The quaternion beam model for hard-magnetic flexible cantilevers

The recently developed hard-magnetic soft(HMS)materials manufactured by embedding high-coercivity micro-particles into soft matrices have received considerable attention from researchers in diverse fields,e.g.,soft robotics,flexible electronics,and biomedicine.Theoretical investigations on large deformations of HMS structures are significant foundations of their applications.This work is devoted to developing a powerful theoretical tool for modeling and computing the complicated nonplanar deformations of flexible beams.A so-called quaternion beam model is proposed to break the singularity limitation of the existing geometrically exact(GE)beam model.The singularity-free governing equations for the three-dimensional(3D)large deformations of an HMS beam are first derived,and then solved with the Galerkin discretization method and the trustregion-dogleg iterative algorithm.The correctness of this new model and the utilized algorithms is verified by comparing the present results with the previous ones.The superiority of a quaternion beam model in calculating the complicated large deformations of a flexible beam is shown through several benchmark examples.It is found that the purpose of the HMS beam deformation is to eliminate the direction deviation between the residual magnetization and the applied magnetic field.The proposed new model and the revealed mechanism are supposed to be useful for guiding the engineering applications of flexible structures.

Dynamic analysis and regulation of the flexible pipe conveying fluid with a hard-magnetic soft segment

The recently developed hard-magnetic soft(HMS)materials can play a significant role in the actuation and control of medical devices,soft robots,flexible electronics,etc.To regulate the mechanical behaviors of the cantilevered pipe conveying fluid,the present work introduces a segment made of the HMS material located somewhere along the pipe length.Based on the absolute node coordinate formulation(ANCF),the governing equations of the pipe conveying fluid with an HMS segment are derived by the generalized Lagrange equation.By solving the derived equations with numerical methods,the static deformation,linear vibration characteristic,and nonlinear dynamic response of the pipe are analyzed.The result of the static deformation of the pipe shows that when the HMS segment is located in the middle of the pipe,the downstream portion of the pipe centerline will keep a straight shape,providing that the pipe is stable with a relatively low flow velocity.Therefore,it is possible to precisely regulate the ejection direction of the fluid flow by changing the magnetic and fluid parameters.It is also found that the intensity and direction of the external magnetic field greatly affect the stability and dynamic response of the pipe with an HMS segment.In most cases,the magnetic actuation increases the critical flow velocity for the flutter instability of the pipe system and suppresses the vibration amplitude of the pipe.

On the anomalous low-resistance state and exceptional Hall component in hard-magnetic Weyl nanoflakes

Magnetic topological materials, which combine magnetism and topology, are expected to host emerging topological states and exotic quantum phenomena. In this study, with the aid of greatly enhanced coercive fields in high-quality nanoflakes of the magnetic Weyl semimetal Co_(3)Sn_(2)S_(2), we investigate anomalous electronic transport properties that are difficult to reveal in bulk Co_(3)Sn_(2)S_(2) or other magnetic materials. When the magnetization is antiparallel to the applied magnetic field, the low longitudinal resistance state occurs, which is in sharp contrast to the high resistance state for the parallel case. Meanwhile, an exceptional Hall component that can be up to three times larger than conventional anomalous Hall resistivity is also observed for transverse transport. These anomalous transport behaviors can be further understood by considering nonlinear magnetic textures and the chiral magnetic field associated with Weyl fermions, extending the longitudinal and transverse transport physics and providing novel degrees of freedom in the spintronic applications of emerging topological magnets.

Tunability of Band Gaps of Programmable Hard-Magnetic Soft Material Phononic Crystals

In this paper,the elastic wave band gap characteristics of two-dimensional hard-magnetic soft material phononic crystals(HmSM-PnCs)under the applied magnetic field are studied.Firstly,the relevant material parameters of hard-magnetic soft materials(HmSMs)are obtained by the experimental measurement.Then the finite element model of the programmable HmSM-PnCs is established to calculate its band structure under the applied magnetic field.The effects of some factors such as magnetic field,structure thickness,structure porosity,and magnetic anisotropy encoding mode on the band gap are given.The results show that the start and stop frequencies and band gap width can be tunable by changing the magnetic field.The magnetic anisotropy encoding mode has a remarkable effect on the number of band gaps and the critical magnetic field of band gaps.In addition,the effect of geometric size on PnC structure is also discussed.With the increase of the structure thickness,the start and stop frequencies of the band gap increase.

Dynamic analysis and active control of hard-magnetic soft materials

The hard-magnetic soft materials which can sustain high residual magnetic flux density gradually attract the attention of researchers because of potential applications in soft robotics and biomedical fields.In this work,we focus on the dynamic response of hardmagnetic soft materials.The dynamic motion equations are derived by the Euler-Lagrange equation.The effects of the aspect radio on the nonlinear vibration of the hard-magnetic soft cuboid under the force and applied magnetic fields in different directions are investigated.The amplitude-frequency curves demonstrate that the aspect ratio also has an influence on the frequency and amplitude of the primary resonance.Moreover,to eliminate undesired vibration responses,the PID controller is applied to the vibration of the hardmagnetic soft materials,and the desired results can be obtained.

基于共旋坐标的三维硬磁杆模型

硬磁软材料因其灵活的可编程性、非接触驱动和快速响应等优点,近年来在软体机器人、生物医疗器件和柔性电子等领域引起了广泛关注.这种多功能复合材料通常是由硬磁性粒子嵌入柔性基质构成,能够在外部磁场激励下产生较大的变形.本文提出一种三维柔性杆模型来定量预测细长形硬磁弹性体的空间大变形行为.模型采用基于中心线的基尔霍夫描述,将三维磁-弹性能量函数简化为一维形式.通过使用共旋坐标公式描述刚体运动,并用显式时间积分进行非线性求解,研究了在不同方向和大小的外加磁场作用下,硬磁弹性体的大变形弯曲、后屈曲和扭转行为.代表性算例分析表明该模型与传统的实体单元相比具有更高的效率和精度(只需要少量单元即可保证1%以内误差).研究结果可用于指导硬磁细长柔性结构可编程形貌的理性设计与调控.