A Wire-Driven Series Elastic Mechanism Based on Ultrasonic Motor for Walking Assistive System

In order to improve the elderly people's quality of life,supporting their walking behaviors is a promising technology.Therefore,based on one ultrasonic motor,a wire-driven series elastic mechanism for walking assistive system is proposed and investigated in this research.In contrast to tradition,it innovatively utilizes an ultrasonic motor and a wire-driven series elastic mechanism to achieve superior system performances in aspects of simple structure,high torque/weight ratio,quiet operation,quick response,favorable electromagnetic compatibility,strong shock resistance,better safety,and accurately stable force control.The proposed device is mainly composed of an ultrasonic motor,a linear spring,a steel wire,four pulleys and one rotating part.To overcome the ultrasonic motor's insufficient output torque,a steel wire and pulleys are smartly combined to directly magnify the torque instead of using a conventional gear reducer.Among the pulleys,there is one tailored pulley playing an important role to keep the reduction ratio as 4.5 constantly.Meanwhile,the prototype is manufactured and its actual performance is verified by experimental results.In a one-second operating cycle,it only takes 86 ms for this mechanism to output an assistive torque of 1.6 N·m.At this torque,the ultrasonic motor's speed is around 4.1 rad/s.Moreover,experiments with different operation periods have been conducted for different application scenarios.This study provides a useful idea for the application of ultrasonic motor in walking assistance system.

Large Deformation Analysis and Synthesis of Elastic Closed-loop Mechanism Made of a Certain Spring Wire Described by Free Curves

Recently novel mechanisms with compact size and without many mechanical elements such as bearing are strongly required for medical devices such as surgical operation devices. This paper describes analysis and synthesis of elastic link mechanisms of a single spring beam which can be manufactured by NC coiling machines. These mechanisms are expected as disposable micro forceps. Smooth Curvature Model（SCM） with 3rd order Legendre polynomial curvature functions is applied to calculate large deformation of a curved cantilever beam by taking account of the balance between external and internal elastic forces and moments. SCM is then extended to analyze large deformation of a closed-loop curved elastic beam which is composed of multiple free curved beams. A closed-loop elastic link is divided into two free curved cantilever beams each of which is assumed as serially connected free curved cantilever beams described with SCM. The sets of coefficients of Legendre polynomials of SCM in all free curved cantilever beams are determined by taking account of the force and moment balance at connecting point where external input force is applied. The sets of coefficients of Legendre polynomials of a nonleaded closed-loop elastic link are optimized to design a link mechanism which can generate specified output motion due to input force applied at the assumed dividing point. For example, two planar micro grippers with a single pulling input force are analyzed and designed. The elastic deformation analyzed with proposed method agrees very well with that calculated with FEM. The designed micro gripper can generate the desired pinching motion. The proposed method can contribute to design compact and simple elastic mechanisms without high calculation costs.

Non-pneumatic mechanical elastic wheel natural dynamic characteristics and influencing factors

Non-pneumatic tire appears to have advantages over traditional pneumatic tire in terms of flat proof and maintenance free.A mechanical elastic wheel(MEW) with a non-pneumatic elastic outer ring which functions as air of pneumatic tire was presented.The structure of MEW was non-inflatable integrated configuration and the effect of hinges was accounted for only in tension. To establish finite element model of MEW, various nonlinear factors, such as geometrical nonlinearity, material nonlinearity and contact nonlinearity, were considered. Load characteristic test was conducted by tyre dynamic test-bed to obtain force-deflection curve. And the finite element model was validated through load characteristic test. Natural dynamic characteristics of the MEW and its influencing factors were investigated based on the finite element model. Simulation results show that the finite element model closely matched experimental wheel. The results also show that natural frequency is related to ground constraints, material properties, loads and torques. Influencing factors as above obviously affect the amplitude of mode of vibration, but have little effect on mode of vibration shape. The results can provide guidance for experiment research, structural optimization of MEW.

Influence Analysis of Machining and Installation Errors on the Radial Stiffness of a Non-Pneumatic Mechanical Elastic Wheel

Machining and installation errors are unavoidable in mechanical structures. However, the effect of errors on radial stiffness of the mechanical elastic wheel(ME-Wheel) is not considered in previous studies. To this end, the interval mathematical model and interval finite element model of the ME-Wheel were both established and compared with bench test results. The intercomparison of the influence of the machining and installation errors on the ME-Wheel radial stiffness revealed good consistency among the interval mathematical analysis, interval finite element simulation,and bench test results. Within the interval range of the ME-Wheel machining and installation errors, parametric analysis of the combined elastic rings was performed at different initial radial rigidity values. The results showed that the initial radial stiffness of the flexible tire body significantly influenced the ME-Wheel radial stiffness, and the inverse relationship between the hinge unit length or suspension hub and the radial stiffness was nonlinear. The radial stiffness of the ME-Wheel is predicted by using the interval algorithm for the first time, and the regularity of the radial stiffness between the error and the load on the ME-Wheel is studied, which will lay the foundation for the exact study of the ME-Wheel dynamic characteristics in the future.

Steady-State Cornering Properties of a Non-pneumatic Tire with Mechanical Elastic Structure

Mechanical elastic wheel(ME-wheel)is a new type of non-inflatable safety tyre,and the structure is significantly different from traditional pneumatic tyre.In order to investigate cornering properties of ME-wheel,experimental research on mechanics characteristics of ME-wheel under steady-state cornering conditions are carried out.The test of steady-state cornering properties of ME-wheel at different experimental parameter conditions is conducted by test bench for dynamic mechanical properties of tyre.Cornering property curves are used to analyze the steady-state cornering properties of ME-wheel,namely the variation tendency of lateral force or aligning torque with the increase of side-slip angle.Moreover,evaluation indexes for cornering properties of ME-wheel are extracted and the effect of different experimental parameters(including vertical load,friction coefficient,and speed)on cornering properties of ME-wheel is contrastively analyzed.The proposed research can provide certain reference to facilitate structure parameters and cornering properties optimizing process of ME-wheel.

Static Radical Stiffness and Contact Behavior of Nonpneumatic Mechanical Elastic Wheel

Conventional pneumatic tires exhibit disadvantages such as puncture,blowout at high speed,pressure maintenance,etc.Owing to these structural inevitable weaknesses,non?pneumatic tires have been developed and are investigated.A non?pneumatic mechanical elastic wheel(NPMEW)is introduced and investigated as a function of static radical stiffness characteristics and contact behavior.A bench test method is utilized to improve the riding comfort and the traction traffic ability of NPMEW based on tire characteristics test rig,and the static radical stiffness characteristics and the contact behavior of NPMEW are compared with that of an insert supporting run?flat tire(ISRFT).The vertical force?deformation curves and deformed shapes and contact areas of the NPMEW and ISRFT are obtained using a set of vertical loads.The contact behavior is evaluated using extracted geometrical and mechanical feature parameters of the two tires.The results indicate that the NPMEW appears to exhibit considerably high radical stiffness,and the numerical value is dependent on the mechanical characteristic of the flexible tire body and hinge units.NPMEW demonstrates more uniform contact pressure than ISRFT within a certain loading range,and it can efficiently mitigate the problem of stress concentration in ISRFT shoulder under heavy load and enhance the wear resistance and ground grip performances.

MATERIAL MULTIPOLE MECHANICS OF ELASTIC DIELECTRIC COMPOSITES

The overall mechanical and electrical behaviors of elastic dielectric composites are investigated with the aid of the concept of material multipoles. In particular, by introducing a statistical continuum material multipole theory, the effects of the electric-elastic interaction and the microstructure (size, shape, orientation,...) of inhomogeneous particles on the overall behaviors of the composites can be obtained. A basic solution for an ellipsoidal elastic inhomogeneity with electric polarization in an infinite elastic dielectric medium is first given, which shows that classical Eshelby 's elastic solution is modified by the presence of electric-elastic interaction. The overall macroscopic constitutive relations and their overall macroscopic material parameters accounting for electroelastic interaction effect are then derived for the elastic dielectric composites. Some quantitative calculations on the problems with statistical anisotropy, the shape effect and the electric-elastic interaction are finally given for dilute composites.

THE MECHANICAL METHOD OF CONSTRUCTING THE DISPLACEMENT FUNCTIONS IN ELASTICITY

In this Paper we have proven the general solution to the equations of linear operatorsAu=f as u=Cv+e . where v satisfies the equation Dv=g and D is adiagonal matrix. Basing on the consstructive proof of Hilbert Nullstellensat=. we haregiven the mechanical method of constucting C. D and e.and some of the mechanicalalgorithm displacement functions in elasticity are given by this method also .

An experimental study on the relationship between acoustic parameters and mechanical properties of frozen silty clay

To study the influence of temperature and water content on ultrasonic wave velocity and to establish the relationship between ultrasonic wave velocity and frozen silty clay strength, ultrasonic tests were conducted to frozen silty clay by using RSM-SY5（T） nonmetal supersonic test meter, and the tensile strength and compressive strength of silty clay were measured under various negative temperatures. Test and analysis results indicate that, ultrasonic wave velocity rapidly changes in the temperature range of-1 ℃ to -5 ℃. Ultrasonic wave velocity increased with an increase of water content until the water content reached the critical water content, while decreased with an increase of water content after the water content exceeded the critical water content. This study showed that there was strong positive correlation between the ul- trasonic wave velocity and the frozen soil strength. As ultrasonic wave velocity increased, either tensile strength or com- pressive strength increased. Based on the experimental data, the relationship between ultrasonic wave velocity and frozen silty clay strength was obtained through regression analysis. It was found that the ultrasonic test technique can be used to test frozen soils and lay the foundation for the determination of frozen soil strength.

Application of scaled boundary finite element method in static and dynamic fracture problems

The scaled boundary finite element method （SBFEM） is a recently developed numerical method combining advantages of both finite element methods （FEM） and boundary element methods （BEM） and with its own special features as well. One of the most prominent advantages is its capability of calculating stress intensity factors （SIFs） directly from the stress solutions whose singularities at crack tips are analytically represented. This advantage is taken in this study to model static and dynamic fracture problems. For static problems, a remeshing algorithm as simple as used in the BEM is developed while retaining the generality and flexibility of the FEM. Fully-automatic modelling of the mixed-mode crack propagation is then realised by combining the remeshing algorithm with a propagation criterion. For dynamic fracture problems, a newly developed series-increasing solution to the SBFEM governing equations in the frequency domain is applied to calculate dynamic SIFs. Three plane problems are modelled. The numerical results show that the SBFEM can accurately predict static and dynamic SIFs, cracking paths and load-displacement curves, using only a fraction of degrees of freedom generally needed by the traditional finite element methods.

Hydraulic properties of dune sand-bentonite mixtures of insulation barriers for hazardous waste facilities

The material and elastic properties of rocks are utilized for predicting and evaluating hard rock brittleness using artificial neural networks（ANN）. Herein hard rock brittleness is defined using Yagiz＇method. A predictive model is developed using a comprehensive database compiled from 30 years＇ worth of rock tests at the Earth Mechanics Institute（EMI）, Colorado School of Mines. The model is sensitive to density, elastic properties, and P- and S-wave velocities. The results show that the model is a better predictor of rock brittleness than conventional destructive strength-test based models and multiple regression techniques. While the findings have direct implications on intact rock, the methodology can be extrapolated to rock mass problems in both tunneling and underground mining where rock brittleness is an important control.

Determination of the Stable Slope Configuration of Oval-Shaped Furrow Pits

The space effects of oval-shaped furrow pit slopes were analyzed by the elastic mechanics principle.The interaction of limit equilibrium slope angle,friction coefficient,cohesion and horizontal radius of oval-shaped furrow pits has been derived.The oval trumpet-like rock mass is homogeneous and elastic while only loaded by its dead weight.The interaction indicates that the deeper an oval-shaped furrow pit is excavated,the greater the limit equilibrium slope angle.Both the theory base for reducing stripping waste rock in an oval-shaped furrow pit and the basic way to determine the configuration of a stable slope were developed from the mentioned interaction.The theory includes the preceding principles of stability analysis of slopes.Compared with the configuration determined by traditional theory of slope stability,a great quantity of stripping waste rock can be reduced by that determined in this paper under stable conditions.

Microstructure and mechanical properties of lost foam cast 356 alloys

Microstructure and mechanical properties of lost foam cast aluminum alloys have been investigated in both primary A356(0.13% Fe) and secondary 356(0.47%). As expected, secondary 356 shows much higher content of Fe-rich intermetallic phases, and in particular the porosity in comparison with primary A356. The average area percent and size(length) of Fe-rich intermetallics change from about 0.5% and 6 μm in A356 to 2% and 25 μm in 356 alloy. The average area percent and maximum size of porosity also increase from about 0.4% and 420 μm to 1.4% and 600 μm, respectively. As a result, tensile ductility decreases about 60% and ultimate tensile strength declines about 8%. Lower fatigue strength was also experienced in the secondary 356 alloy. Low cycle fatigue(LCF) strength decreased from 187 MPa in A356 to 159 MPa in 356 and high cycle fatigue(HCF) strength also declined slightly from 68 MPa to 64 MPa.

ANALYZING ON THE VIBRATION CHARACTERISTICS OF A MICRO PIEZOELECTRIC ROBOT IN PIPELINE

The mathematical model of a micro piezoelectric elastic legged robot in pipeline was founded. The robotic resonant frequency worked out with the mathematical model is nearly equal to the frequency from experiment. It indicates that the mathematical model of the robot is correct. Besides, it studied the piezoelectric robotic structure parameters’ effect on the robotic performance. The result of the analysis on the robot constructs the base of an optimal design of a piezoelectric robot.

Concentration-dependent crystal structure, elastic constants and electronic structure of ZrxTi1-x alloys under high pressure

The physical properties of ZrxTi1-x（x=0.0, 0.33, 0.5, 0.67, 0.75 and 1.00） alloys were sinmlated by virtual crystal approximation （VCA） methods which is generally used for disordered solid solutions modeling. The elastic constant, electronic structure and thermal Equation of state （EOS） of disor- dered ZrxTi1-x alloys under pressure are investigated by plane-wave pseudo-potentia1 method. Our simulations reveal increasement of variations of the calculated equilibrium volumes and decrease- ment of Bulk modulus as a function of the alloy compositions. Lattice parameters a and c of alloys with differentZr concentrations decrease linearly with pressure increasing, but the c/avalues are increasing as pressure increases, indicating no phase transitions under pressure from 0 GPa to 100 GPa. The elastic constants and the Bulk modulus to the Shear modulus ratios （B/G） indicate good ductility of Zr, Zr0.33 Ti0.67 Zr0.5Ti0.5, Zr0.75Ti0.25 and Ti, but the Zr0.67Ti0.33 alloy is brittle under 0 K and 0 GPa. The metallic behavior of these alloys was also proved by analyzing partial and total DOS.

Analyses toward factors influencing sealing clearance of a metal rubber seal and derivation of a calculation formula

Sealing clearance is a key factor for a metal rubber seal＇s sealability. The expansion coef- ficient and expansion deformation in the radial direction of metal rubber have been obtained through a thermal expansion experiment of metal rubber. The influence of the elastic modulus to the sealing clearance has been analyzed theoretically. By combining the temperature and elasticity factors of metal rubber with the elastic mechanics theory, the calculation formula of the sealing clearance has been derived, and the values of the sealing clearance and the leakage rate in certain working conditions have been calculated. Experimental results are consistent with calculation results in a high degree. The calculation formula of the sealing clearance can explain the influences of the temperature and elastic modulus factors of metal rubber on the sealing clearance. It can pro- vide guidance for the study of sealing mechanism of metal rubber seals.