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Investigation of mechanical and electrical characteristics of selfsensing pneumatic torsional actuators

Science China(Technological Sciences) 2024年第1期67卷 130-142页

作者： XIAO Wei hu dean hu GuoLiang XIAO Yihua Key Laboratory of Conveyance and Equipment Ministry of EducationEast China Jiaotong UniversityNanchang 330013China Key Laboratory of Advanced Design and Simulation Techniques for Special Equipment Ministry of EducationHunan UniversityChangsha 410082China

Soft pneumatic actuators are one of the most promising actuation for soft robots,and great achievements have been *** it remains challenging to endow sensing capabilities to pneumatic actuators,especially for the sensing ability originating directly from the actuator ***,a self-sensing pneumatic torsional actuator(SPTA)is designed based on the electromagnetic induction effect and magnetically responsive *** SPTA can generate feedback voltage and current with the deformation,in which the sensing function comes from its inherent *** investigate the mechanical and electrical characteristics,an experimental platform and a finite element model are established,*** find that the torsion angle and output torque increase in nonlinear with the actuating *** maximum torsion angle is 66.35°,which is 84.34%of that for the actuator fabricated by pure *** maximum output torque(24.9 N mm)improves by 23.19%compared with the actuator made by pure *** regards the electrical characteristics,the maximum feedback voltage and current are 2.90μV and 29.50 nA when the SPTA is actuated by a pressure of−40 *** also demonstrate that the relationship between the torsion angle and the magnetic flux change is approximately ***,the number of turns of wires,magnetic powders contents,and magnetic direction on the feedback voltage and current are *** show that the feedback voltage and current can be enhanced by increasing the number of turns and magnetic powders *** envision that the SPTA would be promising for soft robots to realize their accuracy control and intelligentization.

关键词： pneumatic torsional actuators self-sensing feedback voltage finite element modeling soft robots

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Erratum to:Bio-inspired Filter Design Based on Vortex Control Mechanism of Parallel Groove Structure

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Journal of Bionic Engineering 2024年第3期21卷 1617-1617页

作者： Yawei Zhu dean hu Yonggang Guo Hao Ding Gang Yang School of Mechanical and Electrical Engineering Henan University of TechnologyZhengzhou450001China Key Laboratory of Advanced Design and Simulation Techniques for Special Equipments Ministry of EducationHunan UniversityChangsha410082China

Erratumto:Journal of Bionic Engineering(2023)20:338-348 https:/doi.0rg/10.1007/s42235-022-00247-4 In Table 1,the value of Mesh's Feature dimensions(mm)"0.42"should have read"0.04".The original article has been corrected.

关键词： Vortex dimensions corrected

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Experimental research on the mechanism of non-monotonic characteristic between curing temperature and mechanical behaviors of Kevlar/epoxy composite

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Science China(Technological Sciences) 2018年第7期61卷 1012-1020页

作者： LIU Li hu dean ZHANG YouMin HAN Xu State Key Laboratory of Advanced Design and Manufacturing for Vehicle Body Hunan University Key Laboratory of Advanced Design and Simulation Technology for Special Equipments Ministry of Education Hunan University School of Mechanical Engineering Hebei University of Technology

An experimental procedure is conducted to investigate the mechanism of the non-monotonic characteristic between curing temperature and mechanical behaviors of the Kevlar/epoxy composite in macro and micro levels. Different specimens are fabricated at four different curing temperatures and tested with ±45° off-axis tensile loading on a universal test machine coupled with digital image correlation(DIC). Moreover, the environmental scanning electron microscope(SEM) was used to obtain the micrographs and reveal their mechanism. The tested results show that the tensile mechanical behaviors are sensitive to the curing temperature and the relationship is non-monotonic. Also, as the temperature increases, the thicknesses of the specimens are significantly enlarged. By analyzing the SEM micrographs of the matrix grooves in the damage zone and DIC strain contours, it is concluded that the non-monotonic relationship is dominated by the properties of the Kevlar/epoxy interfaces and deformation of the distorted fibers.

关键词： Kevlar/epoxy composite mechanical behavior digital image correlation SEM micrograph non-monotonic character-istic distorted fiber

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Experimental and numerical study of the adsorption performance of a vortex suction device using water-swirling flow

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Science China(Technological Sciences) 2020年第6期63卷 931-942页

作者： Zhu YaWei ZHOU RenGuan YANG Gang Zhu YanQing hu dean State Key Laboratory of Advanced Design and Manufacturing for Vehicle Body Hunan UniversityChangsha 410082China College of Electrical and Information Engineering Hunan UniversityChangsha 410082China

An electrically activated underwater suction device is designed to form an amazing amount of negative pressure by generating water swirling flow,which can make underwater wall-climbing robot stick to the wall surface allowing a ground *** the purpose of a full understanding of the mechanism of the suction device,a series of experimental tests are carried out and a computational fluid dynamics(CFD)model is *** results show that the suction force F is consistent between experimental tests and *** insight into the flow phenomena of vortex suction device,including spatial velocity and pressure distribution,is given through numerical simulation ***,the crucial parameters,i.e.,the rotation speedωand gap clearance h,are *** the relationships of F-ωand F-h are *** reveals that with the increasing of rotation speed,the suction force increases *** with the increasing of gap clearance,the suction force increases firstly and then decreases,so that a reasonable design interval of gap clearance can be got to obtain the required suction force for the engineering applications.

关键词： vortex suction device hydrodynamic analysis swirling flow underwater wall-climbing robot CFD

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Design,Characterization and Optimization of Multi-directional Bending Pneumatic Artificial Muscles

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Journal of Bionic Engineering 2021年第6期18卷 1358-1368页

作者： Wei Xiao dean hu Weixiong Chen Gang Yang Xu Han State Key Laboratory of Advanced Design and Manufacturing for Vehicle Body College of Mechanical and Vehicle EngineeringHunan UniversityChangsha410082People’s Republic of China Key Laboratory of Advanced Design and Simulation Techniques for Special Equipment Ministry of EducationHunan UniversityChangsha410082People’s Republic of China School of Mechanical Engineering Hebei University of TechnologyTianjin300401People’s Republic of China

Bending Pneumatic Artificial Muscles(PAMs)are particularly attractive and extensively applied to the soft grasper,snake-like robot,*** extend the application of PAMs,we fabricate a Multi-directional Bending Pneumatic Artificial Muscle(MBPAM)that can bend in eight directions by changing the pressurized *** maximum bending angle and output force are 151°and 0.643 N under the pressure of 100 kPa,***,the Finite Element Model(FEM)is established to further investigate the *** experimental and numerical results demonstrate the nonlinear relationship between the pressure and the bending angle and output ***,the effects of parameters on the performance are studied with the validated *** results reveal that the amplitude of waves and the thickness of the base layer can be ***,multi-objective optimization is performed to improve the bending performance of the *** optimization results indicate that the output force can be increased by 7.8%with the identical bending angle of the initial design,while the bending angle can be improved by 8.6%with the same output ***,the grasp tests demonstrate the grip capability of the soft four-finger gripper and display the application prospect of the MBPAM in soft robots.

关键词： Pneumatic artificial muscle Multi-directional bending Soft robots Parameter optimization

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Bio-inspired Filter Design Based on Vortex Control Mechanism of Parallel Groove Structure

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Journal of Bionic Engineering 2023年第1期20卷 338-348页

Solid–liquid separation is widely used in daily life and practical *** industrial filters are prone to clogging,but this rarely occurs in filter-feeding *** by the filter feeding mechanism of balaenid whales and considering the local grooves in the fringes layer,a new bionic filter is produced by 3D printing technology through the bionic design of the parallel channels inside the mouth of balaenid *** the same time,a test platform composed of the bionic filter,peristaltic pump,fluid pulse rectifier and water tank is built to carry out the fluid flow pattern dyeing and particle filtration *** is found that fluid separation occurs near the groove structure and local vortices are *** vortex control filtration mechanism makes the particles in the front grooves tend to accumulate on the left side,which has a certain anti-clogging ***,the increase of flow velocity leads to the enhancement of vortices,which makes the accumulation effect on the left more *** study initially practices the bionic application from biological model to engineering design,and the vortex control anti-clogging filtration mechanism proposed in the study has a wide range of application prospects and values.

关键词： Solid-liquid separation Balaenid whales Filter feeding-Bionic design Anti-clogging filtration mechanism

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基于深度高斯过程的永磁牵引电机匝间短路分级评估方法

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机车电传动 2024年第2期 108-117页

作者：戴计生胡德安徐海龙朱文龙廖启术湖南大学机械与运载工程学院湖南长沙410082 株洲中车时代电气股份有限公司湖南株洲412001

定子绕组匝间短路是影响永磁牵引电机安全稳定运行的主要故障之一,受运行工况、供电与电机本体不平衡的影响,现有方法难以实现永磁牵引电机匝间短路在线精准评估,这成为永磁电机推广应用迫切需要解决的关键技术难题。因此,文章提出一种... 详细信息

定子绕组匝间短路是影响永磁牵引电机安全稳定运行的主要故障之一,受运行工况、供电与电机本体不平衡的影响,现有方法难以实现永磁牵引电机匝间短路在线精准评估,这成为永磁电机推广应用迫切需要解决的关键技术难题。因此,文章提出一种基于多特征融合的深度高斯过程永磁牵引电机匝间短路分级评估方法:首先通过建立永磁牵引电机匝间短路故障模型,提取电流不平衡、电流三次谐波与dq电流的二次谐波特征;然后采用一种双随机变分推断深度高斯过程(Doubly Stochastic Deep Gaussian Processes,DSDGP)方法对提取特征进行融合训练建模,实现永磁牵引电机匝间短路劣化状态在线分级评估;最后通过永磁电机匝间短路试验与现场案例进行算法验证。结果表明,文章所提方法在多特征融合条件下的评估准确率达到95%以上,相较于支持向量机(support vector machine,SVM)和反向传播神经网络(back-propagation neural,BPN)等分类方法,具有准确率高,适用于变工况、小样本的工程实际应用环境等优点,解决了永磁牵引电机匝间短路早期故障检测及故障严重程度评估的行业难题。

关键词：永磁牵引电机多维特征融合匝间短路分级评估深度高斯过程

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含预制孔容器内爆问题的FEM-SPH耦合算法模拟

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振动与冲击 2018年第3期37卷 210-216页

作者：胡廷勋胡德安湖南大学特种装备先进设计技术与仿真教育部重点实验室长沙410082

考虑带预制孔容器内空气的影响,采用三维FEM-SPH自适应耦合算法程序对含预制孔容器在内爆载荷作用下的动态响应过程进行了模拟,与实验所得到的破坏特征参量吻合。同时也用LS-DYNA软件中ALE算法得到的计算结果与FEM-SPH自适应耦合算法得... 详细信息

考虑带预制孔容器内空气的影响,采用三维FEM-SPH自适应耦合算法程序对含预制孔容器在内爆载荷作用下的动态响应过程进行了模拟,与实验所得到的破坏特征参量吻合。同时也用LS-DYNA软件中ALE算法得到的计算结果与FEM-SPH自适应耦合算法得到的结果进行比较,进一步分析了FEM-SPH自适应耦合算法的有效性。FEM-SPH自适应耦合算法能够稳定再现内爆载荷作用下含预制孔容器的爆炸鼓包过程、预制孔毁伤破坏过程以及容器内空气运动过程,可以为容器内爆问题的数值模拟研究提供有效途径。

关键词：内爆容器爆炸预制孔 FEM-SPH耦合算法 ALE算法

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The superplastic deformation of electron beam welded aluminum lithium alloy

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China Welding 2018年第1期27卷 41-45页

作者： Jiang Xunyan Cheng Donghai Chen Yiping hu dean Aviation Manufacturing Engineering College Nanchang Hangkong University

The superplastic deformation behavior and microstructure evolution of electron beam welded 5A90 aluminum lithium alloy were investigated. The results indicated that the electron beam weld joint had good superplasticity under a suitable deformation condition. The elongation increased first and then decreased with increasing deformation temperature and initial strain rate,and the maximal elongation of 171.1% was obtained at the temperature of 450 ℃ and the strain rate of 5 × 10^(-3) s^(-1).The microstructure observation indicated that the fine equiaxed dendrite of weld bead transformed into coarse equiaxed in the initial stage( strain ε≤0.7),then refined in the later stage of superplastic *** eutectic structure gradually decreased with the increase of strain. While the microstructure of HAZ was refined and equiaxed with the increase of strain.

关键词： aluminum lithium alloy electron beam weld superplastic deformation microstructure evolution

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Physical mechanism of the compressive response of F-actin networks:significance of crosslinker unbinding events

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Theoretical & Applied Mechanics Letters 2014年第5期4卷 37-43页

作者： Tong Li dean hu Prasad K.D.V.Yarlagadda Yuantong Gu School of Chemistry Physics and Mechanical EngineeringQueensland University of Technology State Key Laboratory of Advanced Design and Manufacturing for Vehicle Body Hunan University

A model of crosslinker unbinding is implemented in a highly coarse- grained granular model of F-actin cytoskeleton. We employ this specific granular model to study the mechanisms of the compressive responses of F-actin networks. It is found that the compressive response of F-actin cytoskeleton has dependency on the strain rate. The evolution of deformation energy in the network indicates that crosslinker unbinding events can induce the remodelling of F-actin cytoskele- ton in response to external loadings. The internal stress in F-actin cytoskeleton can efficiently dissipate with the help of crosslinker unbinding, which could lead to the soontaneous relaxation of living cells.

关键词： F-actin cytoskeleton coarse-grained crosslinker unbinding compressive re-sponse

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