Soft cable-driven systems have been employed in many assembled mechanisms, such as industrial robots, parallel kinematic mechanism machines, medical devices, and humaniform hands. A pre-stretching process is necessary...Soft cable-driven systems have been employed in many assembled mechanisms, such as industrial robots, parallel kinematic mechanism machines, medical devices, and humaniform hands. A pre-stretching process is necessary to guarantee the quality of cable-driven systems during the assembly process. However, the stress relaxation of cables becomes a critical concern during long-term operation. This study investigates the effects of non-uniform deformation and long-term stress relaxation of the driven cables owing to moving parts in the system. A simple closed-loop cable-driven system is built and an alternating load is applied to it to replicate the operation of transmission cables. Under different experimental conditions, the cable tension is recorded and the boundary data are selected to be curve-fitted. Based on the fitted results, a formula is presented to estimate the stress relaxation of cables to evaluate the assembly performance. Further experimental results show that the stress relaxation is mainly caused by cable creep and the assembly procedure. To remove the influence of the assembly procedure, a modified pre-stretching assembly method based on the stress relaxation theory is proposed and verification experiments are performed. Finally, the assembly performance is optimized using a cable-driven surgical robot as an example. This paper proposes a dual stretching method instead of the pre-stretching method to assemble the cable-driven system to improve its performance and prolong its service life.展开更多
Residual stress is one of the factors affecting the machining deformation of monolithic structure parts in the aviation industry. Thus,the studies on machining deformation rules induced by residual stresses largely de...Residual stress is one of the factors affecting the machining deformation of monolithic structure parts in the aviation industry. Thus,the studies on machining deformation rules induced by residual stresses largely depend on correctly and efficiently measuring the residual stresses of workpieces. A modified layer-removal method is proposed to measure residual stress by analysing the characteristics of a traditional layer-removal method. The coefficients of strain release are then deduced according to the simulation results using the finite element method( FEM). Moreover,the residual stress in a 7075T651 aluminium alloy plate is measured using the proposed method,and the results are then analyzed and compared with the data obtained by the traditional methods. The analysis indicates that the modified layer-removal method is effective and practical for measuring the residual stress distribution in pre-stretched aluminium alloy plates.展开更多
The ageing behavior of a pre-stretched thick plate of Al-Zn-Mg-Cu alloy was systemically studied including one-step ageing, two-step ageing, and retrogression and reageing treatment (RRA). One-step ageing of the alloy...The ageing behavior of a pre-stretched thick plate of Al-Zn-Mg-Cu alloy was systemically studied including one-step ageing, two-step ageing, and retrogression and reageing treatment (RRA). One-step ageing of the alloy resulted in peak ultimate tensile strengths of 595 and 575 MPa after 22 and 6 h at 120 and 135°C, respectively. The strengthening phase in peak aged (T6 temper) alloy contained GP zones and the η′ phase predominantly. After two-step ageing, the electrical conductivity was increased markedly, but the pre-stretched thick plate sacrificed a great loss of strength. RRA treatment provided a method for maintaining the strength close to that obtained by T6 temper and for obtaining the high electrical conductivity close to that obtained by T7 temper; the ultimate tensile strength and electrical conductivity were 583 MPa and 21.0 MS/m, respectively. TEM analysis of T7 and RRA specimens revealed two types of precipitates that contributed to age strengthening i.e. the η′ and η phases.展开更多
The integrated structure parts are widely used in aircraft. The distortion caused by residual stresses in thick pre-stretched aluminum plates during machining integrated parts is a common and serious problem. To predi...The integrated structure parts are widely used in aircraft. The distortion caused by residual stresses in thick pre-stretched aluminum plates during machining integrated parts is a common and serious problem. To predict and control the machining distortion, the residual stress distribution in the thick plate must be measured firstly. The modified removal method for measuring residual stress in thick pre-stretched aluminum plates is proposed and the stress-strain relation matrix is deduced by elasticity theory. The residual stress distribution in specimen of 7050T7451 plate is measured by using the method, and measurement results are analyzed and compared with data obtained by other methods. The method is effective to measure the residual stress.展开更多
This paper studies wave propagation in a soft electroactive cylinder with an underlying finite deformation in the presence of an electric biasing field.Based on a recently proposed nonlinear framework for electroelast...This paper studies wave propagation in a soft electroactive cylinder with an underlying finite deformation in the presence of an electric biasing field.Based on a recently proposed nonlinear framework for electroelasticity and the associated linear incremental theory,the basic equations governing the axisymmetric wave motion in the cylinder,which is subjected to homogeneous pre-stretches and pre-existing axial electric displacement,are presented when the electroactive material is isotropic and incompressible.Exact wave solution is then derived in terms of(modified) Bessel functions.For a prototype model of nonlinear electroactive material,illustrative numerical results are given.It is shown that the effect of pre-stretch and electric biasing field could be significant on the wave propagation characteristics.展开更多
基金Supported by National Natural Science Foundation of China(Grant Nos.51290293,51520105006)National Key R&D Program of China(Grant No.2017YFC0110401)
文摘Soft cable-driven systems have been employed in many assembled mechanisms, such as industrial robots, parallel kinematic mechanism machines, medical devices, and humaniform hands. A pre-stretching process is necessary to guarantee the quality of cable-driven systems during the assembly process. However, the stress relaxation of cables becomes a critical concern during long-term operation. This study investigates the effects of non-uniform deformation and long-term stress relaxation of the driven cables owing to moving parts in the system. A simple closed-loop cable-driven system is built and an alternating load is applied to it to replicate the operation of transmission cables. Under different experimental conditions, the cable tension is recorded and the boundary data are selected to be curve-fitted. Based on the fitted results, a formula is presented to estimate the stress relaxation of cables to evaluate the assembly performance. Further experimental results show that the stress relaxation is mainly caused by cable creep and the assembly procedure. To remove the influence of the assembly procedure, a modified pre-stretching assembly method based on the stress relaxation theory is proposed and verification experiments are performed. Finally, the assembly performance is optimized using a cable-driven surgical robot as an example. This paper proposes a dual stretching method instead of the pre-stretching method to assemble the cable-driven system to improve its performance and prolong its service life.
基金Sponsored by the National Science and Technology Major Project(Grant No.2014ZX04001011)
文摘Residual stress is one of the factors affecting the machining deformation of monolithic structure parts in the aviation industry. Thus,the studies on machining deformation rules induced by residual stresses largely depend on correctly and efficiently measuring the residual stresses of workpieces. A modified layer-removal method is proposed to measure residual stress by analysing the characteristics of a traditional layer-removal method. The coefficients of strain release are then deduced according to the simulation results using the finite element method( FEM). Moreover,the residual stress in a 7075T651 aluminium alloy plate is measured using the proposed method,and the results are then analyzed and compared with the data obtained by the traditional methods. The analysis indicates that the modified layer-removal method is effective and practical for measuring the residual stress distribution in pre-stretched aluminium alloy plates.
基金the National High-Tech Research Development Program of China (No.G2003AA331100).
文摘The ageing behavior of a pre-stretched thick plate of Al-Zn-Mg-Cu alloy was systemically studied including one-step ageing, two-step ageing, and retrogression and reageing treatment (RRA). One-step ageing of the alloy resulted in peak ultimate tensile strengths of 595 and 575 MPa after 22 and 6 h at 120 and 135°C, respectively. The strengthening phase in peak aged (T6 temper) alloy contained GP zones and the η′ phase predominantly. After two-step ageing, the electrical conductivity was increased markedly, but the pre-stretched thick plate sacrificed a great loss of strength. RRA treatment provided a method for maintaining the strength close to that obtained by T6 temper and for obtaining the high electrical conductivity close to that obtained by T7 temper; the ultimate tensile strength and electrical conductivity were 583 MPa and 21.0 MS/m, respectively. TEM analysis of T7 and RRA specimens revealed two types of precipitates that contributed to age strengthening i.e. the η′ and η phases.
文摘The integrated structure parts are widely used in aircraft. The distortion caused by residual stresses in thick pre-stretched aluminum plates during machining integrated parts is a common and serious problem. To predict and control the machining distortion, the residual stress distribution in the thick plate must be measured firstly. The modified removal method for measuring residual stress in thick pre-stretched aluminum plates is proposed and the stress-strain relation matrix is deduced by elasticity theory. The residual stress distribution in specimen of 7050T7451 plate is measured by using the method, and measurement results are analyzed and compared with data obtained by other methods. The method is effective to measure the residual stress.
基金primarily financially supported by the National Natural Science Foundation of China(No.51871245)the National Key R&D Program of China(No.2017YFE0301505)State Key Laboratory for Powder Metallurgy as well as State Key Laboratory of Light Weight and High Strength Structural Materials,Central South University,China。
基金supported by the National Natural Science Foundation of China (Nos. 10832009 and 11090333)the Fundamental Research Funds for Central Universities (No. 2011XZZX002)
文摘This paper studies wave propagation in a soft electroactive cylinder with an underlying finite deformation in the presence of an electric biasing field.Based on a recently proposed nonlinear framework for electroelasticity and the associated linear incremental theory,the basic equations governing the axisymmetric wave motion in the cylinder,which is subjected to homogeneous pre-stretches and pre-existing axial electric displacement,are presented when the electroactive material is isotropic and incompressible.Exact wave solution is then derived in terms of(modified) Bessel functions.For a prototype model of nonlinear electroactive material,illustrative numerical results are given.It is shown that the effect of pre-stretch and electric biasing field could be significant on the wave propagation characteristics.
