Volume 5B: 42nd Mechanisms and Robotics Conference最新文献_第2页

A Study on the Structural Suitability of Tensegrity Structures to Serve As Morphing Aircraft Wings 张拉整体结构变形机翼的结构适宜性研究

Volume 5B: 42nd Mechanisms and Robotics Conference Pub Date : 2018-08-26 DOI: 10.1115/DETC2018-85945

D. Myszka, J. Joo

{"title":"A Study on the Structural Suitability of Tensegrity Structures to Serve As Morphing Aircraft Wings","authors":"D. Myszka, J. Joo","doi":"10.1115/DETC2018-85945","DOIUrl":"https://doi.org/10.1115/DETC2018-85945","url":null,"abstract":"This paper presents an investigation into the structural characterization of tensegrity systems for potential use as aircraft structures, especially for morphing aircraft. Morphing aircraft provide multi-role and multi-mission capabilities by adapting their performance to different in-flight requirements. Flexible elements must be included within the structure to permit morphing capabilities compared to conventional single mission aircraft, which are designed for high rigidity and not ideal for shape morphing applications.\u0000 Tensegrity systems are structures that consist of a series of connected cables, in tension, and struts, in compression, that exist in a self-equilibrium state. Since the struts and cables are loaded axially, external loads are efficiently distributed throughout the tensegrity components resulting in a strong and stiff structure. Adjusting the pretension of the tensegrity will tailor the structural characteristics as needed without a basic configuration change. By changing the length of the cables or struts, tensegrity systems are capable of movement while maintaining their inherent strength and rigidity. This makes tensegrity systems an attractive candidate for morphing aircraft structures.\u0000 This paper quantifies the strength and rigidity of a single module of various tensegrity systems along with traditional structures to assess their ability to serve as aircraft wings. Those properties are evaluated after boundary conditions are carefully selected to avoid adding unnecessary stiffness. Lastly, a concept for a tensegrity morphing aircraft wing is presented.","PeriodicalId":132121,"journal":{"name":"Volume 5B: 42nd Mechanisms and Robotics Conference","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125835402","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 5

Spiral Pulley Negative Stiffness Mechanism for Morphing Aircraft Actuation 变形飞行器驱动的螺旋滑轮负刚度机构

Volume 5B: 42nd Mechanisms and Robotics Conference Pub Date : 2018-08-26 DOI: 10.1115/DETC2018-85640

Jiaying Zhang, A. Shaw, Amoozgar Mohammadreza, M. Friswell, B. Woods

{"title":"Spiral Pulley Negative Stiffness Mechanism for Morphing Aircraft Actuation","authors":"Jiaying Zhang, A. Shaw, Amoozgar Mohammadreza, M. Friswell, B. Woods","doi":"10.1115/DETC2018-85640","DOIUrl":"https://doi.org/10.1115/DETC2018-85640","url":null,"abstract":"The energy balancing concept seeks to reduce actuation requirements for a morphing structure by strategically locating negative stiffness devices to tailor the required deployment forces and moments. One such device is the spiral pulley negative stiffness mechanism. This uses a cable connected with a pre-tension spring to covert decreasing spring force into increasing balanced torque. The kinematics of the spiral pulley are firstly developed and its geometry is then optimised by employing an energy conversion efficiency function. The performance of the optimised spiral pulley is then evaluated through the net torque, the total required energy and energy conversion efficiency. An experiment demonstrates the negative stiffness property of the mechanism and compares its characteristics with the analytical result. Exploiting the negative stiffness mechanism has a significant interest in not only the field of morphing aircraft but many other power reduction applications.an increasing output torque. The kinematics of the spiral pulley are firstly developed and its geometry is then optimised by employing an energy conversion efficiency function. The performance of the optimised spiral pulley is then evaluated through the net torque, the total required energy and energy conversion efficiency. An experiment demonstrates the negative stiffness property of the mechanism and compares its characteristics with the analytical result. Exploiting the negative stiffness mechanism has a significant interest in not only the field of morphing aircraft but also many other energy and power reduction applications.","PeriodicalId":132121,"journal":{"name":"Volume 5B: 42nd Mechanisms and Robotics Conference","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130655643","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 8

Matrix Analysis of Second-Order Kinematic Constraints of Single-Loop Linkages in Screw Coordinates 螺旋坐标系下单环机构二阶运动约束的矩阵分析

Volume 5B: 42nd Mechanisms and Robotics Conference Pub Date : 2018-08-26 DOI: 10.1115/DETC2018-85433

Liheng Wu, A. Müller, J. Dai

引用次数: 5

Multiphysics Modeling and Experimental Validation of Reconfigurable, E-Textile Origami Antennas 可重构电子纺织折纸天线的多物理场建模与实验验证

Volume 5B: 42nd Mechanisms and Robotics Conference Pub Date : 2018-08-26 DOI: 10.1115/DETC2018-85603

Hamil Shah, Abdullahi Inshaar, Chengzhe Zou, Shreyas Chaudhari, Saad Alharbi, A. Kiourti, R. Harne

{"title":"Multiphysics Modeling and Experimental Validation of Reconfigurable, E-Textile Origami Antennas","authors":"Hamil Shah, Abdullahi Inshaar, Chengzhe Zou, Shreyas Chaudhari, Saad Alharbi, A. Kiourti, R. Harne","doi":"10.1115/DETC2018-85603","DOIUrl":"https://doi.org/10.1115/DETC2018-85603","url":null,"abstract":"Physical deformation mechanisms are emerging as compelling and simple ways to adapt radio frequency (RF) characteristics of antennas in contrast to digital steering approaches acting on topologically fixed antennas. Concepts of physical reconfigurability also enable exceptional capabilities such as deployable and morphing antenna arrays that serve multiple functions and permit compact transport with ease. Yet, the emergent concepts lack broad understanding of effective approaches to integrate conformal, electrically conductive architectures with high-compliance foldable frameworks. To explore this essential interface where electrical demands and mechanical requirements may conflict, this research introduces a new class of origami-based tessellated antennas whose RF characteristics are self-tuned by physical reconfiguration of the antenna shape. E-textile materials are used to permit large antenna shape change while maintaining electrical conductivity. Dipole and patch antennas are considered as conventional antenna platforms upon which to innovate with the e-textile origami concept. Multiphysics modeling efforts establish the efficacy of foldable antenna geometries for broad tailoring of the RF characteristics. Experiments with proof-of-concept antennas confirm the large adaptability of wave radiation properties enabled by the reconfiguration of the e-textile origami surfaces. The results suggest that e-textile antennas can be integrated into clothing and mechanical structures, providing a non-invasive way of quantifying deformation for a wide range of applications.","PeriodicalId":132121,"journal":{"name":"Volume 5B: 42nd Mechanisms and Robotics Conference","volume":"26 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130966528","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 1

Development of Active Magnetic Bearing System Using Adaptive Feedforward Cancellation for Compensation and Analysis of External Forces in Rotating Machinery 基于自适应前馈抵消的旋转机械主动磁轴承系统的研制及外力补偿分析

Volume 5B: 42nd Mechanisms and Robotics Conference Pub Date : 2018-08-26 DOI: 10.1115/DETC2018-85754

S. Yabui, T. Inoue

引用次数: 0

Calculation of the Collision-Free Printing Workspace for Fully-Constrained Cable-Driven Parallel Robots 全约束索驱动并联机器人无碰撞打印工作空间的计算

Volume 5B: 42nd Mechanisms and Robotics Conference Pub Date : 2018-08-26 DOI: 10.1115/DETC2018-85961

M. Fabritius, C. Martin, A. Pott

引用次数: 5

Dynamic Modeling of a Quadruped With a Robotic Tail Using Virtual Work Principle 基于虚功原理的带尾四足机器人动力学建模

Volume 5B: 42nd Mechanisms and Robotics Conference Pub Date : 2018-08-26 DOI: 10.1115/DETC2018-86048

Yujiong Liu, P. Ben-Tzvi

引用次数: 5

Optimal Kinematic Redundancy Planning for Planar Mobile Cable-Driven Parallel Robots 平面移动索驱动并联机器人的最优运动冗余规划

Volume 5B: 42nd Mechanisms and Robotics Conference Pub Date : 2018-08-26 DOI: 10.1115/DETC2018-86182

Tahir Rasheed, P. Long, David A. Marquez-Gamez, S. Caro

引用次数: 4

Over-Constrained Mechanisms Derived From RPRP Loops 基于RPRP循环的过度约束机制

Volume 5B: 42nd Mechanisms and Robotics Conference Pub Date : 2018-08-26 DOI: 10.1115/DETC2018-85030

K. Ting, Kuan-Lun Hsu

引用次数: 1

Cycloidal Geartrain In-Use Efficiency Study 摆线齿轮传动在用效率研究

Volume 5B: 42nd Mechanisms and Robotics Conference Pub Date : 2018-08-26 DOI: 10.1115/DETC2018-85275

Logan Farrell, James Holley, W. Bluethmann, M. O'Malley

{"title":"Cycloidal Geartrain In-Use Efficiency Study","authors":"Logan Farrell, James Holley, W. Bluethmann, M. O'Malley","doi":"10.1115/DETC2018-85275","DOIUrl":"https://doi.org/10.1115/DETC2018-85275","url":null,"abstract":"Currently, harmonic drives are the primary speed reducer for robotic applications where a high reduction in a small package is required. Cycloidal drives are an alternative option for high reduction, small package, use-cases with the advantage of a higher specific torque and the ability to customize and integrate the drive for the application. These compact style cycloidal drives have been well studied in theory and simulation for their performance, but very little data is available on their actual performance over time. This paper presents experimental data on performance of a cycloidal drive designed for a Lunar or Martian rover application. Burn-in time efficiency curves and torque/speed efficiency profiles are computed after running the drive through 129k output cycles (7.6M input cycles) over the course of 300+ hours of testing. The study finds that substantial burn-in time may be required for steady-state performance, but peak efficiencies of 81% can be achieved. Also, the efficiency is shown to be dependent on the torque through the actuator. This work demonstrates a customized cycloidal drive in a space application that is comparable to a harmonic drive in efficiency performance, with a 2x increase in specific torque, suggesting the application of cycloidal drives could grow tremendously in robotic designs.","PeriodicalId":132121,"journal":{"name":"Volume 5B: 42nd Mechanisms and Robotics Conference","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115325482","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 2