A size-dependent continuum-based model is developed for the functionally graded(FG)Timoshenko micro-beams with viscoelastic properties,in which material parameters vary according to the power law along its axial direc...A size-dependent continuum-based model is developed for the functionally graded(FG)Timoshenko micro-beams with viscoelastic properties,in which material parameters vary according to the power law along its axial direction.The size effect is incorporated by employing the modified couple stress theory and Kelvin-Voigt viscoelastic model,so that viscous components are included in the stress and the deviatoric segments of the symmetric couple stress tensors.The components of strain,curvature,stress and couple stress are formulated by combining them with the Timoshenko beam theory.Based on the Hamilton principle,the governing differential equations and boundary conditions for the micro-beam are expressed with arbitrary beam section shape and arbitrary type of loads.The size effect,FG effect,Poisson effect,and the influence of the beam section shape on the mechanical behaviors of viscoelastic FG micro-beams are investigated by taking the simply supported micro-beam subjected to point load as an example.Results show that the size effect on deflection,normal stress and couple stress are obvious when the size of the micro-beam is small enough,and the FG effects are obvious when the size of the micro-beam is large enough.Moreover,the Poisson ratio influences the size effect significantly and the beam section shape is also an important factor influencing the mechanical behavior of the micro-beam.展开更多
Development of dexterous robotic joints is essential for advancing manipulation capabilities in robotic systems.This paper presents a design and an implementation of a tendon-driven robotic wrist joint,together with a...Development of dexterous robotic joints is essential for advancing manipulation capabilities in robotic systems.This paper presents a design and an implementation of a tendon-driven robotic wrist joint,together with an efficient Sliding Mode Controller(SMC)for precise motion control.The wrist mechanism is modelled using the Timoshenko-based approach to accurately capture its kinematic and dynamic properties,which serve as the foundation for tendon force calculations within the controller.The proposed SMC is designed to deliver fast dynamic response and computational efficiency,enabling accurate trajectory tracking under varying operating conditions.The effectiveness of the proposed controller is validated through comparative analyses with existing controllers for similar wrist mechanisms.The proposed SMC demonstrated superior performance,validated through both simulation and experimental studies.The Root Mean Square Error(RMSE)range in simulation is found to be approximately 1.67×10-2radians,while experimental validation yielded an error of 0.2 radians.Additionally,the controller achieved a settling time of less than 3 seconds and a steady-state error below 10-1radians,consistently observed across both simulation and experimental evaluations.Comparative analyses with other controllers confirmed that the developed SMC surpassed alternative control strategies in motion accuracy,rapid convergence,and steady-state precision,contributing to enhanced dexterity.This work establishes a foundation for future exploration of tendon-driven wrist mechanisms and control strategies in robotic applications.展开更多
In this study,the frequency and vibration responses of a sandwich micro-beam are derived based on the modified couple stress theory(MCST).The face sheets are made of pure aluminum,and a magneto-rheological(MR)core is ...In this study,the frequency and vibration responses of a sandwich micro-beam are derived based on the modified couple stress theory(MCST).The face sheets are made of pure aluminum,and a magneto-rheological(MR)core is used to control vibrations.The displacement fields are assumed based on the classical beam theory(CBT)and modified classical beam theories.Based on Hamilton's principle,the governing equations of motion are obtained.To solve these temporal equations,the finite difference method(FDM)with an optimal number of nodes is applied.The effects of various parameters,including viscoelastic properties,magnetic fields,aspect ratio,core-to-face-sheet thickness ratio,MR materials,face sheets,and material length-scale parameters,on the frequency and vibrational response are investigated.In the literature,the effects of different parameters on the frequency response function(FRF)or vibration response are considered.The results obtained from the vibration response and FRF using the FDM show that the viscoelastic property of the MR core causes settling time in the vibration response and a decrease in the excitation frequency of the FRF.Increasing the magnetic field has a negligible effect on the excitation frequency in the FRF,but it increases the vibration response and settling time.The piezoelectric face sheets raise the FRF and suppress the vibration response of the MR sandwich micro-beam compared with the aluminum counterpart.展开更多
To thoroughly examine the complex relationships between tire and pavement vibrations,a sophisticated vehicle-pavement coupled system is proposed,incorporating a non-uniform dynamic friction force between the tire and ...To thoroughly examine the complex relationships between tire and pavement vibrations,a sophisticated vehicle-pavement coupled system is proposed,incorporating a non-uniform dynamic friction force between the tire and the pavement.According to the Timoshenko beam theory,a dynamic model of pavement structure with a finite length beam was formulated on a nonlinear Pasternak foundation.To more accurately describe the coupling relationship between the tire and the pavement,and to take into account the vibration state under vehicle-pavement interaction,the load distribution between the tire and the pavement is modeled as a dynamic non-uniform contact.Combined with the classic LuGre tire model,the adhesion between the tire and the pavement is calculated.The Galerkin truncation method is employed to transform the pavement vibration partial differential equation into a finite ordinary differential equation,and the integral expression of the nonlinear foundation beam term is derived using the product to sum formula.By using the Runge-Kutta method,the tire-road coupled system can be numerically calculated,thus determining tire adhesion.This research demonstrates that compared with tire force under the traditional static load distribution,load distribution has a significant influence on adhesion.This study offers valuable insights for pavement structure design and vehicle performance control.展开更多
Based on the Timoshenko beam theory,this paper proposes a nonlocal bi-gyroscopic model for spinning functionally graded(FG)nanotubes conveying fluid,and the thermal–mechanical vibration and stability of such composit...Based on the Timoshenko beam theory,this paper proposes a nonlocal bi-gyroscopic model for spinning functionally graded(FG)nanotubes conveying fluid,and the thermal–mechanical vibration and stability of such composite nanostructures under small scale,rotor,and temperature coupling effects are investigated.The nanotube is composed of functionally graded materials(FGMs),and different volume fraction functions are utilized to control the distribution of material properties.Eringen’s nonlocal elasticity theory and Hamilton’s principle are applied for dynamical modeling,and the forward and backward precession frequencies as well as 3D mode configurations of the nanotube are obtained.By conducting dimensionless analysis,it is found that compared to the Timoshenko nano-beam model,the conventional Euler–Bernoulli(E-B)model holds the same flutter frequency in the supercritical region,while it usually overestimates the higher-order precession frequencies.The nonlocal,thermal,and flowing effects all can lead to buckling or different kinds of coupled flutter in the system.The material distribution of the P-type FGM nanotube can also induce coupled flutter,while that of the S-type FGM nanotube has no impact on the stability of the system.This paper is expected to provide a theoretical foundation for the design of motional composite nanodevices.展开更多
基金The National Science and Technology Major Project(No.2017ZX05009-003)the National Key Research and Development Program of China(No.2017YFC0307604)the Talent Foundation of China University of Petroleum(No.Y1215042)。
摘要A size-dependent continuum-based model is developed for the functionally graded(FG)Timoshenko micro-beams with viscoelastic properties,in which material parameters vary according to the power law along its axial direction.The size effect is incorporated by employing the modified couple stress theory and Kelvin-Voigt viscoelastic model,so that viscous components are included in the stress and the deviatoric segments of the symmetric couple stress tensors.The components of strain,curvature,stress and couple stress are formulated by combining them with the Timoshenko beam theory.Based on the Hamilton principle,the governing differential equations and boundary conditions for the micro-beam are expressed with arbitrary beam section shape and arbitrary type of loads.The size effect,FG effect,Poisson effect,and the influence of the beam section shape on the mechanical behaviors of viscoelastic FG micro-beams are investigated by taking the simply supported micro-beam subjected to point load as an example.Results show that the size effect on deflection,normal stress and couple stress are obvious when the size of the micro-beam is small enough,and the FG effects are obvious when the size of the micro-beam is large enough.Moreover,the Poisson ratio influences the size effect significantly and the beam section shape is also an important factor influencing the mechanical behavior of the micro-beam.
基金supported by the Italian Ministry of Research under the complementary actions to the NRRP“Fit4MedRob-Fit for Medical Robotics”Grant(PNC0000007).
摘要Development of dexterous robotic joints is essential for advancing manipulation capabilities in robotic systems.This paper presents a design and an implementation of a tendon-driven robotic wrist joint,together with an efficient Sliding Mode Controller(SMC)for precise motion control.The wrist mechanism is modelled using the Timoshenko-based approach to accurately capture its kinematic and dynamic properties,which serve as the foundation for tendon force calculations within the controller.The proposed SMC is designed to deliver fast dynamic response and computational efficiency,enabling accurate trajectory tracking under varying operating conditions.The effectiveness of the proposed controller is validated through comparative analyses with existing controllers for similar wrist mechanisms.The proposed SMC demonstrated superior performance,validated through both simulation and experimental studies.The Root Mean Square Error(RMSE)range in simulation is found to be approximately 1.67×10-2radians,while experimental validation yielded an error of 0.2 radians.Additionally,the controller achieved a settling time of less than 3 seconds and a steady-state error below 10-1radians,consistently observed across both simulation and experimental evaluations.Comparative analyses with other controllers confirmed that the developed SMC surpassed alternative control strategies in motion accuracy,rapid convergence,and steady-state precision,contributing to enhanced dexterity.This work establishes a foundation for future exploration of tendon-driven wrist mechanisms and control strategies in robotic applications.
基金the Iranian Nanotechnology Development Committee for supporting this researchthe University of Kashan under Grant No.1392194/7funded by the University of Kashan。
摘要In this study,the frequency and vibration responses of a sandwich micro-beam are derived based on the modified couple stress theory(MCST).The face sheets are made of pure aluminum,and a magneto-rheological(MR)core is used to control vibrations.The displacement fields are assumed based on the classical beam theory(CBT)and modified classical beam theories.Based on Hamilton's principle,the governing equations of motion are obtained.To solve these temporal equations,the finite difference method(FDM)with an optimal number of nodes is applied.The effects of various parameters,including viscoelastic properties,magnetic fields,aspect ratio,core-to-face-sheet thickness ratio,MR materials,face sheets,and material length-scale parameters,on the frequency and vibrational response are investigated.In the literature,the effects of different parameters on the frequency response function(FRF)or vibration response are considered.The results obtained from the vibration response and FRF using the FDM show that the viscoelastic property of the MR core causes settling time in the vibration response and a decrease in the excitation frequency of the FRF.Increasing the magnetic field has a negligible effect on the excitation frequency in the FRF,but it increases the vibration response and settling time.The piezoelectric face sheets raise the FRF and suppress the vibration response of the MR sandwich micro-beam compared with the aluminum counterpart.
基金financially supported by the National Natural Science Foundation of China(Grant No.12072204).
摘要To thoroughly examine the complex relationships between tire and pavement vibrations,a sophisticated vehicle-pavement coupled system is proposed,incorporating a non-uniform dynamic friction force between the tire and the pavement.According to the Timoshenko beam theory,a dynamic model of pavement structure with a finite length beam was formulated on a nonlinear Pasternak foundation.To more accurately describe the coupling relationship between the tire and the pavement,and to take into account the vibration state under vehicle-pavement interaction,the load distribution between the tire and the pavement is modeled as a dynamic non-uniform contact.Combined with the classic LuGre tire model,the adhesion between the tire and the pavement is calculated.The Galerkin truncation method is employed to transform the pavement vibration partial differential equation into a finite ordinary differential equation,and the integral expression of the nonlinear foundation beam term is derived using the product to sum formula.By using the Runge-Kutta method,the tire-road coupled system can be numerically calculated,thus determining tire adhesion.This research demonstrates that compared with tire force under the traditional static load distribution,load distribution has a significant influence on adhesion.This study offers valuable insights for pavement structure design and vehicle performance control.
基金National Natural Science Foundation of China,12372025,Feng Liang,12072311,Feng Liang.
摘要Based on the Timoshenko beam theory,this paper proposes a nonlocal bi-gyroscopic model for spinning functionally graded(FG)nanotubes conveying fluid,and the thermal–mechanical vibration and stability of such composite nanostructures under small scale,rotor,and temperature coupling effects are investigated.The nanotube is composed of functionally graded materials(FGMs),and different volume fraction functions are utilized to control the distribution of material properties.Eringen’s nonlocal elasticity theory and Hamilton’s principle are applied for dynamical modeling,and the forward and backward precession frequencies as well as 3D mode configurations of the nanotube are obtained.By conducting dimensionless analysis,it is found that compared to the Timoshenko nano-beam model,the conventional Euler–Bernoulli(E-B)model holds the same flutter frequency in the supercritical region,while it usually overestimates the higher-order precession frequencies.The nonlocal,thermal,and flowing effects all can lead to buckling or different kinds of coupled flutter in the system.The material distribution of the P-type FGM nanotube can also induce coupled flutter,while that of the S-type FGM nanotube has no impact on the stability of the system.This paper is expected to provide a theoretical foundation for the design of motional composite nanodevices.