Snap-through behaviors and nonlinear vibrations of a bistable composite laminated cantilever shell:an experimental and numerical study

The snap-through behaviors and nonlinear vibrations are investigated for a bistable composite laminated cantilever shell subjected to transversal foundation excitation based on experimental and theoretical approaches.An improved experimental specimen is designed in order to satisfy the cantilever support boundary condition,which is composed of an asymmetric region and a symmetric region.The symmetric region of the experimental specimen is entirely clamped,which is rigidly connected to an electromagnetic shaker,while the asymmetric region remains free of constraint.Different motion paths are realized for the bistable cantilever shell by changing the input signal levels of the electromagnetic shaker,and the displacement responses of the shell are collected by the laser displacement sensors.The numerical simulation is conducted based on the established theoretical model of the bistable composite laminated cantilever shell,and an off-axis three-dimensional dynamic snap-through domain is obtained.The numerical solutions are in good agreement with the experimental results.The nonlinear stiffness characteristics,dynamic snap-through domain,and chaos and bifurcation behaviors of the shell are quantitatively analyzed.Due to the asymmetry of the boundary condition and the shell,the upper stable-state of the shell exhibits an obvious soft spring stiffness characteristic,and the lower stable-state shows a linear stiffness characteristic of the shell.

Parametric characteristic of the random vibration response of nonlinear systems

Volterra series is a powerful mathematical tool for nonlinear system analysis,and there is a wide range of nonlinear engineering systems and structures that can be represented by a Volterra series model.In the present study,the random vibration of nonlinear systems is investigated using Volterra series.Analytical expressions were derived for the calculation of the output power spectral density（PSD） and input-output cross-PSD for nonlinear systems subjected to Gaussian excitation.Based on these expressions,it was revealed that both the output PSD and the input-output crossPSD can be expressed as polynomial functions of the nonlinear characteristic parameters or the input intensity.Numerical studies were carried out to verify the theoretical analysis result and to demonstrate the effectiveness of the derived relationship.The results reached in this study are of significance to the analysis and design of the nonlinear engineering systems and structures which can be represented by a Volterra series model.

Multi-blade rubbing characteristics of the shaft-disk-blade-casing system with large rotation

Blade rubbing faults cause detrimental impact on the operation of aeroengines. Most of the existing studies on blade rubbing in the shaft-disk-blade-casing(SDBC) system have overlooked the elastic deformation of the blade, while some only consider the whirl of the rotor, neglecting its spin. To address these limitations, this paper proposes a dynamic model with large rotation for the SDBC system. The model incorporates the spin and whirl of the rotor, enabling the realistic reproduction of multiblade rubbing faults. To verify the accuracy of the SDBC model with large rotation and demonstrate its capability to effectively consider the rotational effects such as the centrifugal stiffening and gyroscopic effects, the natural characteristics and dynamic responses of the proposed model are compared with those obtained from reported research and experimental results. Furthermore, the effects of the rotating speed, contact stiffness,and blade number on the dynamic characteristics of the SDBC system with multi-blade rubbing are investigated. The results indicate that the phase angle between the rotor deflection and the unbalance excitation force increases with the increasing rotating speed,which significantly influences the rubbing penetration of each blade. The natural frequency of the SDBC system with rubbing constrain can be observed in the acceleration response of the casing and the torsional response of the shaft, and the frequency is related to the contact stiffness. Moreover, the vibration amplitude increases significantly with the product of the blade number under rubbing, and the rotating frequency approaches the natural frequency of the SDBC system. The proposed model can provide valuable insight for the fault diagnosis of rubbing in bladed rotating machinery.

Review on Dynamic Modeling and Vibration Characteristics of Rotating Cracked Blades

As one of the most important parts in the engine,the structure and state of the rotating blade directly affect the normal performance of the aeroengine.In order to monitor engine crack failure and ensure flight safety,it is necessary to carry out research on the dynamic modeling of the cracked blade and breathing crack-induced vibration mechanisms.This paper summarizes the current research status on the dynamics of cracked blade,and the related topics mainly include four aspects:crack propagation path,mechanical model of open and breathing cracks,dynamic modeling methods of cracked blades such as lumped mass model,semi-analytical model and finite element model,and dynamic characteristics of cracked blades.The review will provide valuable references for future studies on dynamics and fault diagnosis of cracked blade in aeroengine.

Rubbing-Induced Vibration Response Analysis of Dual-Rotor-Casing System

Considering gyroscopic effects caused by rotational speed,torsional vibration as well as coupling effects among inner rotor,out rotor and casing,a dynamic model of the dual-rotor-casing system is established using finite element(FE)method.By comparing the natural characteristics obtained from MATLAB and ANSYS,the developed model is verified.Then rubbing-induced vibration responses in dual-rotor-casing system are analyzed.The effects of rotational speed and speed ratio on rubbing vibration responses of the system are discussed.Results show that different combined frequency components will appear in the spectrum except two unbalanced excitation frequencies and their multiple frequency components,and these frequencies can be used as the dual-rotor aero-engine rubbing failure diagnosis frequencies when rubbing occurs.Besides,the amplitude of torsional vibration is larger than that of lateral vibration under the same working condition,and speed ratio has a great impact on the periodicity of the system rubbing-induced motion trajectory.The amplitude of rubbing-induced responses under counter-rotation is less than that under co-rotation with the same parameters.

Experimental investigation on vibration characteristics of sandwich beams with magnetorheological elastomers cores

A sandwich beam specimen was fabricated by treating with MR elastomers between two thin aluminum face-plates.Experiment was carried out to investigate the vibration responses of the sandwich beam with respect to the intensity of the magnetic field and excitation frequencies.The results show that the sandwich beams with MR elastomers cores have the capabilities of shifting natural frequencies and the vibration amplitudes decrease with the variation of the intensity of external magnetic field.

Optimization and Mechanical Accuracy Reliability of a New Type of Forging Manipulator

Researches on forging manipulator have enormous influence on the development of the forging industry and national economy.Clamp device and lifting mechanism are the core parts of forging manipulator,and have been studied for longer time.However,the optimization and mechanical accuracy reliability of them are less analyzed.Based on General Function（G_F）set and parallel mechanism theory,proper configuration of 10t forging manipulator is selected firstly.A new type of forging manipulator driven by cylinders is proposed.After solved mechanical analysis of manipulator＇s core mechanisms,expressions of force of cylinders are carried out.In order to achieve smaller force afforded by cylinders and better mechanical characteristics,some particular sizes of core mechanisms are optimized intuitively through the combined use of the genetic algorithms（GA）and GUI interface in MATLAB.Comparing with the original mechanisms,optimized clamp saves at least 8 percent efforts and optimized lifting mechanism 20 percent under maximum working condition.Finally,considering the existed manufacture error of components,mechanical accuracy reliability of optimized clamp,lifting mechanism and whole manipulator are demonstrated respectively based on fuzzy reliability theory.Obtained results show that the accuracy reliability of optimized clamp is bigger than 0.991 and that of optimized lifting mechanism is 0.995.To the whole manipulator under maximum working condition,that value exceeds 0.986 4,which means that optimized manipulator has high motion accuracy and is reliable.A new intuitive method is created to optimize forging manipulator sizes efficiently and more practical theory is utilized to analyze mechanical accuracy reliability of forging manipulator precisely.

Enhanced galloping energy harvester with cooperative mode of vibration and collision

The low power and narrow speed range remain bottlenecks that constrain the application of small-scale wind energy harvesting.This paper proposes a simple,lowcost,and reliable method to address these critical issues.A galloping energy harvester with the cooperative mode of vibration and collision(GEH-VC)is presented.A pair of curved boundaries attached with functional materials are introduced,which not only improve the performance of the vibration energy harvesting system,but also convert more mechanical energy into electrical energy during collision.The beam deforms and the piezoelectric energy harvester(PEH)generates electricity during the flow-induced vibration.In addition,the beam contacts and separates from the boundaries,and the triboelectric nanogenerator(TENG)generates electricity during the collision.In order to reduce the influence of the boundaries on the aerodynamic performance and the feasibility of increasing the working area of the TENG,a vertical structure is designed.When the wind speed is high,the curved boundaries maintain a stable amplitude of the vibration system and increase the frequency of the vibration system,thereby avoiding damage to the piezoelectric sheet and improving the electromechanical conversion efficiency,and the TENG works with the PEH to generate electricity.Since the boundaries can protect the PEH at high wind speeds,its stiffness can be designed to be low to start working at low wind speeds.The electromechanical coupling dynamic model is established according to the GEH-VC operating principle and is verified experimentally.The results show that the GEH-VC has a wide range of operating wind speeds,and the average power can be increased by 180%compared with the traditional galloping PEH.The GEH-VC prototype is demonstrated to power a commercial temperature sensor.This study provides a novel perspective on the design of hybrid electromechanical conversion mechanisms,that is,to combine and collaborate based on their respective characteristics.

Application of Modelica/MWorks on modeling,simulation and optimization for electro-hydraulic servo valve system

Electro-hydraulic servo valve is a typical complicated multi-domain system constituted by mechanical, electric, hydraulic and magnetic components, which is widely used in electro-hydraulic servo systems such as construction machinery, heavy equipment, weapon and so forth. The traditional method of modeling and simulation of servo valve is based on block diagram or signal flow, which cannot describe the servo valve system from components level nor be used in modeling and simulation of overall servo systems. In the procedure of traditional method, computational causality must be involved in modeling of servo valve, which is inconvenient to execute modification on components or parameters. Modelica is an object-oriented modeling language which is suited for large, complex, heterogeneous and multi-domain systems. The key features of Modelica are multi-domain, object-oriented and non-causal, which are suitable for modeling of servo valve and make the model readable, reusable, and easy to modify. The simulation results show similar curves with traditional method. This new servo valve modeling and simulation method can provide the engineers a more efficient way to design and optimize a servo valve and an overall servo system.

Design and experiment of an adaptive dynamic vibration absorber with smart leaf springs

An adaptive dynamic vibration absorber(ADVA)is designed for lowfrequency vibration suppression.The leaf springs are applied as the tuning stiffness elements.The principle of variable stiffness is analyzed to obtain the effective range of the first natural frequency variation.A classic simply supported manipulator is selected as the controlled system.The coupled dynamic model of the manipulator-ADVA system is built to obtain the maximum damping efficiency and the vibration absorption capacity of the designed ADVA.An experimental platform is set up to verify the theoretical results.It is revealed that the ADVA can adjust the first natural frequency on a large scale by changing the curvature of the leaf springs.The amplitude of the manipulator is reduced obviously with the installation of the designed ADVA.Finally,based on the short-time Fourier transformation(STFT),a stepwise optimization algorithm is proposed to achieve a quick tuning of the natural frequency of the ADVA so that it can always coincide with the frequency of the prime structure.Through the above steps,the intelligent frequency tuning of the ADVA is realized with high vibration absorption performance in a wide frequency range.

A Comparative Study on Kinematic Calibration for a 3-DOF Parallel Manipulator Using the Complete-Minimal,Inverse-Kinematic and Geometric-Constraint Error Models

Kinematic calibration is a reliable way to improve the accuracy of parallel manipulators, while the error model dramatically afects the accuracy, reliability, and stability of identifcation results. In this paper, a comparison study on kinematic calibration for a 3-DOF parallel manipulator with three error models is presented to investigate the relative merits of diferent error modeling methods. The study takes into consideration the inverse-kinematic error model, which ignores all passive joint errors, the geometric-constraint error model, which is derived by special geometric constraints of the studied RPR-equivalent parallel manipulator, and the complete-minimal error model, which meets the complete, minimal, and continuous criteria. This comparison focuses on aspects such as modeling complexity, identifcation accuracy, the impact of noise uncertainty, and parameter identifability. To facilitate a more intuitive comparison, simulations are conducted to draw conclusions in certain aspects, including accuracy, the infuence of the S joint, identifcation with noises, and sensitivity indices. The simulations indicate that the complete-minimal error model exhibits the lowest residual values, and all error models demonstrate stability considering noises. Hereafter, an experiment is conducted on a prototype using a laser tracker, providing further insights into the diferences among the three error models. The results show that the residual errors of this machine tool are signifcantly improved according to the identifed parameters, and the complete-minimal error model can approach the measurements by nearly 90% compared to the inverse-kinematic error model. The fndings pertaining to the model process, complexity, and limitations are also instructive for other parallel manipulators.

New Sensing Technologies for Monitoring Machinery,Structures,and Manufacturing Processes

Sensing is the fundamental technique for sensor data acquisition in monitoring the operation condition of the machinery,structures,and manufacturing processes.In this paper,we briefly discuss the general idea and advances of various new sensing technologies,including multiphysics sensing,smart materials and metamaterials sensing,microwave sensing,fiber optic sensors,and terahertz sensing,for measuring vibration,deformation,strain,acoustics,temperature,spectroscopic,etc.Based on the observations from the state of the art,we provide comprehensive discussions on the possible opportunities and challenges of these new sensing technologies so as to steer future development.

Smart Gait:A Gait Optimization Framework for Hexapod Robots

The current gait planning for legged robots is mostly based on human presets,which cannot match the flexible characteristics of natural mammals.This paper proposes a gait optimization framework for hexapod robots called Smart Gait.Smart Gait contains three modules:swing leg trajectory optimization,gait period&duty optimization,and gait sequence optimization.The full dynamics of a single leg,and the centroid dynamics of the overall robot are considered in the respective modules.The Smart Gait not only helps the robot to decrease the energy consumption when in locomotion,mostly,it enables the hexapod robot to determine its gait pattern transitions based on its current state,instead of repeating the formalistic clock-set step cycles.Our Smart Gait framework allows the hexapod robot to behave nimbly as a living animal when in 3D movements for the first time.The Smart Gait framework combines offline and online optimizations without any fussy data-driven training procedures,and it can run efficiently on board in real-time after deployment.Various experiments are carried out on the hexapod robot LittleStrong.The results show that the energy consumption is reduced by 15.9%when in locomotion.Adaptive gait patterns can be generated spontaneously both in regular and challenge environments,and when facing external interferences.

含呼吸裂纹的旋转扭型变截面叶片的动态接触特性

航空发动机叶片经常发生裂纹故障失效,从而引发一系列事故。以往的研究主要集中在裂纹引起的非线性振动上,而裂纹呼吸过程中裂纹表面的接触状态往往被忽略。然而,考虑裂纹表面的接触行为是非常重要的,因为它会导致裂纹叶片的非线性振动。为了进一步研究裂纹诱发非线性振动的机理,本文提出了一种基于自编非协调六面体单元(SNCHE)的旋转叶片动态接触呼吸裂纹模型,并使用弹簧单元模拟呼吸效应。通过接触有限元模型验证了模型的有效性。此外,还研究了裂纹参数(裂纹深度和裂纹位置)及载荷参数(气动振幅和气动频率)对裂纹叶片动态接触特性的影响。在此基础上,提出了一个呼吸裂纹量化指标(BCQI)来表征呼吸裂纹的非线性水平。结果表明,在裂纹呼吸过程中,裂纹面从叶片侧面向裂纹尖端中心方向闭合。并且BCQI随裂纹深度、气动幅值和转速的增加而增大,随裂纹位置越靠近叶尖而减小。

基于改进分形方法的齿面磨损故障直齿轮啮合特性分析

考虑实际的轮齿表面微观形貌,建立了轮齿间相互作用的三维分形接触模型。结合轮齿承载接触分析方法,考虑轮齿间摩擦力的影响,建立了直齿轮副的时变啮合刚度模型,并通过有限元方法进行了验证。结合Archard磨损模型,考虑齿面粗糙度和摩擦力的影响,分析了齿面磨损故障状态下直齿轮副的啮合特性和磨损深度,同时分析了摩擦力和分形参数对时变啮合刚度和磨损深度的影响。摩擦力导致节线处的时变啮合刚度发生突变。当直齿轮副处于双齿啮合时,摩擦因数的增加和分形维数的降低导致磨损深度的增加和时变啮合刚度的降低。时变啮合刚度随分形维数的变化呈线性变化。分形维数对时变啮合刚度和磨损深度的影响随着磨损周期的增加更为明显,超过了摩擦因数对其的影响。

Investigation of the Micro-Mechanics of an Extruded Precipitation-Strengthened Magnesium Alloy under Cyclic Loading

Precipitation strengthening is a crucial microscopic mechanism for enhancing the strength of magnesium alloys. In order to elucidate the influence of precipitation on the microscopic deformation mechanisms and macroscopic mechanical response of magnesium alloys under cyclic loading conditions, we employed a crystal plasticity model to analyze the stress-strain curves, specific crystal plane diffraction intensities, and the temporal evolution of various microscopic deformation mechanisms and twinning volume fractions for an extruded magnesium alloy, AXM10304, containing coherent precipitates. The research findings indicate that precipitation does not fundamentally alter the microscopic mechanisms of this alloy. However, it hinders twinning during the compression stage, mildly promotes detwinning during the tension stage, and enhances tension secondary hardening by elevating the difficulty of activation of the prismatic slip.

Mechanism,Actuation,Perception,and Control of Highly Dynamic Multilegged Robots:A Review

Multilegged robots have the potential to serve as assistants for humans,replacing them in performing dangerous,dull,or unclean tasks.However,they are still far from being sufficiently versatile and robust for many applications.This paper addresses key points that might yield breakthroughs for highly dynamic multilegged robots with the abilities of running(or jumping and hopping)and self-balancing.First,21 typical multilegged robots from the last five years are surveyed,and the most impressive performances of these robots are presented.Second,current developments regarding key technologies of highly dynamic multilegged robots are reviewed in detail.The latest leg mechanisms with serial-parallel hybrid topologies and rigid–flexible coupling configurations are analyzed.Then,the development trends of three typical actuators,namely hydraulic,quasi-direct drive,and serial elastic actuators,are discussed.After that,the sensors and modeling methods used for perception are surveyed.Furthermore,this paper pays special attention to the review of control approaches since control is a great challenge for highly dynamic multilegged robots.Four dynamics-based control methods and two model-free control methods are described in detail.Third,key open topics of future research concerning the mechanism,actuation,perception,and control of highly dynamic multilegged robots are proposed.This paper reviews the state of the art development for multilegged robots,and discusses the future trend of multilegged robots.

Design of a Servo Mechanical Press with Redundant Actuation

A servo press is a new type of mechanical press that is driven by programmable motors and offers superior performance such as low noise, excellent efficiency and high precision for metal forming operations. Similar to multi-link mechanical presses, a servo mechanical press tends to grow in size as the tonnage increases that calls for larger, heavy duty servo motors, which could be expensive and may not even be available. In this paper, a new concept of servo mechanical press with redundant actuation is proposed firstly using two servo motors driving one input shaft, i.e. one-point-two-motor mode that makes it possible to produce a larger press with available servomotors. Then the punching mechanism design is detailed. The performance indices are set up including mechanical advantage reciprocal and link force ratios. A bounded feasible solution space is constructed for dimensional synthesis based on non-dimensional link lengths and assembly conditions. The performance atlases are depicted over the bounded feasible solution space that lead to a visual solution of the punching mechanism with global optimization. Finally, case studies are given to illustrate the design method with visual global optimization, and a prototype with 200 t punching force is being developed in our laboratory to demonstrate efficacy of the new concept for servo mechanical press. The presented research provides a feasible solution to the development of heavy-duty servo mechanical presses and finds potential applications in the development of other types of heavy equipments with electric drive.

Type Design and Behavior Control for Six Legged Robots

The research on legged robots attracted much attention both from the academia and industry. Legged robots are multi-input multi-output with multiple end-e ector systems. Therefore,the mechanical design and control framework are challenging issues. This paper reviews the development of type synthesis and behavior control on legged robots; introduces the hexapod robots developed in our research group based on the proposed type synthesis method. The control framework for legged robots includes data driven layer,robot behavior layer and robot execution layer. Each layer consists several components which are explained in details. Finally,various experiments were conducted on several hexapod robots. The summarization of the type synthesis and behavior control design constructed in this paper would provide a unified platform for communications and references for future advancement for legged robots.

Dynamic Modeling and Experiment of a New Type of Parallel Servo Press Considering Gravity Counterbalance

The large capacity servo press is traditionally realized by means of redundant actuation, however there exist the over-constraint problem and interference among actuators, which increases the control difficulty and the product cost. A new type of press mechanism with parallel topology is presented to develop the mechanical servo press with high stamping capacity. The dynamic model considering gravity counterbalance is proposed based on the virtual work principle, and then the effect of counterbalance cylinder on the dynamic performance of the servo press is studied. It is found that the motor torque required to operate the press is a lot less than the others when the ratio of the counterbalance force to the gravity of ram is in the vicinity of 1.0. The stamping force of the real press prototype can reach up to 25 MN on the position of 13 mm away from the bottom dead center. The typical deep-drawing process with 1 200 mm stroke at 8 strokes per minute is proposed by means of five order polynomial. On this process condition, the driving torques are calculated based on the above dynamic model and the torque measuring test is also carried out on the prototype. It is shown that the curve trend of calculation torque is consistent to the measured result and that the average error is less than 15%. The parallel mechanism is introduced into the development of large capacity servo press to avoid the over-constraint and interference of traditional redundant actuation, and its dynamic characteristics with gravity counterbalance are presented.