclic shear loading.The results show that the loading parameters(initial normal stress,normal stiffness,and shear velocity)determine propagation paths of the wing and secondary cracks in rock bridges during the initial shear cycle,creating different morphologies of macroscopic step-path rupture surfaces and asperities on them.The differences in stress state and rupture surface induce different cyclic shear responses.It shows that high initial normal stress accelerates asperity degradation,raises shear resistance,and promotes compression of intermittent joints.In addition,high normal stiffness provides higher normal stress and shear resistance during the initial cycles and inhibits the dilation and compression of intermittent joints.High shear velocity results in a higher shear resistance,greater dilation,and greater compression.Finally,shear strength is most sensitive to initial normal stress,followed by shear velocity and normal stiffness.Moreover,average dilation angle is most sensitive to initial normal stress,followed by normal stiffness and shear velocity.During the shear cycles,frictional coefficient is affected by asperity degradation,backfilling of rock debris,and frictional area,exhibiting a non-monotonic behavior.展开更多
Neuronal growth, extension, branching, and formation of neural networks are markedly influenced by the extracellular matrix—a complex network composed of proteins and carbohydrates secreted by cells. In addition to p...Neuronal growth, extension, branching, and formation of neural networks are markedly influenced by the extracellular matrix—a complex network composed of proteins and carbohydrates secreted by cells. In addition to providing physical support for cells, the extracellular matrix also conveys critical mechanical stiffness cues. During the development of the nervous system, extracellular matrix stiffness plays a central role in guiding neuronal growth, particularly in the context of axonal extension, which is crucial for the formation of neural networks. In neural tissue engineering, manipulation of biomaterial stiffness is a promising strategy to provide a permissive environment for the repair and regeneration of injured nervous tissue. Recent research has fine-tuned synthetic biomaterials to fabricate scaffolds that closely replicate the stiffness profiles observed in the nervous system. In this review, we highlight the molecular mechanisms by which extracellular matrix stiffness regulates axonal growth and regeneration. We highlight the progress made in the development of stiffness-tunable biomaterials to emulate in vivo extracellular matrix environments, with an emphasis on their application in neural repair and regeneration, along with a discussion of the current limitations and future prospects. The exploration and optimization of the stiffness-tunable biomaterials has the potential to markedly advance the development of neural tissue engineering.展开更多
Fiber-reinforced composites are an ideal material for the lightweight design of aerospace structures. Especially in recent years, with the rapid development of composite additive manufacturing technology, the design o...Fiber-reinforced composites are an ideal material for the lightweight design of aerospace structures. Especially in recent years, with the rapid development of composite additive manufacturing technology, the design optimization of variable stiffness of fiber-reinforced composite laminates has attracted widespread attention from scholars and industry. In these aerospace composite structures, numerous cutout panels and shells serve as access points for maintaining electrical, fuel, and hydraulic systems. The traditional fiber-reinforced composite laminate subtractive drilling manufacturing inevitably faces the problems of interlayer delamination, fiber fracture, and burr of the laminate. Continuous fiber additive manufacturing technology offers the potential for integrated design optimization and manufacturing with high structural performance. Considering the integration of design and manufacturability in continuous fiber additive manufacturing, the paper proposes linear and nonlinear filtering strategies based on the Normal Distribution Fiber Optimization (NDFO) material interpolation scheme to overcome the challenge of discrete fiber optimization results, which are difficult to apply directly to continuous fiber additive manufacturing. With minimizing structural compliance as the objective function, the proposed approach provides a strategy to achieve continuity of discrete fiber paths in the variable stiffness design optimization of composite laminates with regular and irregular holes. In the variable stiffness design optimization model, the number of candidate fiber laying angles in the NDFO material interpolation scheme is considered as design variable. The sensitivity information of structural compliance with respect to the number of candidate fiber laying angles is obtained using the analytical sensitivity analysis method. Based on the proposed variable stiffness design optimization method for complex perforated composite laminates, the numerical examples consider the variable stiffness design optimization of typical non-perforated and perforated composite laminates with circular, square, and irregular holes, and systematically discuss the number of candidate discrete fiber laying angles, discrete fiber continuous filtering strategies, and filter radius on structural compliance, continuity, and manufacturability. The optimized discrete fiber angles of variable stiffness laminates are converted into continuous fiber laying paths using a streamlined process for continuous fiber additive manufacturing. Meanwhile, the optimized non-perforated and perforated MBB beams after discrete fiber continuous treatment, are manufactured using continuous fiber co-extrusion additive manufacturing technology to verify the effectiveness of the variable stiffness fiber optimization framework proposed in this paper.展开更多
An analytical method is proposed with the “stiffness gradient of the response” as a sensitivity metric, and the relationships between the vibration responses and stiffness changes are established. First, a 2-degree-...An analytical method is proposed with the “stiffness gradient of the response” as a sensitivity metric, and the relationships between the vibration responses and stiffness changes are established. First, a 2-degree-of-freedom (DOF) system is used as an example to propose a stiffness gradient-based evaluation method, taking the effective control bandwidth ratio as a metric of effectiveness. The results show that there is an optimal mass ratio in both variable mass and variable stiffness cases. Then, a typical 16-DOF system is used to investigate the frequency domain characteristics of the stiffness gradient values in the complex system. The distributions of stiffness gradient values show multiple peak intervals corresponding to the sensitive regions for vibration control. By assigning random mass parameters, a significant exponential decay relationship between the subsystem’s mass and effective control is identified, emphasizing the importance of the optimal mass ratio. The finite-element simulation results of solid plate models with springs and oscillators further validate the theoretical results. In short, the gradient value of stiffness effectively quantifies the effects of subsystems on vibration control, providing an analytical tool for active control in complex systems. The identified exponential decay relationship offers meaningful guidance for implementation strategies.展开更多
BACKGROUND Clinically significant portal hypertension(CSPH)is a crucial prognostic deter-minant for liver-related events(LREs)in patients with compensated viral cir-rhosis.Liver stiffness measurement(LSM)-related mark...BACKGROUND Clinically significant portal hypertension(CSPH)is a crucial prognostic deter-minant for liver-related events(LREs)in patients with compensated viral cir-rhosis.Liver stiffness measurement(LSM)-related markers may help to predict the risk of LREs.AIM To evaluate the value of LSM and its composite biomarkers[LSM-platelet ratio(LPR),LSM-albumin ratio(LAR)]in predicting LREs.METHODS This study retrospectively enrolled compensated viral cirrhosis patients with CSPH.The Cox regression model was employed to examine the prediction of LSM,LPR,and LAR for LREs.The model performance was assessed through receiver operating characteristic,decision curve,and time-dependent area under the curve analysis.The Kaplan-Meier curve was used to evaluate the cumulative incidence of LREs,and further stratified analysis of different LREs was per-formed.RESULTS A total of 598 patients were included,and 319 patients(53.3%)developed LREs during follow-up.Multivariate proportional hazards modeling demonstrated that LSM,LPR,and LAR were independent predictors of LREs.LPR had better performance in predicting LREs than LAR and LSM(area under the curve=0.780,0.727,0.683,respectively,all P<0.05).The cumulative incidence of LREs in the high-risk group were significantly higher than that in the low-risk group(P<0.001).Among the different LREs,LPR was superior to LSM and LAR in predicting liver decompensation,while the difference in predicting hepatocellular carcinoma and liver-related death was relatively small.CONCLUSION LPR is superior to LSM and LAR in predicting LREs in compensated viral cirrhosis patients with CSPH,especially in predicting liver decompensation.展开更多
Quasi-zero stiffness(QZS)isolators have received considerable attention over the past years due to their outstanding vibration isolation performance in low-frequency bands.However,traditional mechanisms for achieving ...Quasi-zero stiffness(QZS)isolators have received considerable attention over the past years due to their outstanding vibration isolation performance in low-frequency bands.However,traditional mechanisms for achieving QZS suffer from low stiffness regions and significant nonlinear restoring forces with hardening characteristics,often struggling to withstand excitations with high amplitude.This paper presents a novel QZS vibration isolator that utilizes a more compact spring-rod mechanism(SRM)to provide primary negative stiffness.The nonlinearity of SRM is adjustable via altering the raceway of its spring-rod end,along with the compensatory force provided by the cam-roller mechanism so as to avoid complex nonlinear behaviors.The absolute zero stiffness can be achieved by a well-designed raceway curve with a concise mathematical expression.The nonlinear stiffness with softening properties can also be achieved by parameter adjustment.The study begins with the forcedisplacement relationship of the integrated mechanism first,followed by the design theory of the cam profile.The dynamic response and absolute displacement transmissibility of the isolation system are obtained based on the harmonic balance method.The experimental results show that the proposed vibration isolator maintains relatively low-dynamic stiffness even under non-ideal conditions,and exhibits enhanced vibration isolation performance compared to the corresponding linear isolator.展开更多
Utilizing the Discrete Element Method,this research studied the stiffness distribution of gap-graded soils by modifying the conventional static method.By acknowledging the inherent particle property disparity between ...Utilizing the Discrete Element Method,this research studied the stiffness distribution of gap-graded soils by modifying the conventional static method.By acknowledging the inherent particle property disparity between coarser and finer particles,this research differentiates the stiffness distribution of gap-graded soils from the perspective of contact and particle types.Results indicate that particle property disparity significantly influence the small-strain stiffness characteristics,consequently altering the overall stiffness distribution in gap-graded soil specimens.Specifically,with the equivalent coarser particle property,an increase in particle Young's modulus of finer particles results in an augmentation of small-strain stiffness values,alongside an increased stiffness distribution contribution from finer particles.Nevertheless,this study reveals that even with a higher particle Young's modulus of finer particles,the proportion of small-strain stiffness transferred by finer particles remains consistently lower than their volume fraction.Furthermore,the proportion of stiffness transferred by finer particles may fall below their contribution to stress transmission.This investigation accentuates the subtle yet significant effects of particle property variations on small strain stiffness and its subsequent distribution,providing a foundation for advancing the significance of particle property disparities in evaluating soil responses.展开更多
The deterioration of soft rocks caused by freeze-thaw(F-T)climatic cycles results in huge structural and financial loss for foundation systems placed on soft rocks prone to F-T actions.In this study,cementtreated sand...The deterioration of soft rocks caused by freeze-thaw(F-T)climatic cycles results in huge structural and financial loss for foundation systems placed on soft rocks prone to F-T actions.In this study,cementtreated sand(CTS)and natural soft shale were subjected to unconfined compression and splitting tensile strength tests for evaluation of unconfined compressive strength(UCS,qu),initial small-strain Young’s modulus(Eo)using linear displacement transducers(LDT)up to a small strain of 0.001%,and secant elastic modulus(E_(50))using linear variable differential transducers(LVDTs)up to a large strain of 6%before and after reproduced laboratory weathering(RLW)cycles(-20℃e-110℃).The results showed that eight F-T cycles caused a reduction in q_(u),E_(50) and E_(o),which was 8.6,15.1,and 14.5 times for the CTS,and 2.2,3.5,and 5.3 times for the natural shale,respectively.The tensile strength of the CTS and natural rock samples exhibited a degradation of 5.4 times(after the 8th RLW cycle)and 2.7 times(after the 15th RLW cycle),respectively.Novel correlations have been developed to predict Eo(response)from the parameters qu and E_(50)(predictors)using MATLAB software's curve fitter.The findings of this study will assist in the design of foundations in soft rocks subjected to freezing and thawing.The analysis of variance(ANOVA)indicated 95%confidence in data health for the design of retaining walls,building foundations,excavation in soft rock,large-diameter borehole stability,and transportation tunnels in rocks for an operational strain range of 0.1%e0.01%(using LVDT)and a reference strain of less than 0.001%(using LDT).展开更多
BACKGROUND The hepatic venous pressure gradient serves as a crucial parameter for assessing portal hypertension and predicting clinical decompensation in individuals with cirrhosis.However,owing to its invasive nature...BACKGROUND The hepatic venous pressure gradient serves as a crucial parameter for assessing portal hypertension and predicting clinical decompensation in individuals with cirrhosis.However,owing to its invasive nature,there has been growing interest in identifying noninvasive alternatives.Transient elastography offers a promising approach for measuring liver stiffness and spleen stiffness,which can help estimate the likelihood of decompensation in patients with chronic liver disease.AIM To investigate the predictive ability of the liver stiffness measurement(LSM)and spleen stiffness measurement(SSM)in conjunction with other noninvasive indicators for clinical decompensation in patients suffering from compensatory cirrhosis and portal hypertension.METHODS This study was a retrospective analysis of the clinical data of 200 patients who were diagnosed with viral cirrhosis and who received computed tomography,transient elastography,ultrasound,and endoscopic examinations at The Second Affiliated Hospital of Xi’an Jiaotong University between March 2020 and November 2022.Patient classification was performed in accordance with the Baveno VI consensus.The area under the curve was used to evaluate and compare the predictive accuracy across different patient groups.The diagnostic effectiveness of several models,including the liver stiffness-spleen diameter-platelet ratio,variceal risk index,aspartate aminotransferase-alanine aminotransferase ratio,Baveno Ⅵ criteria,and newly developed models,was assessed.Additionally,decision curve analysis was carried out across a range of threshold probabilities to evaluate the clinical utility of these predictive factors.RESULTS Univariate and multivariate analyses demonstrated that SSM,LSM,and the spleen length diameter(SLD)were linked to clinical decompensation in individuals with viral cirrhosis.On the basis of these findings,a predictive model was developed via logistic regression:Ln[P/(1-P)]=-4.969-0.279×SSM+0.348×LSM+0.272×SLD.The model exhibited strong performance,with an area under the curve of 0.944.At a cutoff value of 0.56,the sensitivity,specificity,positive predictive value,and negative predictive value for predicting clinical decompensation were 85.29%,88.89%,87.89%,and 86.47%,respectively.The newly developed model demonstrated enhanced accuracy in forecasting clinical decompensation among patients suffering from viral cirrhosis when compared to four previously established models.CONCLUSION Noninvasive models utilizing SSM,LSM,and SLD are effective in predicting clinical decompensation among patients with viral cirrhosis,thereby reducing the need for unnecessary hepatic venous pressure gradient testing.展开更多
Correction to:Nano-Micro Lett.(2023)15:233 https://doi.org/10.1007/s40820-023-01201-7 Following publication of the original article[1],the authors reported that the first two lines of the introduction were accidentall...Correction to:Nano-Micro Lett.(2023)15:233 https://doi.org/10.1007/s40820-023-01201-7 Following publication of the original article[1],the authors reported that the first two lines of the introduction were accidentally placed in the right-hand column of the page in the PDF,which affects the readability.展开更多
Cable-driven parallel robots(CDPRs)have advantages of larger workspace and load capacity than conventional parallel robots while existing interference problems among cables,workpieces and the end-effector.In order to ...Cable-driven parallel robots(CDPRs)have advantages of larger workspace and load capacity than conventional parallel robots while existing interference problems among cables,workpieces and the end-effector.In order to avoid collision and improve the flexibility of the robots,this study proposes a reconfigurable cable-driven parallel robot(RCDPR)having characteristics of large load-to-weight ratio,easy modularity and variable stiffness.Adjustable brackets are connected to the moving platform to adjust the position of the pull-out point with the movement of the end-effector.In addition,a variable stiffness actuator(VSA)accompanied by finite element analysis is designed to optimize the cable tension to adapt different task requirements.Firstly,a new idea of reconfiguration is given,and an inverse kinematic model is established using the vector closure principle to derive its inverse kinematic expressions focusing on one of the configurations.Second,the VSA is attached to each cable to achieve stiffness adjustment,and the system stiffness is derived in detail.Finally,the rationality and accuracy of the robot are verified through numerical analysis,providing a reference for subsequent trajectory planning with implications.展开更多
Arterial stiffness is considered an important indicator reflecting age-related changes in the vascular wall[1]and the risk of developing comorbidities,[2]primarily cardiovascular diseases.[3]Cardiovascular diseases re...Arterial stiffness is considered an important indicator reflecting age-related changes in the vascular wall[1]and the risk of developing comorbidities,[2]primarily cardiovascular diseases.[3]Cardiovascular diseases remain the leading cause of death worldwide.Many factors influence the rate of arterial aging.Research results have confirmed that arterial wall stiffness increases with an increasing number of risk factors,[4]as each of them acts independently through various mechanisms,adversely affecting the structure and function of the cardiovascular system.展开更多
Bioprinting of cell-laden hydrogels is a rapidly growing field in tissue engineering.The advent of digital light processing(DLP)three-dimensional(3D)bioprinting technique has revolutionized the fabrication of complex ...Bioprinting of cell-laden hydrogels is a rapidly growing field in tissue engineering.The advent of digital light processing(DLP)three-dimensional(3D)bioprinting technique has revolutionized the fabrication of complex 3D structures.By adjusting light exposure,it becomes possible to control the mechanical properties of the structure,a critical factor in modulating cell activities.To better mimic cell densities in real tissues,recent progress has been made in achieving high-cell-density(HCD)printing with high resolution.However,regulating the stiffness in HCD constructs remains challenging.The large volume of cells greatly affects the light-based DLP bioprinting by causing light absorption,reflection,and scattering.Here,we introduce a neural network-based machine learning technique to predict the stiffness of cell-laden hydrogel scaffolds.Using comprehensive mechanical testing data from 3D bioprinted samples,the model was trained to deliver accurate predictions.To address the demand of working with precious and costly cell types,we employed various methods to ensure the generalizability of the model,even with limited datasets.We demonstrated a transfer learning method to achieve good performance for a precious cell type with a reduced amount of data.The chosen method outperformed many other machine learning techniques,offering a reliable and efficient solution for stiffness prediction in cell-laden scaffolds.This breakthrough paves the way for the next generation of precision bioprinting and more customized tissue engineering.展开更多
Comprehensive investigations have been conducted to study the structure and overconsolidation of upper Shanghai clays, i.e. Layers 2–6 clays, typically located at depths of 30–40 m. However, limited information is a...Comprehensive investigations have been conducted to study the structure and overconsolidation of upper Shanghai clays, i.e. Layers 2–6 clays, typically located at depths of 30–40 m. However, limited information is available on their anisotropy, and even less is known about the correlation between structure, overconsolidation, and anisotropy. In this study, the undrained anisotropy characteristics of shear strength and small-strain shear stiffness in upper Shanghai Layers 2–6 clays were thoroughly assessed using a series of K0-consolidated undrained triaxial compression (TC) and triaxial extension (TE) tests (K0 is the coefficient of lateral earth pressure at rest). The effective stress paths, shear strength, and small-strain shear stiffness from the undrained TC and TE tests demonstrate the anisotropic behaviors in upper Shanghai clays. Analyses of data from upper Shanghai clays and other clays worldwide indicate that the shear strength anisotropy ratio (Ks) converges at 0.8 as the overconsolidation ratio (OCR) and plasticity index (Ip) increase, while the small-strain shear stiffness anisotropy ratio (Re) converges at 1.0. The influence of OCR on Ks and Re is more pronounced than that of Ip and sensitivity (St). Nevertheless, no clear correlation between Ks and Re is observed in upper Shanghai clays.展开更多
The average stiffness performance indices throughout the workspace are commonly used as global stiffness performance indices to evaluate the overall stiffness performance of parallel mechanisms,which involves an analy...The average stiffness performance indices throughout the workspace are commonly used as global stiffness performance indices to evaluate the overall stiffness performance of parallel mechanisms,which involves an analysis of the stiffness performance of numerous discrete points in the workspace.This necessitates time-consuming and inefficient calculation,which is particularly pronounced in the optimization design stage of the mechanism,where the variations in the global stiffness performance indices versus various dimensional and structural parameters need to be analyzed.This paper presents a semi-analytical approach for stiffness modeling of the novel(R(RPS&RP))&2-UPS parallel mechanism(referred to as the Trifree mechanism)and proposes“local”stiffness performance indices as alternatives to global indices.Drawing on the screw theory,the Cartesian stiffness matrix of the Trifree mechanism is formulated explicitly by considering the compliances of all elastic elements and the over-constraint characteristics inherent in the mechanism.Based on the spherical motion pattern of the Trifree mechanism,four special reference configurations are extracted within the workspace.This yields“local”stiffness performance indices capable of accurately evaluating the overall stiffness performance of the mechanism and effectively improving the computational efficiency.The variations in global and“local”stiffness performance indices versus key design parameters are investigated.Furthermore,the proposed indices are applied to the Tricept and Trimule mechanisms.The results demonstrate that the proposed indices exhibit excellent computational accuracy and efficiency in evaluating the overall stiffness performance of these spherical parallel mechanisms.Moreover,the stiffness performance of the novel parallel mechanism investigated in this study closely resembles that of the well-known Tricept and Trimule mechanisms.This research proposes a semi-analytic stiffness model of the Trifree mechanism and“local”stiffness performance indices to evaluate the overall stiffness performance,thereby substantially improving the computational efficiency without sacrificing accuracy.展开更多
This paper presents a continuum manipulator inspired by the anatomical characteristics of the elephant trunk.Specifically,the manipulator mimics the conoid profile of the elephant trunk,which helps to enhance its stre...This paper presents a continuum manipulator inspired by the anatomical characteristics of the elephant trunk.Specifically,the manipulator mimics the conoid profile of the elephant trunk,which helps to enhance its strength.The design features two concentric parts:inner pneumatically actuated bellows and an outer tendon-driven helical spring.The tendons control the omnidirectional bending of the manipulator,while the fusion of the pneumatic bellows with the tendon-driven spring results in an antagonistic actuation mechanism that provides the manipulator with variable stiffness and extensibility.This paper presents a new design for extensible manipulator and analyzes its stiffness and motion characteristics.Experimental results are consistent with theoretical analysis,thereby demonstrating the validity of the theoretical approach and the versatile practical mechanical properties of the continuum manipulator.The impressive extensibility and variable stiffness of the manipulator were further demonstrated by performing a pin-hole assembly task.展开更多
基金Supported by National Natural Science Foundation of China(Grant No.51005018)Beijing Municipal Clean Vehicle Key Laboratory Open Foundation of China(2013)
文摘Most references on hydropneumatic suspension analysis regard it as harden Duffing spring and take the white noise as the system input, which is quite different from real physical model. It will introduce considerable errors to the analytical result compared with the numerical simulation which makes it impossible to give a good depiction of the hydropneumatic suspension dynamics. In this paper, the dynamic response of the hydropneumatic suspension is worked out using statistical linearization based on 2 DOFs nonlinear suspension model. The damping of the suspension and the tire stiffness are both regarded as linear components and the real road roughness spectrum is used to work out the system input. The explicit analytical equivalent stiffness, dynamic mean value offset from statistic equilibrium position and the sprung acceleration varied with parameters of hydropneumatic spring, road roughness and vehicle velocity are worked out by substituting the nonlinear stiffness of hydropneumatic spring with its first three terms Tyler series at the static equilibrium position using James formula. The comparison of the numerical simulation and analytical result both on statistical parameters and distribution shows the validity of the analysis. The explicit form provides a concise and valid method on hydropneumatic suspension design and optimization.
基金supported by the National Natural Science Foundation of China(Grant No.51679138)the 1000 Young Talent Program(Grant No.15Z127060020)the National Basic Research Program of China(973 Program,Grant Nos.2015CB251203 and 2013CB036103)
文摘A phenomenological model for predicting the vortex-induced motion (VIM) of a single-column platform with non- linear stiffness has been proposed. The VIM model is based on the couple of the Duffing-van der Pol oscillators and the motion equations with non-linear terms. The model with liner stiffness is presented for comparison and their results are compared with the experiments in order to calibrate the model. The computed results show that the predicted VIM amplitudes and periods of oscillation are in qualitative agreements with the experimental data. Compared with the results with linear stiffness, it is found that the application of non-linear stiffness causes the significant reductions in the in-line and transverse motion amplitudes. Under the non-linear stiffness constraint, the lock-in behavior is still identified at 8<Ur<15, and the trajectories of the VIM on the xy plane with eight-figure patterns are maintained. The results with different non-linear geometrically parameters show that both in-line and transverse non-linear characteristics can significantly affect the predict in-line and transverse motion amplitudes. Furthermore, the computed results for different aspect ratios indicate that the in-line and transverse motion amplitudes increase with the growth of aspect ratio, and the range of lock-in region is enlarged for the large aspect ratio.
基金supported by the National Natural Science Foundation of China(52332006)the National Key Research and Development Program of China(2022YFB380600 and 2023YFB3811401)+1 种基金the China Postdoctoral Science Foundation(2022M721850)Southwest United Graduate School Research Program(202302AO370008)。
文摘Quasi-zero-stiffness(QZS)metamaterials have attracted significant interest for application in low-frequency vibration isolation.However,previous work has been limited by the design mechanism of QZS metamaterials,as it is still difficult to achieve a simplified structure suitable for practical engineering applications.Here,we introduce a class of programmable QZS metamaterials and a novel design mechanism that address this long-standing difficulty.The proposed QZS metamaterials are formed by an array of representative unit cells(RUCs)with the expected QZS features,where the QZS features of the RUC are tailored by means of a structural bionic mechanism.In our experiments,we validate the QZS features exhibited by the RUCs,the programmable QZS behavior,and the potential promising applications of these programmable QZS metamaterials in low-frequency vibration isolation.The obtained results could inspire a new class of programmable QZS metamaterials for low-frequency vibration isolation in current and future mechanical and other engineering applications.
基金supported by the National Nature Science Foundation of China(No.82002345 to J.D and 81902179 to L.S)the Gusu Talent Program(No.Qngg2022008 and GSWS2021027 to J.D)the Preliminary Research Project of the Second Affiliated Hospital of Soochow University(No.SDFEYBS1905 to J.D).
文摘Increased matrix stiffness of nucleus pulposus(NP)tissue is a main feature of intervertebral disc degeneration(IVDD)and affects various functions of nucleus pulposus cells(NPCs).Glycolysis is the main energy source for NPC survival,but the effects and underlying mechanisms of increased extracellular matrix(ECM)stiffness on NPC glycolysis remain unknown.In this study,hydrogels with different stiffness were established to mimic the mechanical environment of NPCs.Notably,increased matrix stiffness in degenerated NP tissues from IVDD patients was accompanied with impaired glycolysis,and NPCs cultured on rigid substrates exhibited a reduction in glycolysis.
基金financially supported by the National Natural Science Foundation of China(Grant No.42172292)Taishan Scholars Project Special Funding,and Shandong Energy Group(Grant No.SNKJ 2022A01-R26).
文摘A conceptual model of intermittent joints is introduced to the cyclic shear test in the laboratory to explore the effects of loading parameters on its shear behavior under cyclic shear loading.The results show that the loading parameters(initial normal stress,normal stiffness,and shear velocity)determine propagation paths of the wing and secondary cracks in rock bridges during the initial shear cycle,creating different morphologies of macroscopic step-path rupture surfaces and asperities on them.The differences in stress state and rupture surface induce different cyclic shear responses.It shows that high initial normal stress accelerates asperity degradation,raises shear resistance,and promotes compression of intermittent joints.In addition,high normal stiffness provides higher normal stress and shear resistance during the initial cycles and inhibits the dilation and compression of intermittent joints.High shear velocity results in a higher shear resistance,greater dilation,and greater compression.Finally,shear strength is most sensitive to initial normal stress,followed by shear velocity and normal stiffness.Moreover,average dilation angle is most sensitive to initial normal stress,followed by normal stiffness and shear velocity.During the shear cycles,frictional coefficient is affected by asperity degradation,backfilling of rock debris,and frictional area,exhibiting a non-monotonic behavior.
基金supported by the Natio`nal Natural Science Foundation of China,No. 81801241a grant from Sichuan Science and Technology Program,No. 2023NSFSC1578Scientific Research Projects of Southwest Medical University,No. 2022ZD002 (all to JX)。
文摘Neuronal growth, extension, branching, and formation of neural networks are markedly influenced by the extracellular matrix—a complex network composed of proteins and carbohydrates secreted by cells. In addition to providing physical support for cells, the extracellular matrix also conveys critical mechanical stiffness cues. During the development of the nervous system, extracellular matrix stiffness plays a central role in guiding neuronal growth, particularly in the context of axonal extension, which is crucial for the formation of neural networks. In neural tissue engineering, manipulation of biomaterial stiffness is a promising strategy to provide a permissive environment for the repair and regeneration of injured nervous tissue. Recent research has fine-tuned synthetic biomaterials to fabricate scaffolds that closely replicate the stiffness profiles observed in the nervous system. In this review, we highlight the molecular mechanisms by which extracellular matrix stiffness regulates axonal growth and regeneration. We highlight the progress made in the development of stiffness-tunable biomaterials to emulate in vivo extracellular matrix environments, with an emphasis on their application in neural repair and regeneration, along with a discussion of the current limitations and future prospects. The exploration and optimization of the stiffness-tunable biomaterials has the potential to markedly advance the development of neural tissue engineering.
基金supports for this research were provided by the National Natural Science Foundation of China(No.12272301,12002278,U1906233)the Guangdong Basic and Applied Basic Research Foundation,China(Nos.2023A1515011970,2024A1515010256)+1 种基金the Dalian City Supports Innovation and Entrepreneurship Projects for High-Level Talents,China(2021RD16)the Key R&D Project of CSCEC,China(No.CSCEC-2020-Z-4).
文摘Fiber-reinforced composites are an ideal material for the lightweight design of aerospace structures. Especially in recent years, with the rapid development of composite additive manufacturing technology, the design optimization of variable stiffness of fiber-reinforced composite laminates has attracted widespread attention from scholars and industry. In these aerospace composite structures, numerous cutout panels and shells serve as access points for maintaining electrical, fuel, and hydraulic systems. The traditional fiber-reinforced composite laminate subtractive drilling manufacturing inevitably faces the problems of interlayer delamination, fiber fracture, and burr of the laminate. Continuous fiber additive manufacturing technology offers the potential for integrated design optimization and manufacturing with high structural performance. Considering the integration of design and manufacturability in continuous fiber additive manufacturing, the paper proposes linear and nonlinear filtering strategies based on the Normal Distribution Fiber Optimization (NDFO) material interpolation scheme to overcome the challenge of discrete fiber optimization results, which are difficult to apply directly to continuous fiber additive manufacturing. With minimizing structural compliance as the objective function, the proposed approach provides a strategy to achieve continuity of discrete fiber paths in the variable stiffness design optimization of composite laminates with regular and irregular holes. In the variable stiffness design optimization model, the number of candidate fiber laying angles in the NDFO material interpolation scheme is considered as design variable. The sensitivity information of structural compliance with respect to the number of candidate fiber laying angles is obtained using the analytical sensitivity analysis method. Based on the proposed variable stiffness design optimization method for complex perforated composite laminates, the numerical examples consider the variable stiffness design optimization of typical non-perforated and perforated composite laminates with circular, square, and irregular holes, and systematically discuss the number of candidate discrete fiber laying angles, discrete fiber continuous filtering strategies, and filter radius on structural compliance, continuity, and manufacturability. The optimized discrete fiber angles of variable stiffness laminates are converted into continuous fiber laying paths using a streamlined process for continuous fiber additive manufacturing. Meanwhile, the optimized non-perforated and perforated MBB beams after discrete fiber continuous treatment, are manufactured using continuous fiber co-extrusion additive manufacturing technology to verify the effectiveness of the variable stiffness fiber optimization framework proposed in this paper.
基金Project supported by the National Natural Science Foundation of China(Nos.52241103 and 52322505)the Natural Science Foundation of Hunan Province of China(No.2023JJ10055)。
文摘An analytical method is proposed with the “stiffness gradient of the response” as a sensitivity metric, and the relationships between the vibration responses and stiffness changes are established. First, a 2-degree-of-freedom (DOF) system is used as an example to propose a stiffness gradient-based evaluation method, taking the effective control bandwidth ratio as a metric of effectiveness. The results show that there is an optimal mass ratio in both variable mass and variable stiffness cases. Then, a typical 16-DOF system is used to investigate the frequency domain characteristics of the stiffness gradient values in the complex system. The distributions of stiffness gradient values show multiple peak intervals corresponding to the sensitive regions for vibration control. By assigning random mass parameters, a significant exponential decay relationship between the subsystem’s mass and effective control is identified, emphasizing the importance of the optimal mass ratio. The finite-element simulation results of solid plate models with springs and oscillators further validate the theoretical results. In short, the gradient value of stiffness effectively quantifies the effects of subsystems on vibration control, providing an analytical tool for active control in complex systems. The identified exponential decay relationship offers meaningful guidance for implementation strategies.
基金Supported by the High-Level Chinese Medicine Key Discipline Construction Project,No.zyyzdxk-2023005Capital’s Funds for Health Improvement and Research,No.2024-1-2173+2 种基金National Natural Science Foundation of China,No.82474419 and No.82474426Beijing Municipal Natural Science Foundation,No.7232272Beijing Traditional Chinese Medicine Technology Development Fund Project,No.BJZYZD-2023-12.
文摘BACKGROUND Clinically significant portal hypertension(CSPH)is a crucial prognostic deter-minant for liver-related events(LREs)in patients with compensated viral cir-rhosis.Liver stiffness measurement(LSM)-related markers may help to predict the risk of LREs.AIM To evaluate the value of LSM and its composite biomarkers[LSM-platelet ratio(LPR),LSM-albumin ratio(LAR)]in predicting LREs.METHODS This study retrospectively enrolled compensated viral cirrhosis patients with CSPH.The Cox regression model was employed to examine the prediction of LSM,LPR,and LAR for LREs.The model performance was assessed through receiver operating characteristic,decision curve,and time-dependent area under the curve analysis.The Kaplan-Meier curve was used to evaluate the cumulative incidence of LREs,and further stratified analysis of different LREs was per-formed.RESULTS A total of 598 patients were included,and 319 patients(53.3%)developed LREs during follow-up.Multivariate proportional hazards modeling demonstrated that LSM,LPR,and LAR were independent predictors of LREs.LPR had better performance in predicting LREs than LAR and LSM(area under the curve=0.780,0.727,0.683,respectively,all P<0.05).The cumulative incidence of LREs in the high-risk group were significantly higher than that in the low-risk group(P<0.001).Among the different LREs,LPR was superior to LSM and LAR in predicting liver decompensation,while the difference in predicting hepatocellular carcinoma and liver-related death was relatively small.CONCLUSION LPR is superior to LSM and LAR in predicting LREs in compensated viral cirrhosis patients with CSPH,especially in predicting liver decompensation.
基金supported by the National Natural Science Foundation of China(Grant No.11732006)the“Qinglan Project”of Jiangsu Higher Education Institutions.
文摘Quasi-zero stiffness(QZS)isolators have received considerable attention over the past years due to their outstanding vibration isolation performance in low-frequency bands.However,traditional mechanisms for achieving QZS suffer from low stiffness regions and significant nonlinear restoring forces with hardening characteristics,often struggling to withstand excitations with high amplitude.This paper presents a novel QZS vibration isolator that utilizes a more compact spring-rod mechanism(SRM)to provide primary negative stiffness.The nonlinearity of SRM is adjustable via altering the raceway of its spring-rod end,along with the compensatory force provided by the cam-roller mechanism so as to avoid complex nonlinear behaviors.The absolute zero stiffness can be achieved by a well-designed raceway curve with a concise mathematical expression.The nonlinear stiffness with softening properties can also be achieved by parameter adjustment.The study begins with the forcedisplacement relationship of the integrated mechanism first,followed by the design theory of the cam profile.The dynamic response and absolute displacement transmissibility of the isolation system are obtained based on the harmonic balance method.The experimental results show that the proposed vibration isolator maintains relatively low-dynamic stiffness even under non-ideal conditions,and exhibits enhanced vibration isolation performance compared to the corresponding linear isolator.
基金Financial supports from the PolyU Distinguished Postdoctoral Fellowship Scheme are highly appreciatedsupported by the National Natural Science Foundation of China (Grant No.52201008)the Fundamental Research Funds for the Central Universities,the State Key Laboratory of Particle Detection and Electronics (Grant No.SKLPDE-KF-202311).
文摘Utilizing the Discrete Element Method,this research studied the stiffness distribution of gap-graded soils by modifying the conventional static method.By acknowledging the inherent particle property disparity between coarser and finer particles,this research differentiates the stiffness distribution of gap-graded soils from the perspective of contact and particle types.Results indicate that particle property disparity significantly influence the small-strain stiffness characteristics,consequently altering the overall stiffness distribution in gap-graded soil specimens.Specifically,with the equivalent coarser particle property,an increase in particle Young's modulus of finer particles results in an augmentation of small-strain stiffness values,alongside an increased stiffness distribution contribution from finer particles.Nevertheless,this study reveals that even with a higher particle Young's modulus of finer particles,the proportion of small-strain stiffness transferred by finer particles remains consistently lower than their volume fraction.Furthermore,the proportion of stiffness transferred by finer particles may fall below their contribution to stress transmission.This investigation accentuates the subtle yet significant effects of particle property variations on small strain stiffness and its subsequent distribution,providing a foundation for advancing the significance of particle property disparities in evaluating soil responses.
文摘The deterioration of soft rocks caused by freeze-thaw(F-T)climatic cycles results in huge structural and financial loss for foundation systems placed on soft rocks prone to F-T actions.In this study,cementtreated sand(CTS)and natural soft shale were subjected to unconfined compression and splitting tensile strength tests for evaluation of unconfined compressive strength(UCS,qu),initial small-strain Young’s modulus(Eo)using linear displacement transducers(LDT)up to a small strain of 0.001%,and secant elastic modulus(E_(50))using linear variable differential transducers(LVDTs)up to a large strain of 6%before and after reproduced laboratory weathering(RLW)cycles(-20℃e-110℃).The results showed that eight F-T cycles caused a reduction in q_(u),E_(50) and E_(o),which was 8.6,15.1,and 14.5 times for the CTS,and 2.2,3.5,and 5.3 times for the natural shale,respectively.The tensile strength of the CTS and natural rock samples exhibited a degradation of 5.4 times(after the 8th RLW cycle)and 2.7 times(after the 15th RLW cycle),respectively.Novel correlations have been developed to predict Eo(response)from the parameters qu and E_(50)(predictors)using MATLAB software's curve fitter.The findings of this study will assist in the design of foundations in soft rocks subjected to freezing and thawing.The analysis of variance(ANOVA)indicated 95%confidence in data health for the design of retaining walls,building foundations,excavation in soft rock,large-diameter borehole stability,and transportation tunnels in rocks for an operational strain range of 0.1%e0.01%(using LVDT)and a reference strain of less than 0.001%(using LDT).
基金Supported by Xi’an Science and Technology Plan,No.23YXYJ0172.
文摘BACKGROUND The hepatic venous pressure gradient serves as a crucial parameter for assessing portal hypertension and predicting clinical decompensation in individuals with cirrhosis.However,owing to its invasive nature,there has been growing interest in identifying noninvasive alternatives.Transient elastography offers a promising approach for measuring liver stiffness and spleen stiffness,which can help estimate the likelihood of decompensation in patients with chronic liver disease.AIM To investigate the predictive ability of the liver stiffness measurement(LSM)and spleen stiffness measurement(SSM)in conjunction with other noninvasive indicators for clinical decompensation in patients suffering from compensatory cirrhosis and portal hypertension.METHODS This study was a retrospective analysis of the clinical data of 200 patients who were diagnosed with viral cirrhosis and who received computed tomography,transient elastography,ultrasound,and endoscopic examinations at The Second Affiliated Hospital of Xi’an Jiaotong University between March 2020 and November 2022.Patient classification was performed in accordance with the Baveno VI consensus.The area under the curve was used to evaluate and compare the predictive accuracy across different patient groups.The diagnostic effectiveness of several models,including the liver stiffness-spleen diameter-platelet ratio,variceal risk index,aspartate aminotransferase-alanine aminotransferase ratio,Baveno Ⅵ criteria,and newly developed models,was assessed.Additionally,decision curve analysis was carried out across a range of threshold probabilities to evaluate the clinical utility of these predictive factors.RESULTS Univariate and multivariate analyses demonstrated that SSM,LSM,and the spleen length diameter(SLD)were linked to clinical decompensation in individuals with viral cirrhosis.On the basis of these findings,a predictive model was developed via logistic regression:Ln[P/(1-P)]=-4.969-0.279×SSM+0.348×LSM+0.272×SLD.The model exhibited strong performance,with an area under the curve of 0.944.At a cutoff value of 0.56,the sensitivity,specificity,positive predictive value,and negative predictive value for predicting clinical decompensation were 85.29%,88.89%,87.89%,and 86.47%,respectively.The newly developed model demonstrated enhanced accuracy in forecasting clinical decompensation among patients suffering from viral cirrhosis when compared to four previously established models.CONCLUSION Noninvasive models utilizing SSM,LSM,and SLD are effective in predicting clinical decompensation among patients with viral cirrhosis,thereby reducing the need for unnecessary hepatic venous pressure gradient testing.
文摘Correction to:Nano-Micro Lett.(2023)15:233 https://doi.org/10.1007/s40820-023-01201-7 Following publication of the original article[1],the authors reported that the first two lines of the introduction were accidentally placed in the right-hand column of the page in the PDF,which affects the readability.
基金Supported by National Natural Science Foundation of China(Grant Nos.52335002,52205014,52275033)the Fundamental Research Funds for the Central Universities(Grant No.JZ2024HGTB0245).
文摘Cable-driven parallel robots(CDPRs)have advantages of larger workspace and load capacity than conventional parallel robots while existing interference problems among cables,workpieces and the end-effector.In order to avoid collision and improve the flexibility of the robots,this study proposes a reconfigurable cable-driven parallel robot(RCDPR)having characteristics of large load-to-weight ratio,easy modularity and variable stiffness.Adjustable brackets are connected to the moving platform to adjust the position of the pull-out point with the movement of the end-effector.In addition,a variable stiffness actuator(VSA)accompanied by finite element analysis is designed to optimize the cable tension to adapt different task requirements.Firstly,a new idea of reconfiguration is given,and an inverse kinematic model is established using the vector closure principle to derive its inverse kinematic expressions focusing on one of the configurations.Second,the VSA is attached to each cable to achieve stiffness adjustment,and the system stiffness is derived in detail.Finally,the rationality and accuracy of the robot are verified through numerical analysis,providing a reference for subsequent trajectory planning with implications.
文摘Arterial stiffness is considered an important indicator reflecting age-related changes in the vascular wall[1]and the risk of developing comorbidities,[2]primarily cardiovascular diseases.[3]Cardiovascular diseases remain the leading cause of death worldwide.Many factors influence the rate of arterial aging.Research results have confirmed that arterial wall stiffness increases with an increasing number of risk factors,[4]as each of them acts independently through various mechanisms,adversely affecting the structure and function of the cardiovascular system.
基金supported in part by the National Institutes of Health(Nos.R01HD112026 and R21ES034455)National Science Foundation(NSF,Nos.2135720 and 2223669)performed at San Diego Nanotechnology Infrastructure(SDNI)of UCSD,a member of the National Nanotechnology Coordinated Infrastructure(NNCI),which is supported by NSF(Grant No.ECCS-2025752).
文摘Bioprinting of cell-laden hydrogels is a rapidly growing field in tissue engineering.The advent of digital light processing(DLP)three-dimensional(3D)bioprinting technique has revolutionized the fabrication of complex 3D structures.By adjusting light exposure,it becomes possible to control the mechanical properties of the structure,a critical factor in modulating cell activities.To better mimic cell densities in real tissues,recent progress has been made in achieving high-cell-density(HCD)printing with high resolution.However,regulating the stiffness in HCD constructs remains challenging.The large volume of cells greatly affects the light-based DLP bioprinting by causing light absorption,reflection,and scattering.Here,we introduce a neural network-based machine learning technique to predict the stiffness of cell-laden hydrogel scaffolds.Using comprehensive mechanical testing data from 3D bioprinted samples,the model was trained to deliver accurate predictions.To address the demand of working with precious and costly cell types,we employed various methods to ensure the generalizability of the model,even with limited datasets.We demonstrated a transfer learning method to achieve good performance for a precious cell type with a reduced amount of data.The chosen method outperformed many other machine learning techniques,offering a reliable and efficient solution for stiffness prediction in cell-laden scaffolds.This breakthrough paves the way for the next generation of precision bioprinting and more customized tissue engineering.
基金the financial support received from the National Natural Science Foundation of China(Grant Nos.42072317 and 41727802)the Science and Technology Commission of Shanghai Municipality(Funding No.21DZ1204300).
文摘Comprehensive investigations have been conducted to study the structure and overconsolidation of upper Shanghai clays, i.e. Layers 2–6 clays, typically located at depths of 30–40 m. However, limited information is available on their anisotropy, and even less is known about the correlation between structure, overconsolidation, and anisotropy. In this study, the undrained anisotropy characteristics of shear strength and small-strain shear stiffness in upper Shanghai Layers 2–6 clays were thoroughly assessed using a series of K0-consolidated undrained triaxial compression (TC) and triaxial extension (TE) tests (K0 is the coefficient of lateral earth pressure at rest). The effective stress paths, shear strength, and small-strain shear stiffness from the undrained TC and TE tests demonstrate the anisotropic behaviors in upper Shanghai clays. Analyses of data from upper Shanghai clays and other clays worldwide indicate that the shear strength anisotropy ratio (Ks) converges at 0.8 as the overconsolidation ratio (OCR) and plasticity index (Ip) increase, while the small-strain shear stiffness anisotropy ratio (Re) converges at 1.0. The influence of OCR on Ks and Re is more pronounced than that of Ip and sensitivity (St). Nevertheless, no clear correlation between Ks and Re is observed in upper Shanghai clays.
基金Supported by National High-quality Development Project of China(Grant No.2340STCZB193).
文摘The average stiffness performance indices throughout the workspace are commonly used as global stiffness performance indices to evaluate the overall stiffness performance of parallel mechanisms,which involves an analysis of the stiffness performance of numerous discrete points in the workspace.This necessitates time-consuming and inefficient calculation,which is particularly pronounced in the optimization design stage of the mechanism,where the variations in the global stiffness performance indices versus various dimensional and structural parameters need to be analyzed.This paper presents a semi-analytical approach for stiffness modeling of the novel(R(RPS&RP))&2-UPS parallel mechanism(referred to as the Trifree mechanism)and proposes“local”stiffness performance indices as alternatives to global indices.Drawing on the screw theory,the Cartesian stiffness matrix of the Trifree mechanism is formulated explicitly by considering the compliances of all elastic elements and the over-constraint characteristics inherent in the mechanism.Based on the spherical motion pattern of the Trifree mechanism,four special reference configurations are extracted within the workspace.This yields“local”stiffness performance indices capable of accurately evaluating the overall stiffness performance of the mechanism and effectively improving the computational efficiency.The variations in global and“local”stiffness performance indices versus key design parameters are investigated.Furthermore,the proposed indices are applied to the Tricept and Trimule mechanisms.The results demonstrate that the proposed indices exhibit excellent computational accuracy and efficiency in evaluating the overall stiffness performance of these spherical parallel mechanisms.Moreover,the stiffness performance of the novel parallel mechanism investigated in this study closely resembles that of the well-known Tricept and Trimule mechanisms.This research proposes a semi-analytic stiffness model of the Trifree mechanism and“local”stiffness performance indices to evaluate the overall stiffness performance,thereby substantially improving the computational efficiency without sacrificing accuracy.
基金supported by the National Key R&D Program of China(No.2018YFB1305400)the Major Research Plan of the National Natural Science Foundation of China(No.92048301)+1 种基金the National Natural Science Foundation of China(No.52025054)the Joint Research Fund between the National Natural Science Foundation of China(NSFC)and Shen Zhen(No.U1713201).
文摘This paper presents a continuum manipulator inspired by the anatomical characteristics of the elephant trunk.Specifically,the manipulator mimics the conoid profile of the elephant trunk,which helps to enhance its strength.The design features two concentric parts:inner pneumatically actuated bellows and an outer tendon-driven helical spring.The tendons control the omnidirectional bending of the manipulator,while the fusion of the pneumatic bellows with the tendon-driven spring results in an antagonistic actuation mechanism that provides the manipulator with variable stiffness and extensibility.This paper presents a new design for extensible manipulator and analyzes its stiffness and motion characteristics.Experimental results are consistent with theoretical analysis,thereby demonstrating the validity of the theoretical approach and the versatile practical mechanical properties of the continuum manipulator.The impressive extensibility and variable stiffness of the manipulator were further demonstrated by performing a pin-hole assembly task.
