As a crucial component of intelligent chassis systems,air suspension significantly enhances driver comfort and vehicle stability.To further improve the adaptability of commercial vehicles to complex and variable road ...As a crucial component of intelligent chassis systems,air suspension significantly enhances driver comfort and vehicle stability.To further improve the adaptability of commercial vehicles to complex and variable road conditions,this paper proposes a linear motor active suspension with quasi-zero stiffness(QZS)air spring system.Firstly,a dynamic model of the linear motor active suspension with QZS air spring system is established.Secondly,considering the random uncertainties in the linear motor parameters due to manufacturing and environmental factors,a dynamic model and state equations incorporating these uncertainties are constructed using the polynomial chaos expansion(PCE)method.Then,based on H_(2) robust control theory and the Kalman filter,a state feedback control law is derived,accounting for the random parameter uncertainties.Finally,simulation and hardware-in-the-loop(HIL)experimental results demonstrate that the PCE-H_(2) robust controller not only provides better performance in terms of vehicle ride comfort compared to general H_(2) robust controller but also exhibits higher robustness to the effects of random uncertain parameters,resulting in more stable control performance.展开更多
The displacement feedback with time delay considered is introduced in order to enhance the vibration isolation performance of a high-static-low-dynamic stiffness(HSLDS) vibration isolator. Such feedback is detailedly ...The displacement feedback with time delay considered is introduced in order to enhance the vibration isolation performance of a high-static-low-dynamic stiffness(HSLDS) vibration isolator. Such feedback is detailedly analyzed from the viewpoint of equivalent damping. Firstly, the primary resonance of the controlled HSLDS vibration isolator subjected to a harmonic force excitation is obtained based on the multiple scales method and further verified by numerical integration. The stability of the primary resonance is subsequently investigated. Then, the equivalent damping is defined to study the effects of feedback gain and time delay on primary resonance. The condition of jump avoidance is obtained with the purpose of eliminating the adverse effects induced by jumps. Finally, the force transmissibility of the controlled HSLDS vibration isolator is defined to evaluate its isolation performance. It is shown that an appropriate choice of feedback parameters can effectively suppress the force transmissibility in resonant region and reduce the resonance frequency. Furthermore, a wider vibration isolation frequency bandwidth can be achieved compared to the passive HSLDS vibration isolator.展开更多
An innovative variable stiffness device is proposed and investigated based on numerical simulations. The device, called a folding variable stiffness spring （FVSS）, can be widely used, especially in tuned mass dampe...An innovative variable stiffness device is proposed and investigated based on numerical simulations. The device, called a folding variable stiffness spring （FVSS）, can be widely used, especially in tuned mass dampers （TMDs） with adaptive stiffness. An important characteristic of FVSS is its capability to change the stiffness between lower and upper bounds through a small change of distance between its supports. This special feature results in lower time-lag errors and readjustment in shorter time intervals. The governing equations of the device are derived and simplified for a symmetrical FVSS with similar elements. This device is then used to control a single-degree-of-freedom （SDOF） structure as well as a multi-degree-of-freedom （MDOF） structure via a semi-active TMD. Numerical simulations are conducted to compare several control cases for these structures. To make it more realistic, a real direct current motor with its own limitations is simulated in addition to an ideal control case with no limitations and both the results are compared. It is shown that the proposed device can be effectively used to suppress undesirable vibrations of a structure and considerably improves the performance of the controller compared to a passive device.展开更多
Piezoelectric ceramic is hard to be integrated with the normal spring structure.To address the above problem,this paper proposed a new geometry of a clip‑like spring which is very similar to binder clip in our daily l...Piezoelectric ceramic is hard to be integrated with the normal spring structure.To address the above problem,this paper proposed a new geometry of a clip‑like spring which is very similar to binder clip in our daily life.The equivalent stiffness of the designed piezoelectric clip‑like spring is thoroughly researched and discussed through the theoretical model,the finite element simulation and the experimental measurement.The results confirm the possibility of designing a compact piezoelectric clip‑like spring,and the equivalent stiffness can be tuned through the several key geometric parameters.Finally,theoretical predictions confirmed by experimental results show that the equivalent stiffness of the spring structure is as function of the instantaneous angle of the clip,this stiffness variation caused by the geometric nonlinearity can be ignored in some practical engineering applications,which means it is possible to linearize the clip‑like spring and simplify the following dynamic model of the corresponding piezoelectric oscillators.展开更多
Being di erent from avoidance of singularity of closed-loop linkages, this paper employs the kinematic singularity to construct compliant mechanisms with expected nonlinear sti ness characteristics to enrich the metho...Being di erent from avoidance of singularity of closed-loop linkages, this paper employs the kinematic singularity to construct compliant mechanisms with expected nonlinear sti ness characteristics to enrich the methods of compliant mechanisms synthesis. The theory for generating kinetostatic nonlinear sti ness characteristic by the kinematic limb-singularity of a crank-slider linkage is developed. Based on the principle of virtual work, the kinetostatic model of the crank-linkage with springs is established. The influences of spring sti ness on the toque-position angle relation are analyzed. It indicates that corresponding spring sti ness may generate one of four types of nonlinear sti ness characteristics including the bi-stable, local negative-sti ness, zero-sti ness or positive-sti ness when the mechanism works around the kinematic limb-singularity position. Thus the compliant mechanism with an expected sti ness characteristic can be constructed by employing the pseudo rigid-body model of the mechanism whose joints or links are replaced by corresponding flexures. Finally, a tri-symmetrical constant-torque compliant mechanism is fabricated,where the curve of torque-position angle is obtained by an experimental testing. The measurement indicates that the compliant mechanism can generate a nearly constant-torque zone.展开更多
The paper aims to analyze the impacts of punch damper stiffness on equipment base and vibration, andintroduce the development and application of a disc spring damper featured hard-soft-hard variable stiffness. Adamper...The paper aims to analyze the impacts of punch damper stiffness on equipment base and vibration, andintroduce the development and application of a disc spring damper featured hard-soft-hard variable stiffness. Adamper has four damping columns with C-type disc springs whose laminates plate number gradually increases setby set. Compared with its counterparts, this kind of dampers has the advantages of high energy absorption andvibration damping effect, which not only can effectively reduce the vibration of the foundation of punch press,but also prevents the vibration range from increasing. Also, this kind of dampers is of low cost and convenient touse.展开更多
A novel implementation of negative stiffness elements(NSEs)is proposed,utilizing industrial grade nitrogen gas springs as pre-stressed stiffness elements in a configuration with lever arms.This NSE is combined with an...A novel implementation of negative stiffness elements(NSEs)is proposed,utilizing industrial grade nitrogen gas springs as pre-stressed stiffness elements in a configuration with lever arms.This NSE is combined with an inerter to form a stiff dynamic absorber(SDA)for vertical seismic protection of structures with base isolation.The SDA is optimized to minimize vertical accelerations while ensuring static structural integrity,excellent damping performance and containment of relative displacements.The introduction of gas springs in place of conventional linear springs addresses important practical limitations through features of non-linearity and industrial grade manufacturing.The proposed implementation is dimensioned for a 50-ton structure and evaluated numerically for 25 actual earthquake records,in comparison with a linear SDA model and an equivalent conventional damper(CD).Individual and averaged results of acceleration and displacement time histories demonstrate vastly superior response compared to CD regarding induced accelerations for similar displacements.Performance equivalency with the linear SDA model indicates the stability of the gas spring implementation while guaranteeing predictability,tested endurance,proper tolerances,and off-axis motion resistance without requiring additional guiding components,as opposed to conventional springs.These features render the proposed implementation a promising solution for the realization of NSEs in seismic protection.展开更多
Variable Stiffness Actuator(VSA)is the core mechanism to achieve physical human–robot interaction,which is an inevitable development trend in robotic.The existing variable stiffness actuators are basically single deg...Variable Stiffness Actuator(VSA)is the core mechanism to achieve physical human–robot interaction,which is an inevitable development trend in robotic.The existing variable stiffness actuators are basically single degree-of-freedom(DOF)rotating joints,which are achieving multi-DOF motion by cascades and resulting in complex robot body structures.In this paper,an integrated 2-DOF actuator with variable stiffness is proposed,which could be used for bionic wrist joints or shoulder joints.The 2-DOF motion is coupling in one universal joint,which is different from the way of single DOF actuators cascade.Based on the 2-DOF orthogonal motion generated by the spherical wrist parallel mechanism,the stiffness could be adjusted by varying the effective length of the springs,which is uniformly distributed in the variable stiffness unit.The variable stiffness principle,the model design,and theoretical analysis of the VSA are discussed in this work.The independence of adjusting the equilibrium position and stiffness of the actuator is validated by experiments.The results show that the measured actuator characteristics are sufficiently matched the theoretical values.In the future,VSA could be used in biped robot or robotic arm,ensuring the safety of human–robot interaction.展开更多
This study predicts the characteristics of a compressible polytropic air spring model. A second-order nonlinear autonomous air spring model is presented. The proposed model is based on the assumption that polytropic p...This study predicts the characteristics of a compressible polytropic air spring model. A second-order nonlinear autonomous air spring model is presented. The proposed model is based on the assumption that polytropic processes occur. Isothermal and isentropic compression and expansion of the air within the spring chambers are the two scenarios that are taken into consideration. In these situations, the air inside the spring chambers compresses and expands, resulting in nonlinear spring restoring forces. The MATLAB/Simulink software environment is used to build a numerical simulation model for the dynamic behavior of the air spring. To quantify the values of the stiffnesses of the proposed models, a numerical solution is run over time for various values of the design parameters. The isentropic process case has a higher dynamic air spring stiffness than the isothermal process case, according to the results. The size of the air spring chamber and the area of the air spring piston influence the air spring stiffness in both situations. It is demonstrated that the stiffness of the air spring increases linearly with increasing piston area and decreases nonlinearly with increasing air chamber length. As long as the ratio of the vibration’s amplitude to the air spring’s chamber length is small, there is good agreement in both scenarios between the linearized model and the full nonlinear model. This implies that linear modeling is a reasonable approximation of the complete nonlinear model in this particular scenario.展开更多
Vibration reduction has always been one of hot and important topics in mechanical engineering,especially for the special measurement instrument.In this paper,a novel limb-inspired bionic structure is proposed to gener...Vibration reduction has always been one of hot and important topics in mechanical engineering,especially for the special measurement instrument.In this paper,a novel limb-inspired bionic structure is proposed to generate negative stiffness and design a new quasi-zero stiffness isolator via torsion springs,distinguishing from the existing tension spring structures in the literature.The nonlinear mathematical model of the proposed structure is developed and the corresponding dynamic properties are further investigated by using the Harmonic Balance method and ADAMS verification.To evaluate the vibration isolation performance,typical three-springs quasi-zero stiffness(TS QZS)system is selected to compare with the proposed bionic structure.And the graphical processing unit(GPU)parallel technology is applied to perform necessary two-parameter analyses,providing more insights into the effects of parameters on the transmissibility.It is shown that the proposed structure can show advantages over the typical TS QZS system in a wider vibration isolation range for harmonic excitation case and shorter decay time for the impact excitation case.展开更多
Negative stiffness mechanisms have great application potential in different fields, such as vibration isolation, energy absorption and mesh antenna unfolding. Although numerous compliant mechanisms with negative stiff...Negative stiffness mechanisms have great application potential in different fields, such as vibration isolation, energy absorption and mesh antenna unfolding. Although numerous compliant mechanisms with negative stiffness features have been implemented in literature, the designing work remains in its infancy, and proposing an original design strategy may open a new avenue for the future inventions. In this study, inspired by a toy, we developed a novel type of compliant mechanism composed of thin strips, possessing negative stiffness property under torsion. The negative stiffness feature is achieved by large deformation of the strips rather than mechanical buckling. As a consequence, the obtained negative stiffness segment covers a significantly long range. Demonstrated with examples, it was shown that the proposed mechanisms could be combined with other compliant mechanisms to realize long-range unusual torque-angle relationships, which can be used in different applications.展开更多
A force-aided lever with a preload spring is not only force-saving but also energy-saving. Therefore, it has great potential to be applied to dry clutch actuations. However, the negative stiffness of the clutch diaphr...A force-aided lever with a preload spring is not only force-saving but also energy-saving. Therefore, it has great potential to be applied to dry clutch actuations. However, the negative stiffness of the clutch diaphragm spring introduces unstable dynamics which becomes more intensive due to the preload spring. In order to explore the intensified unstability, this paper builds dynamic models for the rotating lever coupling a negative stiffness diaphragm spring and a preload spring. The stability analysis using the Routh-Huiwitz criterion shows that the open-loop system can never be stable due to the negative stiffness. Even if the diaphragm spring stiffness is positive, the system is still unstable when the preload of the spring exceeds an upper limit. A proportionalintegral-derivative(PID) closed-loop scheme addressing this problem is designed to stabilize the system. The stability analysis for the closed-loop system shows that stable region emerges in spite of the negative stiffness; the more the negative stiffness is, the less the allowed preload is. Further, the influences of the dimensions and PID parameters on the stability condition are investigated. Finally, the transient dynamic responses of the system subjected to disturbance are compared between the unstable open-loop and stabilized closed-loop systems.展开更多
Negative stiffness mechanisms can improve low-frequency vibration isolation performance and have been widely used in the vibration isolation of precision equipment. However, the negative stiffness mechanism usually in...Negative stiffness mechanisms can improve low-frequency vibration isolation performance and have been widely used in the vibration isolation of precision equipment. However, the negative stiffness mechanism usually introduces a nonlinear stiffness,resulting in a nonlinear response and worsening the vibration isolation performance, especially under large amplitude vibration.In this paper, an electromagnetic spring with linear negative stiffness(ESLNS) is proposed, in which the antagonistic ampere forces of the energized coils are used to generate negative stiffness within a long linear stroke. The magnetic field distribution is improved through the design of the magnetic circuit, thereby increasing the stiffness generation efficiency. The stiffness can be adjusted bidirectionally by current within the range of positive and negative stiffness. An electromagnetic stiffness model was established based on the equivalent magnetic circuit method. Experimental measurements verified the accuracy of the model and proved the linearity of the electromagnetic spring. A vibration isolator with high static and low dynamic stiffness(HSLDS) based on the ESLNS is designed and tested. The experimental results prove that the introduction of the ESLNS can effectively expand the isolation frequency band without changing the equilibrium position. Moreover, the vibration isolator with ESLNS does not produce nonlinear response. The proposed electromagnetic spring with linear negative stiffness extends the application range of HSLDS isolators to a large amplitude vibration environment.展开更多
A new composite suspension is developed, where a coil spring and a hydro-pneumatic spring are used in order to improve the poor reliability of off-road vehicle with pure hydro-pneumatic suspension. According to road c...A new composite suspension is developed, where a coil spring and a hydro-pneumatic spring are used in order to improve the poor reliability of off-road vehicle with pure hydro-pneumatic suspension. According to road conditions, the two springs play different roles. The method for matching the composite suspension stiffness and distributing the load is proposed. The working pressure of hydro-pneumatic spring as well as the load and stiffness characteristics of composite suspension is compared with a pure hydro-pneumatic suspension. In addition, the ISO weighted vehicle body acceleration, suspension travel and relative dynamic load of the wheels between two kinds of suspension are analyzed with a quarter vehicle mode. The simulation result shows that the developed composite suspension is more suitable for off-road vehicle than the one hydro-pneumatic suspension, because the composite suspension can reduce the working pressure, improve the reliability and keep a similar ride comfort with hydro-pneumatic suspension.展开更多
Different from the traditional railway trains,the combined levitation and guidance EDS maglev train is more likely to rotate after being disturbed.Therefore,the rotational electromagnetic stiffnesses are significant o...Different from the traditional railway trains,the combined levitation and guidance EDS maglev train is more likely to rotate after being disturbed.Therefore,the rotational electromagnetic stiffnesses are significant operating parameters for the train.In this paper,the different effects of each translational offset generated in the rotational motion on the corresponding rotational electromagnetic stiffnesses in the EDS maglev train are analyzed and calculated.Firstly,a three-dimensional model of the maglev train is established.Then,based on the space harmonic method and the equivalent circuit of the levitation and guidance circuits,the formulas of rolling,pitching and yawing stiffness are presented.Finally,by comparing with the three-dimensional finite element simulation results,the key translational displacements in the rotational motion which has a great impact on the stiffness are obtained.Hence,the three-dimensional analytical formula can be simplified and the computation can be reduced.In addition,the accuracy of the calculation results is verified by comparing with the experimental data of Yamanashi test line.展开更多
An adaptive dynamic vibration absorber(ADVA)is designed for lowfrequency vibration suppression.The leaf springs are applied as the tuning stiffness elements.The principle of variable stiffness is analyzed to obtain th...An adaptive dynamic vibration absorber(ADVA)is designed for lowfrequency vibration suppression.The leaf springs are applied as the tuning stiffness elements.The principle of variable stiffness is analyzed to obtain the effective range of the first natural frequency variation.A classic simply supported manipulator is selected as the controlled system.The coupled dynamic model of the manipulator-ADVA system is built to obtain the maximum damping efficiency and the vibration absorption capacity of the designed ADVA.An experimental platform is set up to verify the theoretical results.It is revealed that the ADVA can adjust the first natural frequency on a large scale by changing the curvature of the leaf springs.The amplitude of the manipulator is reduced obviously with the installation of the designed ADVA.Finally,based on the short-time Fourier transformation(STFT),a stepwise optimization algorithm is proposed to achieve a quick tuning of the natural frequency of the ADVA so that it can always coincide with the frequency of the prime structure.Through the above steps,the intelligent frequency tuning of the ADVA is realized with high vibration absorption performance in a wide frequency range.展开更多
The objective of this work was to study the vibration transmissibility characteristics of the undamped and damped smart spring systems. The frequency response characteristics of them were analyzed by using the equival...The objective of this work was to study the vibration transmissibility characteristics of the undamped and damped smart spring systems. The frequency response characteristics of them were analyzed by using the equivalent linearization technique, and the possible types of the system motion were distinguished by using the starting and ending frequencies. The influences of system parameters on the vibration transmissibility characteristics were discussed. The following conclusions may be drawn from the analysis results. The undamped smart spring system may simultaneously have one starting frequency and one ending frequency or only have one starting frequency, and the damped system may simultaneously have two starting frequencies and one ending frequency. There is an optimal control parameter to make the peak value of the vibration transmissibility curve of the system be minimum. When the mass ratio is far away from the stiffness ratio, the vibration transmissibility is small. The effect of the damping ratio on the system vibration transmissibility is significant while the control parameter is less than its optimal value. But the influence of the relative damping ratio on the vibration transmissibility is small.展开更多
The stiffness model of the finite element is applied to the Kirchhoff-love closed-form plate buckling;buckling is always in focus in plate assemblages. The useful Eigen-value solutions are unable to separate a square ...The stiffness model of the finite element is applied to the Kirchhoff-love closed-form plate buckling;buckling is always in focus in plate assemblages. The useful Eigen-value solutions are unable to separate a square plate from a much weaker long one in the most commonly-used all-simply supported plate (SSSS), among others. Spring-values of the Kirchhoff-Love plate are sought;once found, displacement-factors can be determined. Comparative </span><span style="font-family:Verdana;">displacements allow </span></span></span><span style="font-family:Verdana;"><span style="font-family:Verdana;"><span style="font-family:Verdana;">an </span></span></span><span style="font-family:Verdana;"><span style="font-family:Verdana;"><span style="font-family:Verdana;">easier and better evaluation of buckling-factors,</span></span></span><span style="font-family:Verdana;"><span style="font-family:Verdana;"><span style="font-family:Verdana;"> pure-shear, vibration and so are termed “buckling-displacement-factors”. In testing, many plates in mixed boundary conditions are evaluated for displacement</span></span></span><span><span><span style="font-family:""> </span></span></span><span style="font-family:Verdana;"><span style="font-family:Verdana;"><span style="font-family:Verdana;">assisted buckling-solutions, first. The displacement-factors made from fundamental Eigen-vectors, in a single-pass, are found to be within about one-percent of known elastic values. It is found that the Kirchhoff-Love plate</span></span></span><span><span><span style="font-family:""> </span></span></span><span style="font-family:Verdana;"><span style="font-family:Verdana;"><span style="font-family:Verdana;">spring and the finite-element spring, demonstrated, here, in the assemblage of beam-elements, are equivalent from the results. In either case</span></span></span><span style="font-family:Verdana;"><span style="font-family:Verdana;"><span style="font-family:Verdana;">,</span></span></span><span><span><span style="font-family:""><span style="font-family:Verdana;"> stiffness is first assembled, ready for any loading—transverse, buckling, shear, vibration. The simply-supported plate draws the only exact vibration solution, and so, in an additional new effort, all other results are calibrated from it;direct vibration solutions are made for comparison but such results are, hardly, better. In the process, interactive Kirchhoff-Love plate-field-sheets are presented, for design. It is now additionally demanded that the solution Eigen-vector be </span><span style="font-family:Verdana;">developable into a recognizable deflection-factor. A weaker plate cannot possess greater buckling strength, this is a check;to find stiffness the</span><span style="font-family:Verdana;"> deflection-factor must be exact or nearly so. Several examples justify the characteristic buckling displacement-factor as a new tool</span></span></span></span><span style="font-family:Verdana;">.展开更多
基金Supported by National Natural Science Foundation of China(Grant No.51875256)Open Platform Fund of Human Institute of Technology(Grant No.KFA22009).
文摘As a crucial component of intelligent chassis systems,air suspension significantly enhances driver comfort and vehicle stability.To further improve the adaptability of commercial vehicles to complex and variable road conditions,this paper proposes a linear motor active suspension with quasi-zero stiffness(QZS)air spring system.Firstly,a dynamic model of the linear motor active suspension with QZS air spring system is established.Secondly,considering the random uncertainties in the linear motor parameters due to manufacturing and environmental factors,a dynamic model and state equations incorporating these uncertainties are constructed using the polynomial chaos expansion(PCE)method.Then,based on H_(2) robust control theory and the Kalman filter,a state feedback control law is derived,accounting for the random parameter uncertainties.Finally,simulation and hardware-in-the-loop(HIL)experimental results demonstrate that the PCE-H_(2) robust controller not only provides better performance in terms of vehicle ride comfort compared to general H_(2) robust controller but also exhibits higher robustness to the effects of random uncertain parameters,resulting in more stable control performance.
基金Project(KYLX15_0256)supported by the Funding of Jiangsu Innovation Program for Graduate Education,ChinaProject(SV2015-KF-01)supported by the Open Project of State Key Laboratory for Strength and Vibration of Mechanical Structures,ChinaProject(XZA15003)supported by the Fundamental Research Funds for the Central Universities,China
文摘The displacement feedback with time delay considered is introduced in order to enhance the vibration isolation performance of a high-static-low-dynamic stiffness(HSLDS) vibration isolator. Such feedback is detailedly analyzed from the viewpoint of equivalent damping. Firstly, the primary resonance of the controlled HSLDS vibration isolator subjected to a harmonic force excitation is obtained based on the multiple scales method and further verified by numerical integration. The stability of the primary resonance is subsequently investigated. Then, the equivalent damping is defined to study the effects of feedback gain and time delay on primary resonance. The condition of jump avoidance is obtained with the purpose of eliminating the adverse effects induced by jumps. Finally, the force transmissibility of the controlled HSLDS vibration isolator is defined to evaluate its isolation performance. It is shown that an appropriate choice of feedback parameters can effectively suppress the force transmissibility in resonant region and reduce the resonance frequency. Furthermore, a wider vibration isolation frequency bandwidth can be achieved compared to the passive HSLDS vibration isolator.
文摘An innovative variable stiffness device is proposed and investigated based on numerical simulations. The device, called a folding variable stiffness spring （FVSS）, can be widely used, especially in tuned mass dampers （TMDs） with adaptive stiffness. An important characteristic of FVSS is its capability to change the stiffness between lower and upper bounds through a small change of distance between its supports. This special feature results in lower time-lag errors and readjustment in shorter time intervals. The governing equations of the device are derived and simplified for a symmetrical FVSS with similar elements. This device is then used to control a single-degree-of-freedom （SDOF） structure as well as a multi-degree-of-freedom （MDOF） structure via a semi-active TMD. Numerical simulations are conducted to compare several control cases for these structures. To make it more realistic, a real direct current motor with its own limitations is simulated in addition to an ideal control case with no limitations and both the results are compared. It is shown that the proposed device can be effectively used to suppress undesirable vibrations of a structure and considerably improves the performance of the controller compared to a passive device.
基金This work was supported by the National Natural Science Foundation of China(No.51705251)the Introduction of Talent Research Start-up Fund of Nanjing Institute of Technology(No.YKJ201960).
文摘Piezoelectric ceramic is hard to be integrated with the normal spring structure.To address the above problem,this paper proposed a new geometry of a clip‑like spring which is very similar to binder clip in our daily life.The equivalent stiffness of the designed piezoelectric clip‑like spring is thoroughly researched and discussed through the theoretical model,the finite element simulation and the experimental measurement.The results confirm the possibility of designing a compact piezoelectric clip‑like spring,and the equivalent stiffness can be tuned through the several key geometric parameters.Finally,theoretical predictions confirmed by experimental results show that the equivalent stiffness of the spring structure is as function of the instantaneous angle of the clip,this stiffness variation caused by the geometric nonlinearity can be ignored in some practical engineering applications,which means it is possible to linearize the clip‑like spring and simplify the following dynamic model of the corresponding piezoelectric oscillators.
基金Supported by National Natural Science Foundation of China(Grant No.51605006)Research Foundation of Key Laboratory of Manufacturing Systems and Advanced Technology of Guangxi Province,China(Grant No.17-259-05-013K)
文摘Being di erent from avoidance of singularity of closed-loop linkages, this paper employs the kinematic singularity to construct compliant mechanisms with expected nonlinear sti ness characteristics to enrich the methods of compliant mechanisms synthesis. The theory for generating kinetostatic nonlinear sti ness characteristic by the kinematic limb-singularity of a crank-slider linkage is developed. Based on the principle of virtual work, the kinetostatic model of the crank-linkage with springs is established. The influences of spring sti ness on the toque-position angle relation are analyzed. It indicates that corresponding spring sti ness may generate one of four types of nonlinear sti ness characteristics including the bi-stable, local negative-sti ness, zero-sti ness or positive-sti ness when the mechanism works around the kinematic limb-singularity position. Thus the compliant mechanism with an expected sti ness characteristic can be constructed by employing the pseudo rigid-body model of the mechanism whose joints or links are replaced by corresponding flexures. Finally, a tri-symmetrical constant-torque compliant mechanism is fabricated,where the curve of torque-position angle is obtained by an experimental testing. The measurement indicates that the compliant mechanism can generate a nearly constant-torque zone.
基金supported by the Scientific Research Project of Jieyang Vocational and Technical College(2017JYCKY01)the Innovation and Development Special Fund Project of Jieyang(2017xm014)
文摘The paper aims to analyze the impacts of punch damper stiffness on equipment base and vibration, andintroduce the development and application of a disc spring damper featured hard-soft-hard variable stiffness. Adamper has four damping columns with C-type disc springs whose laminates plate number gradually increases setby set. Compared with its counterparts, this kind of dampers has the advantages of high energy absorption andvibration damping effect, which not only can effectively reduce the vibration of the foundation of punch press,but also prevents the vibration range from increasing. Also, this kind of dampers is of low cost and convenient touse.
基金European Union′s Horizon 2020 Research and Innovation Programme under the Marie Skłodowska-Curie Grant No.INSPIRE-813424(“INSPIRE-Innovative Ground Interface Concepts for Structure Protection”)。
文摘A novel implementation of negative stiffness elements(NSEs)is proposed,utilizing industrial grade nitrogen gas springs as pre-stressed stiffness elements in a configuration with lever arms.This NSE is combined with an inerter to form a stiff dynamic absorber(SDA)for vertical seismic protection of structures with base isolation.The SDA is optimized to minimize vertical accelerations while ensuring static structural integrity,excellent damping performance and containment of relative displacements.The introduction of gas springs in place of conventional linear springs addresses important practical limitations through features of non-linearity and industrial grade manufacturing.The proposed implementation is dimensioned for a 50-ton structure and evaluated numerically for 25 actual earthquake records,in comparison with a linear SDA model and an equivalent conventional damper(CD).Individual and averaged results of acceleration and displacement time histories demonstrate vastly superior response compared to CD regarding induced accelerations for similar displacements.Performance equivalency with the linear SDA model indicates the stability of the gas spring implementation while guaranteeing predictability,tested endurance,proper tolerances,and off-axis motion resistance without requiring additional guiding components,as opposed to conventional springs.These features render the proposed implementation a promising solution for the realization of NSEs in seismic protection.
基金This work was supported by the National Key R&D Program of China(2018YFB1304600)National Natural Science Foundation of China(51605474,61821005)+1 种基金Key Research Program of Frontier Sciences,CAS,Grantno.ZDBS-LY-JSCollLiaoning RevitalizationTalents Program(XLYC1807090).
文摘Variable Stiffness Actuator(VSA)is the core mechanism to achieve physical human–robot interaction,which is an inevitable development trend in robotic.The existing variable stiffness actuators are basically single degree-of-freedom(DOF)rotating joints,which are achieving multi-DOF motion by cascades and resulting in complex robot body structures.In this paper,an integrated 2-DOF actuator with variable stiffness is proposed,which could be used for bionic wrist joints or shoulder joints.The 2-DOF motion is coupling in one universal joint,which is different from the way of single DOF actuators cascade.Based on the 2-DOF orthogonal motion generated by the spherical wrist parallel mechanism,the stiffness could be adjusted by varying the effective length of the springs,which is uniformly distributed in the variable stiffness unit.The variable stiffness principle,the model design,and theoretical analysis of the VSA are discussed in this work.The independence of adjusting the equilibrium position and stiffness of the actuator is validated by experiments.The results show that the measured actuator characteristics are sufficiently matched the theoretical values.In the future,VSA could be used in biped robot or robotic arm,ensuring the safety of human–robot interaction.
文摘This study predicts the characteristics of a compressible polytropic air spring model. A second-order nonlinear autonomous air spring model is presented. The proposed model is based on the assumption that polytropic processes occur. Isothermal and isentropic compression and expansion of the air within the spring chambers are the two scenarios that are taken into consideration. In these situations, the air inside the spring chambers compresses and expands, resulting in nonlinear spring restoring forces. The MATLAB/Simulink software environment is used to build a numerical simulation model for the dynamic behavior of the air spring. To quantify the values of the stiffnesses of the proposed models, a numerical solution is run over time for various values of the design parameters. The isentropic process case has a higher dynamic air spring stiffness than the isothermal process case, according to the results. The size of the air spring chamber and the area of the air spring piston influence the air spring stiffness in both situations. It is demonstrated that the stiffness of the air spring increases linearly with increasing piston area and decreases nonlinearly with increasing air chamber length. As long as the ratio of the vibration’s amplitude to the air spring’s chamber length is small, there is good agreement in both scenarios between the linearized model and the full nonlinear model. This implies that linear modeling is a reasonable approximation of the complete nonlinear model in this particular scenario.
基金supported by the National Natural Science Foundation of China(Grants 11832009 and 11672104)the Chair Professor of Lotus Scholars Program in Hunan province(Grants XJT2015408)。
文摘Vibration reduction has always been one of hot and important topics in mechanical engineering,especially for the special measurement instrument.In this paper,a novel limb-inspired bionic structure is proposed to generate negative stiffness and design a new quasi-zero stiffness isolator via torsion springs,distinguishing from the existing tension spring structures in the literature.The nonlinear mathematical model of the proposed structure is developed and the corresponding dynamic properties are further investigated by using the Harmonic Balance method and ADAMS verification.To evaluate the vibration isolation performance,typical three-springs quasi-zero stiffness(TS QZS)system is selected to compare with the proposed bionic structure.And the graphical processing unit(GPU)parallel technology is applied to perform necessary two-parameter analyses,providing more insights into the effects of parameters on the transmissibility.It is shown that the proposed structure can show advantages over the typical TS QZS system in a wider vibration isolation range for harmonic excitation case and shorter decay time for the impact excitation case.
基金supported by the National Natural Science Foundation of China(11872221 and 11302114)the Major State Basic Research Development Program(2012CB821203)
文摘Negative stiffness mechanisms have great application potential in different fields, such as vibration isolation, energy absorption and mesh antenna unfolding. Although numerous compliant mechanisms with negative stiffness features have been implemented in literature, the designing work remains in its infancy, and proposing an original design strategy may open a new avenue for the future inventions. In this study, inspired by a toy, we developed a novel type of compliant mechanism composed of thin strips, possessing negative stiffness property under torsion. The negative stiffness feature is achieved by large deformation of the strips rather than mechanical buckling. As a consequence, the obtained negative stiffness segment covers a significantly long range. Demonstrated with examples, it was shown that the proposed mechanisms could be combined with other compliant mechanisms to realize long-range unusual torque-angle relationships, which can be used in different applications.
基金the National Natural Science Foundation of China(No.51475284)
文摘A force-aided lever with a preload spring is not only force-saving but also energy-saving. Therefore, it has great potential to be applied to dry clutch actuations. However, the negative stiffness of the clutch diaphragm spring introduces unstable dynamics which becomes more intensive due to the preload spring. In order to explore the intensified unstability, this paper builds dynamic models for the rotating lever coupling a negative stiffness diaphragm spring and a preload spring. The stability analysis using the Routh-Huiwitz criterion shows that the open-loop system can never be stable due to the negative stiffness. Even if the diaphragm spring stiffness is positive, the system is still unstable when the preload of the spring exceeds an upper limit. A proportionalintegral-derivative(PID) closed-loop scheme addressing this problem is designed to stabilize the system. The stability analysis for the closed-loop system shows that stable region emerges in spite of the negative stiffness; the more the negative stiffness is, the less the allowed preload is. Further, the influences of the dimensions and PID parameters on the stability condition are investigated. Finally, the transient dynamic responses of the system subjected to disturbance are compared between the unstable open-loop and stabilized closed-loop systems.
基金supported by the National Natural Science Foundation of China(Grant Nos. 62325302, 62203076, 62103065)the China Postdoctoral Science Foundation(Grant No. 2021M700584)+1 种基金the Program of Shanghai Academic/Technology Research Leader(Grant No. 21XD1421400)the Natural Science Foundation of Chongqing, China(Grant No.cstc2020jcyj-zdxmX0014)。
文摘Negative stiffness mechanisms can improve low-frequency vibration isolation performance and have been widely used in the vibration isolation of precision equipment. However, the negative stiffness mechanism usually introduces a nonlinear stiffness,resulting in a nonlinear response and worsening the vibration isolation performance, especially under large amplitude vibration.In this paper, an electromagnetic spring with linear negative stiffness(ESLNS) is proposed, in which the antagonistic ampere forces of the energized coils are used to generate negative stiffness within a long linear stroke. The magnetic field distribution is improved through the design of the magnetic circuit, thereby increasing the stiffness generation efficiency. The stiffness can be adjusted bidirectionally by current within the range of positive and negative stiffness. An electromagnetic stiffness model was established based on the equivalent magnetic circuit method. Experimental measurements verified the accuracy of the model and proved the linearity of the electromagnetic spring. A vibration isolator with high static and low dynamic stiffness(HSLDS) based on the ESLNS is designed and tested. The experimental results prove that the introduction of the ESLNS can effectively expand the isolation frequency band without changing the equilibrium position. Moreover, the vibration isolator with ESLNS does not produce nonlinear response. The proposed electromagnetic spring with linear negative stiffness extends the application range of HSLDS isolators to a large amplitude vibration environment.
基金the Ministerial Level Research Foundation(1030020440802)
文摘A new composite suspension is developed, where a coil spring and a hydro-pneumatic spring are used in order to improve the poor reliability of off-road vehicle with pure hydro-pneumatic suspension. According to road conditions, the two springs play different roles. The method for matching the composite suspension stiffness and distributing the load is proposed. The working pressure of hydro-pneumatic spring as well as the load and stiffness characteristics of composite suspension is compared with a pure hydro-pneumatic suspension. In addition, the ISO weighted vehicle body acceleration, suspension travel and relative dynamic load of the wheels between two kinds of suspension are analyzed with a quarter vehicle mode. The simulation result shows that the developed composite suspension is more suitable for off-road vehicle than the one hydro-pneumatic suspension, because the composite suspension can reduce the working pressure, improve the reliability and keep a similar ride comfort with hydro-pneumatic suspension.
基金supported in part by the National Natural Science Foundation of China under Grant(52077003 and 51777009)。
文摘Different from the traditional railway trains,the combined levitation and guidance EDS maglev train is more likely to rotate after being disturbed.Therefore,the rotational electromagnetic stiffnesses are significant operating parameters for the train.In this paper,the different effects of each translational offset generated in the rotational motion on the corresponding rotational electromagnetic stiffnesses in the EDS maglev train are analyzed and calculated.Firstly,a three-dimensional model of the maglev train is established.Then,based on the space harmonic method and the equivalent circuit of the levitation and guidance circuits,the formulas of rolling,pitching and yawing stiffness are presented.Finally,by comparing with the three-dimensional finite element simulation results,the key translational displacements in the rotational motion which has a great impact on the stiffness are obtained.Hence,the three-dimensional analytical formula can be simplified and the computation can be reduced.In addition,the accuracy of the calculation results is verified by comparing with the experimental data of Yamanashi test line.
基金supported by the National Natural Science Foundation of China(Nos.11772010 and 11832002)the State Key Laboratory of Mechanical System and Vibration of China(No.MSV202004)。
文摘An adaptive dynamic vibration absorber(ADVA)is designed for lowfrequency vibration suppression.The leaf springs are applied as the tuning stiffness elements.The principle of variable stiffness is analyzed to obtain the effective range of the first natural frequency variation.A classic simply supported manipulator is selected as the controlled system.The coupled dynamic model of the manipulator-ADVA system is built to obtain the maximum damping efficiency and the vibration absorption capacity of the designed ADVA.An experimental platform is set up to verify the theoretical results.It is revealed that the ADVA can adjust the first natural frequency on a large scale by changing the curvature of the leaf springs.The amplitude of the manipulator is reduced obviously with the installation of the designed ADVA.Finally,based on the short-time Fourier transformation(STFT),a stepwise optimization algorithm is proposed to achieve a quick tuning of the natural frequency of the ADVA so that it can always coincide with the frequency of the prime structure.Through the above steps,the intelligent frequency tuning of the ADVA is realized with high vibration absorption performance in a wide frequency range.
基金Project(51375226)supported by the National Natural Science Foundation of ChinaProject(20113218110017)supported by the Doctoral Program Foundation of Institutions of Higher Education of China+2 种基金Project(PAPD)supported by the Priority Academic Program Development of Jiangsu Higher Education Institutions,ChinaProject(CXZZ11_0199)supported by the Funding of Jiangsu Innovation Program for Graduate Education,ChinaProject(2014)supported by the the Fundamental Research Funds for the Central Universities,China
文摘The objective of this work was to study the vibration transmissibility characteristics of the undamped and damped smart spring systems. The frequency response characteristics of them were analyzed by using the equivalent linearization technique, and the possible types of the system motion were distinguished by using the starting and ending frequencies. The influences of system parameters on the vibration transmissibility characteristics were discussed. The following conclusions may be drawn from the analysis results. The undamped smart spring system may simultaneously have one starting frequency and one ending frequency or only have one starting frequency, and the damped system may simultaneously have two starting frequencies and one ending frequency. There is an optimal control parameter to make the peak value of the vibration transmissibility curve of the system be minimum. When the mass ratio is far away from the stiffness ratio, the vibration transmissibility is small. The effect of the damping ratio on the system vibration transmissibility is significant while the control parameter is less than its optimal value. But the influence of the relative damping ratio on the vibration transmissibility is small.
文摘The stiffness model of the finite element is applied to the Kirchhoff-love closed-form plate buckling;buckling is always in focus in plate assemblages. The useful Eigen-value solutions are unable to separate a square plate from a much weaker long one in the most commonly-used all-simply supported plate (SSSS), among others. Spring-values of the Kirchhoff-Love plate are sought;once found, displacement-factors can be determined. Comparative </span><span style="font-family:Verdana;">displacements allow </span></span></span><span style="font-family:Verdana;"><span style="font-family:Verdana;"><span style="font-family:Verdana;">an </span></span></span><span style="font-family:Verdana;"><span style="font-family:Verdana;"><span style="font-family:Verdana;">easier and better evaluation of buckling-factors,</span></span></span><span style="font-family:Verdana;"><span style="font-family:Verdana;"><span style="font-family:Verdana;"> pure-shear, vibration and so are termed “buckling-displacement-factors”. In testing, many plates in mixed boundary conditions are evaluated for displacement</span></span></span><span><span><span style="font-family:""> </span></span></span><span style="font-family:Verdana;"><span style="font-family:Verdana;"><span style="font-family:Verdana;">assisted buckling-solutions, first. The displacement-factors made from fundamental Eigen-vectors, in a single-pass, are found to be within about one-percent of known elastic values. It is found that the Kirchhoff-Love plate</span></span></span><span><span><span style="font-family:""> </span></span></span><span style="font-family:Verdana;"><span style="font-family:Verdana;"><span style="font-family:Verdana;">spring and the finite-element spring, demonstrated, here, in the assemblage of beam-elements, are equivalent from the results. In either case</span></span></span><span style="font-family:Verdana;"><span style="font-family:Verdana;"><span style="font-family:Verdana;">,</span></span></span><span><span><span style="font-family:""><span style="font-family:Verdana;"> stiffness is first assembled, ready for any loading—transverse, buckling, shear, vibration. The simply-supported plate draws the only exact vibration solution, and so, in an additional new effort, all other results are calibrated from it;direct vibration solutions are made for comparison but such results are, hardly, better. In the process, interactive Kirchhoff-Love plate-field-sheets are presented, for design. It is now additionally demanded that the solution Eigen-vector be </span><span style="font-family:Verdana;">developable into a recognizable deflection-factor. A weaker plate cannot possess greater buckling strength, this is a check;to find stiffness the</span><span style="font-family:Verdana;"> deflection-factor must be exact or nearly so. Several examples justify the characteristic buckling displacement-factor as a new tool</span></span></span></span><span style="font-family:Verdana;">.
