Climate change has prompted the aviation industry to reduce greenhouse gas emissions.Variable-camber leading edges,with their adaptable aerodynamic shapes,hold significant potential for laminar flow wings and contribu...Climate change has prompted the aviation industry to reduce greenhouse gas emissions.Variable-camber leading edges,with their adaptable aerodynamic shapes,hold significant potential for laminar flow wings and contribute to greener aviation.In response to this need,this paper proposes a design optimization method for a variable-camber leading edge featuring an outer variablethickness composite compliant skin and an inner open-kinematic-chain mechanism.The optimization methodology employs a fiber continuity model based on a ply-drop sequence,a guiding sequence and a thickness sequence to describe the variable-thickness composite compliant skin structure,enabling direct generation of a composite layup sequence that meets fiber continuity criteria.Additionally,the design methodology for the inner open kinematic chain considers the rigidflexible coupling effect and analyzes the number of driving ribs along the span-wise direction.Finally,a full-scale physical prototype for a large-scale civil aircraft is developed and experimented in the FL-10 wind tunnel,demonstrating that the variable-camber leading edge can smoothly and precisely achieve its target shape and hold its final profile under the corresponding aerodynamic loads,thereby validating the proposed design methodology.展开更多
Reducing the peak actuating force(PAF)and parasitic displacement is of high significance for improving the performance of compliant parallel mechanisms(CPMs).In this study,a 2-DOF 4-4R compliant parallel pointing mech...Reducing the peak actuating force(PAF)and parasitic displacement is of high significance for improving the performance of compliant parallel mechanisms(CPMs).In this study,a 2-DOF 4-4R compliant parallel pointing mechanism(4-4R CPPM)was used as the object,and the actuating force of the mechanism was optimized through redundant actuation.This was aimed at minimizing the PAF and parasitic displacement.First,a kinetostatic model of the redundantly actuated 4-4R CPPM was established to reveal the relationship between the input forces/displacements and the output displacements of the mobile platform.Subsequently,based on the established kinetostatic model,methods for optimizing the actuating force distribution with the aim of minimizing the PAF and parasitic displacement were introduced successively.Second,a simulated example of a mobile platform’s spatial pointing trajectory validated the accuracy of the kinetostatic model.The results show a less than 0.9%relative error between the analytical and finite element(FE)results,and the high consistency indicates the accuracy of the kinetostatic model.Then,the effectiveness of the method in minimizing the PAF and parasitic displacement was validated using two simulated examples.The results indicate that compared with the non-redundant actuation case,the PAF of the mechanism could be reduced by up to 50%,and the parasitic displacement was reduced by approximately three-four orders of magnitude by means of redundant actuation combined with the optimal distribution of the actuating force.As expected,with the reduction in parasitic displacement,the FE-results of the output angular displacements(θ_(x) andθ_(z))of the mobile platform were closer to the target oscillation trajectory.This further verified that the reduction in parasitic displacement is indeed effective in improving the motion accuracy of the mechanism.The advantage of this proposed method is that it reduces the PAF and parasitic displacement from the perspective of the actuating force control strategy,without the requirement of structural changes to the original mechanism.展开更多
This article presents the design of a microfabricated bio-inspired flapping-wing Nnano Aaerial Vvehicle(NAV),driven by an electromagnetic system.Our approach is based on artificial wings composed of rigid bodies conne...This article presents the design of a microfabricated bio-inspired flapping-wing Nnano Aaerial Vvehicle(NAV),driven by an electromagnetic system.Our approach is based on artificial wings composed of rigid bodies connected by compliant links,which optimise aerodynamic forces though replicating the complex wing kinematics of insects.The originality of this article lies in a new design methodology based on a triple equivalence between a 3D model,a multibody model,and a mass/spring model(0D)which reduces the number of parameters in the problem.This approach facilitates NAV optimisation by using only the mass/spring model,thereby simplifying the design process while maintaining high accuracy.Two wing geometries are studied and optimised in this article to produce large-amplitude wing motions(approximately 40^\circ),and enabling flapping and twisting motion in quadrature.The results are validated thanks to experimental measurements for the large amplitude and through finite element simulations for the combined motion,confirming the effectiveness of this strategy for a NAV weighing less than 40 mg with a wingspan of under 3 cm.展开更多
Laser direct imaging(LDI)machines are advantageous for the fabrication of printed circuit boards(PCBs).Before digital lithography,a vision-based measurement(VBM)system was used to calibrate PCBs.However,calibration ac...Laser direct imaging(LDI)machines are advantageous for the fabrication of printed circuit boards(PCBs).Before digital lithography,a vision-based measurement(VBM)system was used to calibrate PCBs.However,calibration accuracy and efficiency are affected by multiple disturbances.To improve the accuracy and enhance the robustness of the VBM system,we propose a piezoelectric-actuated kangaroo-inspired bionic compliant mechanism(BioCM)and a flyingfocusing VBM controller.A piezoelectric actuator(PEA)generates highly accurate motion.The CM transfers the motion without losing accuracy or producing couplings.The kangaroo-inspired bionic differential structure enlarges the magnification of the PEA-CM.A BioCM-based VBM system was also constructed.A static analysis of the BioCM was conducted using the compliance matrix approach,and dynamics results were obtained.To enhance the service performance of the PEA-BioCM,we developed a flying-focusing VBM controller.PEG-based flying,PEA-actuated focusing,and MEMF-enhanced RRHT algorithms were used.A BioCM prototype was fabricated.Several prototype tests were conducted on the statics and dynamics.The prototype test results verified the performance of the BioCM and flying-VBM controller.Service test results demonstrated the calibration accuracy and robustness of the PEA-BioCM-based flying-VBM system.The proposed BioCM and controller can contribute to the development of next-generation LDI machines for fabricating high-density PCBs.展开更多
Adaptive wings have long used smooth morphing technique of compliant leading and trailing edge to improve their aerodynamic characteristics. This paper introduces a systematic approach to design compliant structures t...Adaptive wings have long used smooth morphing technique of compliant leading and trailing edge to improve their aerodynamic characteristics. This paper introduces a systematic approach to design compliant structures to carry out required shape changes under distributed pressure loads. In order to minimize the deviation of the deformed shape from the target shape, this method uses MATLAB and ANSYS to optimize the distributed compliant mechanisms by way of the ground approach and genetic algorithm （GA） to remove the elements possessive of very low stresses. In the optimization process, many factors should be considered such as airloads, input displacements, and geometric nonlinearities. Direct search method is used to locally optimize the dimension and input displacement after the GA optimization. The resultant structure could make its shape change from 0 to 9.3 degrees. The experimental data of the model confirms the feasibility of this approach.展开更多
Based on an analysis of the relative shaft-to-hole position and attiude errors, as well as of the mechanics and Kinematics in the process of automatic assembly of industrial robots, the paper studies the principle of ...Based on an analysis of the relative shaft-to-hole position and attiude errors, as well as of the mechanics and Kinematics in the process of automatic assembly of industrial robots, the paper studies the principle of construction of dynamic wrists. Type I-3 and Ⅱ-6 dynamic compliant wrists have been designed and made. Prblems in the production of compliant elements and the connection between compliant elements and wrists were also solved. A study on the results of tests of the function of two kinds of dynamic compliant wrists shows that the dynamic compliant wrist's compliancy function can be improved by adding metallic materials having higher longitudinal and transverse rigidity into the softer elstomer. And the design Principle is proved to be feasible and practicable. It can be expected that the use of dynamic compliant wrist will greatly lower the technical requirements of the shaft-hole assembly and the requirements in the resetting accuracy.展开更多
A theoretical study has been performed to investigate the influence of manufacturing errors on the bearing housing of a gas lubricated journal bearing with compliant surface I in particular on the bearing load capacit...A theoretical study has been performed to investigate the influence of manufacturing errors on the bearing housing of a gas lubricated journal bearing with compliant surface I in particular on the bearing load capacity. A gas film thickness distribution is presented, in which errors o f both circumferential and axial bearing housing are considered. The influence of the errors on bearing performance is compared between rigid and compliant surface bearings. It was shown that the compliant surface bearings are less sensitive to the manufacturing errors than the rigid surface bearings. Thelefore, the cost of compliant surface bearing could be reduced by setting a larger manufacturing error tolerance.展开更多
Kinematics and its related issues of a 3-DOF in-parallel compliant mechanismare focused on. The micro manipulation application that requires high accuracy is developed. Designof the developed micromanipulator is based...Kinematics and its related issues of a 3-DOF in-parallel compliant mechanismare focused on. The micro manipulation application that requires high accuracy is developed. Designof the developed micromanipulator is based on the modified Delta mechanism. The main advantages ofthis manipulator are the use of only revolute flexure hinges and the capability to produce puretranslation theoretically. The aim is to develop an efficient kinematic model used for positioningcontrol. For this purpose, the Jacobian matrix relating the end effector position with the actuatordisplacements is obtained by both theoretical derivation and experiment. Aiming at the abnormalityin the motion capabilities of the micromanipulator found in calibration experiment, the mobility ofthe compliant mechanism on a theoretical level is analyzed by using the matrix method and screwtheory. Both the experimental and theoretical results have verified that the compliant mechanismdoes have rotational motion.展开更多
A flexure hinge is a major component in designing compliant mechanisms that o ers unique possibilities in a wide range of application fields in which high positioning accuracy is required. Although various flexure hin...A flexure hinge is a major component in designing compliant mechanisms that o ers unique possibilities in a wide range of application fields in which high positioning accuracy is required. Although various flexure hinges with di erent configurations have been successively proposed, they are often designed based on designers' experiences and inspirations. This study presents a systematic method for topological optimization of flexure hinges by using the level set method. Optimization formulations are developed by considering the functional requirements and geometrical constraints of flexure hinges. The functional requirements are first constructed by maximizing the compliance in the desired direction while minimizing the compliances in the other directions. The weighting sum method is used to construct an objective function in which a self-adjust method is used to set the weighting factors. A constraint on the symmetry of the obtained configuration is developed. Several numerical examples are presented to demonstrate the validity of the proposed method. The obtained results reveal that the design of a flexure hinge starting from the topology level can yield more choices for compliant mechanism design and obtain better designs that achieve higher performance.展开更多
Common compliant joints generally have limited range of motion, reduced fatigue life and high stress concentration. To overcome these shortcomings, periodically corrugated cantilever beam is applied to design complian...Common compliant joints generally have limited range of motion, reduced fatigue life and high stress concentration. To overcome these shortcomings, periodically corrugated cantilever beam is applied to design compliant joints. Basic corrugated beam unit is modeled by using pseudo-rigid-body method. The trajectory and deformation behavior of periodically corrugated cantilever beam are estimated by the transformation of coordinate and superposition of the deformation of corrugated beam units. Finite element analysis（FEA） is carried out on corrugated cantilever beam to estimate the accuracy of the pseudo-rigid-body model. Results show that the kinetostatic behaviors obtained by this method, which has a relative error less than 6%, has good applicability and corrugated cantilever beam has the characteristics of a large range of motion and high mechanical strength. The corrugated cantilever beam is then applied to design a flexible rotational joint to obtain a larger angle output. The paper proposes a pseudo-rigid-body model for corrugated cantilever beam and designed a flexible rotational joint with large angle output.展开更多
A compliant metamorphic mechanism attributes to a new type of metamorphic mechanisms evolved from rigid metamorphic mechanisms. The structural characteristics and representations of a compliant metamorphic mechanism a...A compliant metamorphic mechanism attributes to a new type of metamorphic mechanisms evolved from rigid metamorphic mechanisms. The structural characteristics and representations of a compliant metamorphic mechanism are different from its rigid counterparts, so does the structural synthesis method. In order to carry out its structural synthesis, a constraint graph representation for topological structure of compliant metamorphic mechanisms is introduced, which can not only represent the structure of a compliant metamorphic mechanism, but also describe the characteristics of its links and kinematic pairs. An adjacency matrix representation of the link relationships in a compliant metamorphic mechanism is presented according to the constraint graph. Then, a method for structural synthesis of compliant metamorphic mechanisms is proposed based on the adjacency matrix operations. The operation rules and the operation procedures of adjacency matrices are described through synthesis of the initial configurations composed of s＋1 links from an s-link mechanism （the final configuration）. The method is demonstrated by synthesizing all the possible four-link compliant metamorphic mechanisms that can transform into a three-link mechanism through combining two of its links. Sixty-five adjacency matrices are obtained in the synthesis, each of which corresponds to a compliant metamorphic mechanism having four links. Therefore, the effectiveness of the method is validated by a specific compliant metamorphic mechanism corresponding to one of the sixty-five adjacency matrices. The structural synthesis method is put into practice as a fully compliant metamorphic hand is presented based on the synthesis results. The synthesis method has the advantages of simple operation rules, clear geometric meanings, ease of programming with matrix operation, and provides an effective method for structural synthesis of compliant metamorphic mechanisms and can be used in the design of new compliant metamorphic mechanisms.展开更多
The material characteristics of a structure will change with temperature variation,and will induce stress within the structure.Currently,the optimal design for the topology of compliant mechanisms is mainly performed ...The material characteristics of a structure will change with temperature variation,and will induce stress within the structure.Currently,the optimal design for the topology of compliant mechanisms is mainly performed in single physical field.However,when compliant mechanisms work in high temperature environments,their displacement outputs are generated not only by mechanical load,but also by the temperature variation which may become the prominent factor.Therefore,the influence of temperature must be considered in the design.In this paper,a novel optimization method for multi-objective topology of thermo-mechanical compliant mechanisms is presented.First,the thermal field is analyzed with finite-element method,where the thermal strain is taken into account in the constitutive relation,and the equivalent nodal thermal load is derived with the principle of virtual work.Then the thermal load is converted into physical loads in elastic field,and the control equation of the thermo-mechanical compliant mechanism is obtained.Second,the mathematical model of the multi-objective topology optimization is built by incorporating both the flexibility and stiffness.Meanwhile,the coupling sensitivity function and the sensitivity analysis equations of thermal steady-state response are derived.Finally,optimality criteria algorithm is employed to obtain numerical solution of the multi-objective topology optimization.Numerical examples show that the compliant mechanisms have better performance and are more applicable if the temperature effect is taken into account in the design process.The presented modeling and analysis methods provide a new idea and an effective approach to topology optimization of compliant mechanisms in electrothermic coupling field and multiphysics fields.展开更多
This paper presents the development of a novel compliant polymorphing wing capable of chord and camber morphing for small UAVs.The morphing wing can achieve up to 10%chord extension and±20°camber changes.The...This paper presents the development of a novel compliant polymorphing wing capable of chord and camber morphing for small UAVs.The morphing wing can achieve up to 10%chord extension and±20°camber changes.The design,modeling,sizing,manufacturing and mechanical testing of the wing are detailed.The polymorphing wing consists of one continuous front spar fixed to the fuselage and a rear spar on each side of the wing.Each rear spar can translate in the chordwise direction(chord morphing)and rotate around itself(camber morphing).A flexible elastomeric latex sheet is used as the skin to cover the wing and maintain its aerodynamic shape whilst allowing morphing.The loads from the skin are transferred to the spars using the compliant cellular ribs that support the flexible skin and facilitate morphing.Pre-tensioning is applied to the skin to minimize wrinkling when subject to aerodynamic and actuation loads.A rack and pinion actuation system,powered by stepper motors,is used for morphing.Aero-structural design,analysis and sizing are conducted.Performance comparison between the polymorphing wing and the baseline wing(non-morphing)shows that chord morphing improves aerodynamic efficiency at low angles of attack while camber morphing improves efficiency at high angles of attack.展开更多
To study ice-induced vibration of a compliant conical structure, a series of model tests were performed from 2004 to 2005. In the tests, the ice sheet before the compliant conical structure was found to fail in two-ti...To study ice-induced vibration of a compliant conical structure, a series of model tests were performed from 2004 to 2005. In the tests, the ice sheet before the compliant conical structure was found to fail in two-time breaking. From 2005 to 2006, this type of ice failure was studied through more groups of tests. The tests show that two-time breaking is the typical failure of ice before steep conical structures, and is controlled by other factors at the same time, such as ice speed and the angle of the cone.展开更多
A multi-objective scheme for structural topology optimization of distributed compliant mechanisms of micro-actuators in MEMS condition is presented in this work, in which mechanical flexibility and structural stiffnes...A multi-objective scheme for structural topology optimization of distributed compliant mechanisms of micro-actuators in MEMS condition is presented in this work, in which mechanical flexibility and structural stiffness are both considered as objective functions. The compliant micro-mechanism developed in this way can not only provide sufficient output work but also have sufficient rigidity to resist reaction forces and maintain its shape when holding the work-piece. A density filtering approach is also proposed to eliminate numerical instabilities such as checkerboards, mesh-dependency and one-node connected hinges occurring in resulting mechanisms. SIMP is used as the interpolation scheme to indicate the dependence of material modulus on element-regularized densities. The sequential convex programming method, such as the method of moving asymptotes （MMA）, is used to solve the optimization problem. The validation of the presented methodologies is demonstrated by a typical numerical example.展开更多
Conventional flexible joints generally have limited range of motion and high stress concentration. To overcome these shortcomings, corrugated flexure beam（CF beam） is designed because of its large flexibility obtain...Conventional flexible joints generally have limited range of motion and high stress concentration. To overcome these shortcomings, corrugated flexure beam（CF beam） is designed because of its large flexibility obtained from longer overall length on the same span. The successful design of compliant mechanisms using CF beam requires manipulation of the stiffnesses as the design variables. Empirical equations of the CF beam stiffness components, except of the torsional stiffness, are obtained by curve-fitting method. The application ranges of all the parameters in each empirical equation are also discussed. The ratio of off-axis to axial stiffness is considered as a key characteristic of an effective compliant joint. And parameter study shows that the radius of semi-circular segment and the length of straight segment contribute most to the ratio. At last, CF beam is used to design translational and rotational flexible joints, which also verifies the validity of the empirical equations. CF beam with large flexibility is presented, and empirical equations of its stiffness are proposed to facilitate the design of flexible joint with large range of motion.展开更多
Analytical compliance model is vital to the flexure- based compliant mechanism in its mechanical design and motion control. The matrix is a common and effective approach in the compliance modeling while it is not well...Analytical compliance model is vital to the flexure- based compliant mechanism in its mechanical design and motion control. The matrix is a common and effective approach in the compliance modeling while it is not well developed for the closed-loop serial and parallel compliant mechanisms and is not applicable to the situation when the external loads are applied on the flexure mem- bers. Concise and explicit analytical compliance models of the serial flexure-based compliant mechanisms under arbitrary loads are derived by using the matrix method. An equivalent method is proposed to deal with the situation when the external loads are applied on the flexure mem- bers. The external loads are transformed to concentrated forces applied on the rigid links, which satisfy the equa- tions of static equilibrium and also guarantee that the deformations at the displacement output point remain unchanged. Then the matrix method can be still adopted for the compliance analysis of the compliant mechanism. Finally, several specific examples and an experimental testare given to verify the effectiveness of the compliance models and the force equivalent method. The research enriches the matrix method and provides concise analytical compliance models for the serial compliant mechanism.展开更多
Direct numerical simulation of a spatially developing turbulent boundary layer over a compliant wall with anisotropic wall material properties is performed. The Reynolds number varies from 300 to approximately 860 alo...Direct numerical simulation of a spatially developing turbulent boundary layer over a compliant wall with anisotropic wall material properties is performed. The Reynolds number varies from 300 to approximately 860 along the streamwise direction, based on the external flow velocity and the momentum thickness. Eight typical cases are selected for numerical investigation under the guidance of the monoharmonic analysis. The instantaneous flow fields exhibit the traveling wavy motion of the compliant wall, and the frequency-wavenumber power spectrum of wall pressure fluctuation is computed to quantify the mutual influence of the wall compliance and the turbulent flow at different wave numbers. It is shown that the Reynolds shear stress and the pressure fluctuation are generally enhanced by the wall compliance with the parameters considered in the present study. A dynamical decomposition of the skin-friction coefficient is derived, and a new term (CW) appears due to the wall-induced Reynolds shear stress. The influence of the anisotropic compliant wall motion on the turbulent boundary layer through the wall-induced negative Reynolds shear stress is discussed. To elucidate the underlying mechanism, the budget analysis of the Reynolds stresses transportation is further carried out. The impact of the wall compliance on the turbulent flow is disclosed by examining the variations of the diffusion and velocity-pressure correlation terms. It is shown that increase of the Reynolds stresses inside the flow domain is caused by enhancement of the velocity-pressure correlation term, possibly through the long-range influence of the wall compliance on the pressure field, rather than diffusion of the wall-induced Reynolds shear stress into the fluid flow.展开更多
The application of μ theory in compliant force control system is studied. A compliant force control strategy is developed based on the inner loop position control of 6-DOF parallel robot in order to simulate the push...The application of μ theory in compliant force control system is studied. A compliant force control strategy is developed based on the inner loop position control of 6-DOF parallel robot in order to simulate the push and pull process of forcible alignment in space docking, Considering uncertainties such as parameter perturbations, model perturbations and external disturbances, etc., a robust force controller is designed using μ synthesis theory. The robust stability and robust performance are compared by analysis between the designed robust force controller and the classical force controller. The experiment results of the designed robust force controller and the classical force controller are shown. The results indicate that the designed robust force controller is of efficiency and superiority.展开更多
基金supported by the National Research Project“Variable CAmber wing TechNology(VCAN)”,China。
文摘Climate change has prompted the aviation industry to reduce greenhouse gas emissions.Variable-camber leading edges,with their adaptable aerodynamic shapes,hold significant potential for laminar flow wings and contribute to greener aviation.In response to this need,this paper proposes a design optimization method for a variable-camber leading edge featuring an outer variablethickness composite compliant skin and an inner open-kinematic-chain mechanism.The optimization methodology employs a fiber continuity model based on a ply-drop sequence,a guiding sequence and a thickness sequence to describe the variable-thickness composite compliant skin structure,enabling direct generation of a composite layup sequence that meets fiber continuity criteria.Additionally,the design methodology for the inner open kinematic chain considers the rigidflexible coupling effect and analyzes the number of driving ribs along the span-wise direction.Finally,a full-scale physical prototype for a large-scale civil aircraft is developed and experimented in the FL-10 wind tunnel,demonstrating that the variable-camber leading edge can smoothly and precisely achieve its target shape and hold its final profile under the corresponding aerodynamic loads,thereby validating the proposed design methodology.
基金Supported by Key Project of Hubei Provincial Department of Education Research Program(Grant No.D20211401).
文摘Reducing the peak actuating force(PAF)and parasitic displacement is of high significance for improving the performance of compliant parallel mechanisms(CPMs).In this study,a 2-DOF 4-4R compliant parallel pointing mechanism(4-4R CPPM)was used as the object,and the actuating force of the mechanism was optimized through redundant actuation.This was aimed at minimizing the PAF and parasitic displacement.First,a kinetostatic model of the redundantly actuated 4-4R CPPM was established to reveal the relationship between the input forces/displacements and the output displacements of the mobile platform.Subsequently,based on the established kinetostatic model,methods for optimizing the actuating force distribution with the aim of minimizing the PAF and parasitic displacement were introduced successively.Second,a simulated example of a mobile platform’s spatial pointing trajectory validated the accuracy of the kinetostatic model.The results show a less than 0.9%relative error between the analytical and finite element(FE)results,and the high consistency indicates the accuracy of the kinetostatic model.Then,the effectiveness of the method in minimizing the PAF and parasitic displacement was validated using two simulated examples.The results indicate that compared with the non-redundant actuation case,the PAF of the mechanism could be reduced by up to 50%,and the parasitic displacement was reduced by approximately three-four orders of magnitude by means of redundant actuation combined with the optimal distribution of the actuating force.As expected,with the reduction in parasitic displacement,the FE-results of the output angular displacements(θ_(x) andθ_(z))of the mobile platform were closer to the target oscillation trajectory.This further verified that the reduction in parasitic displacement is indeed effective in improving the motion accuracy of the mechanism.The advantage of this proposed method is that it reduces the PAF and parasitic displacement from the perspective of the actuating force control strategy,without the requirement of structural changes to the original mechanism.
基金supported by ANR-ASTRID NANOFLY(ANR-19-ASTR-0023)and French AID(Defense Innovation Agency).
文摘This article presents the design of a microfabricated bio-inspired flapping-wing Nnano Aaerial Vvehicle(NAV),driven by an electromagnetic system.Our approach is based on artificial wings composed of rigid bodies connected by compliant links,which optimise aerodynamic forces though replicating the complex wing kinematics of insects.The originality of this article lies in a new design methodology based on a triple equivalence between a 3D model,a multibody model,and a mass/spring model(0D)which reduces the number of parameters in the problem.This approach facilitates NAV optimisation by using only the mass/spring model,thereby simplifying the design process while maintaining high accuracy.Two wing geometries are studied and optimised in this article to produce large-amplitude wing motions(approximately 40^\circ),and enabling flapping and twisting motion in quadrature.The results are validated thanks to experimental measurements for the large amplitude and through finite element simulations for the combined motion,confirming the effectiveness of this strategy for a NAV weighing less than 40 mg with a wingspan of under 3 cm.
基金Supported by Guangdong Basic and Applied Basic Research Foundation(Grant No.2025A1515011189)Commissioned Project of Enterprise(Grant Nos.25HK0029,25HK0030,23HK0809)+2 种基金"Ganpo Plan"Talent Project of Jiangxi Province(Grant No.jxkjcytd2024001)National Natural Science Foundation of China(Grant Nos.U24A20108,51905106)Guangzhou Basic and Applied Basic Research Foundation(Grant No.202201010398)。
文摘Laser direct imaging(LDI)machines are advantageous for the fabrication of printed circuit boards(PCBs).Before digital lithography,a vision-based measurement(VBM)system was used to calibrate PCBs.However,calibration accuracy and efficiency are affected by multiple disturbances.To improve the accuracy and enhance the robustness of the VBM system,we propose a piezoelectric-actuated kangaroo-inspired bionic compliant mechanism(BioCM)and a flyingfocusing VBM controller.A piezoelectric actuator(PEA)generates highly accurate motion.The CM transfers the motion without losing accuracy or producing couplings.The kangaroo-inspired bionic differential structure enlarges the magnification of the PEA-CM.A BioCM-based VBM system was also constructed.A static analysis of the BioCM was conducted using the compliance matrix approach,and dynamics results were obtained.To enhance the service performance of the PEA-BioCM,we developed a flying-focusing VBM controller.PEG-based flying,PEA-actuated focusing,and MEMF-enhanced RRHT algorithms were used.A BioCM prototype was fabricated.Several prototype tests were conducted on the statics and dynamics.The prototype test results verified the performance of the BioCM and flying-VBM controller.Service test results demonstrated the calibration accuracy and robustness of the PEA-BioCM-based flying-VBM system.The proposed BioCM and controller can contribute to the development of next-generation LDI machines for fabricating high-density PCBs.
基金National Natural Science Foundation of China (50675175)
文摘Adaptive wings have long used smooth morphing technique of compliant leading and trailing edge to improve their aerodynamic characteristics. This paper introduces a systematic approach to design compliant structures to carry out required shape changes under distributed pressure loads. In order to minimize the deviation of the deformed shape from the target shape, this method uses MATLAB and ANSYS to optimize the distributed compliant mechanisms by way of the ground approach and genetic algorithm （GA） to remove the elements possessive of very low stresses. In the optimization process, many factors should be considered such as airloads, input displacements, and geometric nonlinearities. Direct search method is used to locally optimize the dimension and input displacement after the GA optimization. The resultant structure could make its shape change from 0 to 9.3 degrees. The experimental data of the model confirms the feasibility of this approach.
文摘Based on an analysis of the relative shaft-to-hole position and attiude errors, as well as of the mechanics and Kinematics in the process of automatic assembly of industrial robots, the paper studies the principle of construction of dynamic wrists. Type I-3 and Ⅱ-6 dynamic compliant wrists have been designed and made. Prblems in the production of compliant elements and the connection between compliant elements and wrists were also solved. A study on the results of tests of the function of two kinds of dynamic compliant wrists shows that the dynamic compliant wrist's compliancy function can be improved by adding metallic materials having higher longitudinal and transverse rigidity into the softer elstomer. And the design Principle is proved to be feasible and practicable. It can be expected that the use of dynamic compliant wrist will greatly lower the technical requirements of the shaft-hole assembly and the requirements in the resetting accuracy.
文摘A theoretical study has been performed to investigate the influence of manufacturing errors on the bearing housing of a gas lubricated journal bearing with compliant surface I in particular on the bearing load capacity. A gas film thickness distribution is presented, in which errors o f both circumferential and axial bearing housing are considered. The influence of the errors on bearing performance is compared between rigid and compliant surface bearings. It was shown that the compliant surface bearings are less sensitive to the manufacturing errors than the rigid surface bearings. Thelefore, the cost of compliant surface bearing could be reduced by setting a larger manufacturing error tolerance.
基金This project is supported by National Natural Science Foundation of China (No.59775002 and No.50075010).
文摘Kinematics and its related issues of a 3-DOF in-parallel compliant mechanismare focused on. The micro manipulation application that requires high accuracy is developed. Designof the developed micromanipulator is based on the modified Delta mechanism. The main advantages ofthis manipulator are the use of only revolute flexure hinges and the capability to produce puretranslation theoretically. The aim is to develop an efficient kinematic model used for positioningcontrol. For this purpose, the Jacobian matrix relating the end effector position with the actuatordisplacements is obtained by both theoretical derivation and experiment. Aiming at the abnormalityin the motion capabilities of the micromanipulator found in calibration experiment, the mobility ofthe compliant mechanism on a theoretical level is analyzed by using the matrix method and screwtheory. Both the experimental and theoretical results have verified that the compliant mechanismdoes have rotational motion.
基金Supported by National Natural Science Foundation of China(Grant Nos.51605166,51820105007)Fundamental Research Funds for the Central Universities of China
文摘A flexure hinge is a major component in designing compliant mechanisms that o ers unique possibilities in a wide range of application fields in which high positioning accuracy is required. Although various flexure hinges with di erent configurations have been successively proposed, they are often designed based on designers' experiences and inspirations. This study presents a systematic method for topological optimization of flexure hinges by using the level set method. Optimization formulations are developed by considering the functional requirements and geometrical constraints of flexure hinges. The functional requirements are first constructed by maximizing the compliance in the desired direction while minimizing the compliances in the other directions. The weighting sum method is used to construct an objective function in which a self-adjust method is used to set the weighting factors. A constraint on the symmetry of the obtained configuration is developed. Several numerical examples are presented to demonstrate the validity of the proposed method. The obtained results reveal that the design of a flexure hinge starting from the topology level can yield more choices for compliant mechanism design and obtain better designs that achieve higher performance.
基金supported by National Natural Science Foundation of China(Grant Nos.51205134,91223201)Doctoral Fund of Ministry of Education of China(Grant No.20120172120001)+2 种基金Research Project of State Key Laboratory of Mechanical System and Vibration of China(Grant No.MSV201405)Guangdong Province Universities and Colleges Pearl River Scholar Funded Scheme(GDUPS,2010)Fundamental Research Funds for the Central Universities(Grant No.2013ZM012)
文摘Common compliant joints generally have limited range of motion, reduced fatigue life and high stress concentration. To overcome these shortcomings, periodically corrugated cantilever beam is applied to design compliant joints. Basic corrugated beam unit is modeled by using pseudo-rigid-body method. The trajectory and deformation behavior of periodically corrugated cantilever beam are estimated by the transformation of coordinate and superposition of the deformation of corrugated beam units. Finite element analysis（FEA） is carried out on corrugated cantilever beam to estimate the accuracy of the pseudo-rigid-body model. Results show that the kinetostatic behaviors obtained by this method, which has a relative error less than 6%, has good applicability and corrugated cantilever beam has the characteristics of a large range of motion and high mechanical strength. The corrugated cantilever beam is then applied to design a flexible rotational joint to obtain a larger angle output. The paper proposes a pseudo-rigid-body model for corrugated cantilever beam and designed a flexible rotational joint with large angle output.
基金supported by National Natural Science Foundation of China (Grant No. 51075039, Grant No. 50805110,Grant No. 50705010)Beijing Municipal Natural Science Foundation of China (Grant No. 3082014)the Fundamental Research Funds for the Central Universities of China (Grant No. 2009CZ08, Grant No. JY10000904010)
文摘A compliant metamorphic mechanism attributes to a new type of metamorphic mechanisms evolved from rigid metamorphic mechanisms. The structural characteristics and representations of a compliant metamorphic mechanism are different from its rigid counterparts, so does the structural synthesis method. In order to carry out its structural synthesis, a constraint graph representation for topological structure of compliant metamorphic mechanisms is introduced, which can not only represent the structure of a compliant metamorphic mechanism, but also describe the characteristics of its links and kinematic pairs. An adjacency matrix representation of the link relationships in a compliant metamorphic mechanism is presented according to the constraint graph. Then, a method for structural synthesis of compliant metamorphic mechanisms is proposed based on the adjacency matrix operations. The operation rules and the operation procedures of adjacency matrices are described through synthesis of the initial configurations composed of s＋1 links from an s-link mechanism （the final configuration）. The method is demonstrated by synthesizing all the possible four-link compliant metamorphic mechanisms that can transform into a three-link mechanism through combining two of its links. Sixty-five adjacency matrices are obtained in the synthesis, each of which corresponds to a compliant metamorphic mechanism having four links. Therefore, the effectiveness of the method is validated by a specific compliant metamorphic mechanism corresponding to one of the sixty-five adjacency matrices. The structural synthesis method is put into practice as a fully compliant metamorphic hand is presented based on the synthesis results. The synthesis method has the advantages of simple operation rules, clear geometric meanings, ease of programming with matrix operation, and provides an effective method for structural synthesis of compliant metamorphic mechanisms and can be used in the design of new compliant metamorphic mechanisms.
基金supported by National Science Foundation for Distinguished Young Scholars of China (Grant No. 50825504)United Fund of National Natural Science Foundation of China and Guangdong Province (Grant No. U0934004)+1 种基金National Hi-tech Research and Development Program of National China (863 Program, Grant No. 2009AA04Z204)Fundamental Research Funds for the Central Universities (Grant No. D2102380)
文摘The material characteristics of a structure will change with temperature variation,and will induce stress within the structure.Currently,the optimal design for the topology of compliant mechanisms is mainly performed in single physical field.However,when compliant mechanisms work in high temperature environments,their displacement outputs are generated not only by mechanical load,but also by the temperature variation which may become the prominent factor.Therefore,the influence of temperature must be considered in the design.In this paper,a novel optimization method for multi-objective topology of thermo-mechanical compliant mechanisms is presented.First,the thermal field is analyzed with finite-element method,where the thermal strain is taken into account in the constitutive relation,and the equivalent nodal thermal load is derived with the principle of virtual work.Then the thermal load is converted into physical loads in elastic field,and the control equation of the thermo-mechanical compliant mechanism is obtained.Second,the mathematical model of the multi-objective topology optimization is built by incorporating both the flexibility and stiffness.Meanwhile,the coupling sensitivity function and the sensitivity analysis equations of thermal steady-state response are derived.Finally,optimality criteria algorithm is employed to obtain numerical solution of the multi-objective topology optimization.Numerical examples show that the compliant mechanisms have better performance and are more applicable if the temperature effect is taken into account in the design process.The presented modeling and analysis methods provide a new idea and an effective approach to topology optimization of compliant mechanisms in electrothermic coupling field and multiphysics fields.
基金support of Khalifa University of Science and Technology under Research Publication Award(Khan)with Project No.8474000195。
文摘This paper presents the development of a novel compliant polymorphing wing capable of chord and camber morphing for small UAVs.The morphing wing can achieve up to 10%chord extension and±20°camber changes.The design,modeling,sizing,manufacturing and mechanical testing of the wing are detailed.The polymorphing wing consists of one continuous front spar fixed to the fuselage and a rear spar on each side of the wing.Each rear spar can translate in the chordwise direction(chord morphing)and rotate around itself(camber morphing).A flexible elastomeric latex sheet is used as the skin to cover the wing and maintain its aerodynamic shape whilst allowing morphing.The loads from the skin are transferred to the spars using the compliant cellular ribs that support the flexible skin and facilitate morphing.Pre-tensioning is applied to the skin to minimize wrinkling when subject to aerodynamic and actuation loads.A rack and pinion actuation system,powered by stepper motors,is used for morphing.Aero-structural design,analysis and sizing are conducted.Performance comparison between the polymorphing wing and the baseline wing(non-morphing)shows that chord morphing improves aerodynamic efficiency at low angles of attack while camber morphing improves efficiency at high angles of attack.
基金This project is financially supported by the National High Technology Research Development Program of China(863Program) by the National Natural Science Foundation of China(Grant No.50609015)
文摘To study ice-induced vibration of a compliant conical structure, a series of model tests were performed from 2004 to 2005. In the tests, the ice sheet before the compliant conical structure was found to fail in two-time breaking. From 2005 to 2006, this type of ice failure was studied through more groups of tests. The tests show that two-time breaking is the typical failure of ice before steep conical structures, and is controlled by other factors at the same time, such as ice speed and the angle of the cone.
基金Project supported by the National '973' Key Fundamental Research Project of China (No. 2003CB716207) the National '863' High-Tech Development Project of China (No.2003AA001031).
文摘A multi-objective scheme for structural topology optimization of distributed compliant mechanisms of micro-actuators in MEMS condition is presented in this work, in which mechanical flexibility and structural stiffness are both considered as objective functions. The compliant micro-mechanism developed in this way can not only provide sufficient output work but also have sufficient rigidity to resist reaction forces and maintain its shape when holding the work-piece. A density filtering approach is also proposed to eliminate numerical instabilities such as checkerboards, mesh-dependency and one-node connected hinges occurring in resulting mechanisms. SIMP is used as the interpolation scheme to indicate the dependence of material modulus on element-regularized densities. The sequential convex programming method, such as the method of moving asymptotes （MMA）, is used to solve the optimization problem. The validation of the presented methodologies is demonstrated by a typical numerical example.
基金Supported by National Natural Science Foundation of China(Grant Nos.51205134,91223201)Doctoral Fund of Ministry of Education of China(Grant No.20120172120001)Research Project of State Key Laboratory of Mechanical System and Vibration,China(Grant No.MSV201405)
文摘Conventional flexible joints generally have limited range of motion and high stress concentration. To overcome these shortcomings, corrugated flexure beam（CF beam） is designed because of its large flexibility obtained from longer overall length on the same span. The successful design of compliant mechanisms using CF beam requires manipulation of the stiffnesses as the design variables. Empirical equations of the CF beam stiffness components, except of the torsional stiffness, are obtained by curve-fitting method. The application ranges of all the parameters in each empirical equation are also discussed. The ratio of off-axis to axial stiffness is considered as a key characteristic of an effective compliant joint. And parameter study shows that the radius of semi-circular segment and the length of straight segment contribute most to the ratio. At last, CF beam is used to design translational and rotational flexible joints, which also verifies the validity of the empirical equations. CF beam with large flexibility is presented, and empirical equations of its stiffness are proposed to facilitate the design of flexible joint with large range of motion.
基金Supported by National Natural Science Foundation of China(Grant No.51675292)National Science and Technology Major Project of China(Grant No.2015ZX04001002)Tsinghua University Initiative Scientific Research Program(Grant No.2014z22068)
文摘Analytical compliance model is vital to the flexure- based compliant mechanism in its mechanical design and motion control. The matrix is a common and effective approach in the compliance modeling while it is not well developed for the closed-loop serial and parallel compliant mechanisms and is not applicable to the situation when the external loads are applied on the flexure mem- bers. Concise and explicit analytical compliance models of the serial flexure-based compliant mechanisms under arbitrary loads are derived by using the matrix method. An equivalent method is proposed to deal with the situation when the external loads are applied on the flexure mem- bers. The external loads are transformed to concentrated forces applied on the rigid links, which satisfy the equa- tions of static equilibrium and also guarantee that the deformations at the displacement output point remain unchanged. Then the matrix method can be still adopted for the compliance analysis of the compliant mechanism. Finally, several specific examples and an experimental testare given to verify the effectiveness of the compliance models and the force equivalent method. The research enriches the matrix method and provides concise analytical compliance models for the serial compliant mechanism.
基金the National Natural Science Foundation of China (Grants 11772172 and 11490551).
文摘Direct numerical simulation of a spatially developing turbulent boundary layer over a compliant wall with anisotropic wall material properties is performed. The Reynolds number varies from 300 to approximately 860 along the streamwise direction, based on the external flow velocity and the momentum thickness. Eight typical cases are selected for numerical investigation under the guidance of the monoharmonic analysis. The instantaneous flow fields exhibit the traveling wavy motion of the compliant wall, and the frequency-wavenumber power spectrum of wall pressure fluctuation is computed to quantify the mutual influence of the wall compliance and the turbulent flow at different wave numbers. It is shown that the Reynolds shear stress and the pressure fluctuation are generally enhanced by the wall compliance with the parameters considered in the present study. A dynamical decomposition of the skin-friction coefficient is derived, and a new term (CW) appears due to the wall-induced Reynolds shear stress. The influence of the anisotropic compliant wall motion on the turbulent boundary layer through the wall-induced negative Reynolds shear stress is discussed. To elucidate the underlying mechanism, the budget analysis of the Reynolds stresses transportation is further carried out. The impact of the wall compliance on the turbulent flow is disclosed by examining the variations of the diffusion and velocity-pressure correlation terms. It is shown that increase of the Reynolds stresses inside the flow domain is caused by enhancement of the velocity-pressure correlation term, possibly through the long-range influence of the wall compliance on the pressure field, rather than diffusion of the wall-induced Reynolds shear stress into the fluid flow.
文摘The application of μ theory in compliant force control system is studied. A compliant force control strategy is developed based on the inner loop position control of 6-DOF parallel robot in order to simulate the push and pull process of forcible alignment in space docking, Considering uncertainties such as parameter perturbations, model perturbations and external disturbances, etc., a robust force controller is designed using μ synthesis theory. The robust stability and robust performance are compared by analysis between the designed robust force controller and the classical force controller. The experiment results of the designed robust force controller and the classical force controller are shown. The results indicate that the designed robust force controller is of efficiency and superiority.
