Compared to traditional rigid robots, soft robots, primarily made of deformable, or less rigid materials, have good adaptability, conformability and safety in interacting with the environment. Although soft robots hav...Compared to traditional rigid robots, soft robots, primarily made of deformable, or less rigid materials, have good adaptability, conformability and safety in interacting with the environment. Although soft robots have shown great potentials for extended applications and possibilities that are impossible or difficult for rigid body robots, it is of great importance for them to have the capability of controllable stiffness modulation. Stiffness modulation allows soft robots to have reversible change between the compliant, or flexible state and the rigid state. In this paper, we summarize existing principles and methods for stiffness modulation in soft robotic development and divide them into four groups based on their working principles. Acoustic-based methods have been proposed as the potential fifth group in stiffness modulation of soft robots. Initial design proposals based on the proposed acoustic method are presented, and challenges in further development are highlighted.展开更多
The coupled model of a four-cylinder internal combustion engine and a dash panel was constructed to analyze the relationship between the engine noise and interior noise of an automobile. Finite element analysis, flexi...The coupled model of a four-cylinder internal combustion engine and a dash panel was constructed to analyze the relationship between the engine noise and interior noise of an automobile. Finite element analysis, flexible multi-body dynamics, and boundary element analysis were integrated to obtain the tetrahedron-element models, structural vibration response, and radiated noise,respectively. The accuracy of the finite-element model of the engine was validated by modal analysis via single-input multi-output technology, while the dash panel was validated by sound transmission loss experiment. The block was optimized to reduce the radiated acoustic power from the engine surface. The acoustic transfer path between the engine cabin and passenger compartment was then established. The coupled analysis results reveal that the interior noise is optimized due to the engine noise reduction.展开更多
文摘Compared to traditional rigid robots, soft robots, primarily made of deformable, or less rigid materials, have good adaptability, conformability and safety in interacting with the environment. Although soft robots have shown great potentials for extended applications and possibilities that are impossible or difficult for rigid body robots, it is of great importance for them to have the capability of controllable stiffness modulation. Stiffness modulation allows soft robots to have reversible change between the compliant, or flexible state and the rigid state. In this paper, we summarize existing principles and methods for stiffness modulation in soft robotic development and divide them into four groups based on their working principles. Acoustic-based methods have been proposed as the potential fifth group in stiffness modulation of soft robots. Initial design proposals based on the proposed acoustic method are presented, and challenges in further development are highlighted.
基金Project(2011BAE22B05)supported by the 12th Five-year National Key Projects of Science and Technology Support Plan,China
文摘The coupled model of a four-cylinder internal combustion engine and a dash panel was constructed to analyze the relationship between the engine noise and interior noise of an automobile. Finite element analysis, flexible multi-body dynamics, and boundary element analysis were integrated to obtain the tetrahedron-element models, structural vibration response, and radiated noise,respectively. The accuracy of the finite-element model of the engine was validated by modal analysis via single-input multi-output technology, while the dash panel was validated by sound transmission loss experiment. The block was optimized to reduce the radiated acoustic power from the engine surface. The acoustic transfer path between the engine cabin and passenger compartment was then established. The coupled analysis results reveal that the interior noise is optimized due to the engine noise reduction.
