Nonlinear dynamic modeling on multi-spherical modular soft robots

A soft robot, which consists of multi-deformable spherical cells, is constructed. According to the deflating action and the inflating action of the spherical cells, the size and the shape of each spherical cell can be changed. Thus, the soft robot can move in a narrow complicated passage. In the paper, a modular soft robot is built. The nonlinear relationship between the inflation radius ( \(R)\) of each cell and the inflation time ( \(t)\) is described to control the action of the spherical cell. The nonlinear dynamic moving process is analyzed with the deflating and inflating modes of each cell. The theoretical analysis of the forward locomotion is counted. Then, two special positions are described, and the moving conditions are presented in details. Last, a simulation and an experiment of three spherical cells are shown to emulate the moving process of the soft robot. It shows that the modular soft robot consisting of multi-deformable spherical modules can move forward with the nonlinear dynamic inflating and deflating process.     

Nonlinear analysis on moving process of soft robots

The soft robot consists of several deformable spherical cells. It is a nonlinear system. According to the deflating and inflating action of the spherical cells, the size of each spherical cell can be changed. Thus, the soft robot can move forward. In the paper, the moving process is analyzed in one circular movement with the deflating and inflating modes of each cell. The theoretical analysis of the distance expected is counted. Then the forces on the inflating process are presented in detail, which push the cells to move forward. Lastly, an experiment is shown to emulate the moving process of the soft robot. The theoretical result and the experimental result are compared. It shows that the soft robot that consists of several deformable spherical cells can move forward with the nonlinear inflating and deflating process.     

Motion and shape control of soft robots and materials

Nonlinear Dynamics - A continuum-based approach for simultaneously controlling the motion and shape of soft robots and materials (SRM) is proposed. This approach allows for systematically computing...     

软体智能机器人的系统设计与力学建模

机器人或机电装备通常由电机模组、液压元件、齿轮和铰链等硬质部件构成,具有动力足、精度高等优点,但在实现低噪声、高安全系数与亲和性等方面存在挑战.受自然界生物体的柔软特性与高环境适应性的启发,设计制造软体机器人是近年来机器人领域的研究热点.作为软体机器人的核心构成部分,智能软材料可在外界不同刺激下产生不同响应,具有材料柔韧、生物相容性好、易于制备、价格低廉等优点,可广泛应用于机器人的设计与制造.几类典型的具备驱动功能的智能软材料与结构获得广泛的研究,包括气动软体肌肉、形状记忆合金/聚合物、离子交换聚合物、介电高弹体、响应水凝胶等.本文介绍了多种驱动类型的软体智能机器人研究成果,并从软体智能机器人的系统设计与力学建模两个方面进行了归纳分析与讨论.      

超空泡航行体转弯运动流体动力特性的数值研究

基于有限体积法,采用两流体多相流模型和SST(Shear Stress Transport)湍流模型,建立了用于求解超空泡航行体转弯运动过程中的三维数值模型,研究了转弯运动条件下通气空泡的形态特征及超空泡航行体的流体动力特性。计算结果表明:在转弯运动过程中空泡产生弯曲变形,空泡轴线与航行体运动轨道基本重合;由于空泡的弯曲变形航行体两侧表面呈现非对称沾湿,利用空化器横向偏转能够避免沾湿区的出现,而且对航行体水平面流体动力有良好的控制作用。     

Practical method of reducing turning motion resistance of tracked vehicles

A practical method of reducing the resistance of a tracked vehicle to turning or steering motion is discussed. The torque of the sprocket shaft for driving the crawler was measured and used to evaluate how the resistance varied compared with the existing method to turning. There are two ways of reducing the turning resistance by decreasing the contact area of track; one is to decrease the width of the braked track and the other is to shorten its contact length during turning or steering motion. The former is practically impossible to control, but the latter is comparatively easy to do, even under that condition. Applying this mechanism, the resistant force (evaluated by measuring the driving torque of the sprocket shaft) could be reduced about 20% when the contact length of the braked track was shortened to form a small pivot area at its center. It was also reduced more than 50% when the contact length of both tracks was shortened to a pivot during turning motion.     

Weakly nonlinear magnetohydrodynamic wave motion

One-dimensional magnetchydrodynamic (mhd) waves are treated including nonlinearity up to the second order in the wave amplitude; particular emphasis is on the effects of the diffusivity of the electromagnetic field on plane wave propagation. Unidirectional propagation is either governed by an equation of the Varley-Rogers type in the high frequency limit or by the Burgers equation in the low frequency limit. External resonant excitation in a finite layer leads to equations well known from resonance in various other physical systems.     

适应极高静水压力的软体智能材料与软体机器人

实验表明由软硬融合方式构造机电系统、力电耦合软体智能材料驱动的软体机器人无需耐压外壳即可适应极高静水压力(110 MPa)并实现驱动.      

The study on the chaotic motion of a nonlinear dynamic system

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Chaotic motion of a nonlinear thermoelastic elliptic plate

In the paper the nonlinear dynamic equation of a harmonically forced elliptic plate is derived, with the effects of large deflection of plate and thermoelasticity taken into account. The Melnikov function method is used to give the critical condition for chaotic motion. A demonstrative example is discussed through the Poincaré mapping, phase portrait and time history. Finally the path to chaotic motion is also discussed. Through the theoretical analysis and numerical computation some beneficial conclusions are obtained. Foundation item: the National natural Science Foundation of China (19672038); the Natural Science Foundation of Shanxi Provence (1880342).     

Numerical solution of nonlinear ordinary differential equation for a turning point problem

By using the method in[3],several useful estimations of the derivatives of the solutionof the boundary value problem for a nonlinear ordinary differential equation with a turningpoint are obtained.With the help of the technique in[4],the uniform convergence on thesmall parameterεfor a difference scheme is proved.At the end of this paper,a numericalexample is given.The numerical result coincides with theoretical analysis.     

A mathematical model for spatial motion of tracked vehicles on soft ground

A mathematical model which predicts spatial motion of tracked vehicles on non-level terrain has been developed. The motion of the vehicle is represented by three translational and three rotational degrees of freedom. In order to incorporate the inelastic deformation of soil, a soil-track interaction model is introduced; this constitutive model relates the traction exerted on the track by soil to the slip velocity and sinkage of the track. The model is based upon available soil plasticity theories and furnishes mechanics-based interpretation of Bekker's empirical relations. For planar motion the proposed model reduces to the existing equations of motion by introducing kinematic constraints on the vertical translation, pitching and rolling degrees-of-freedom.     

基于PETSc的非线性逆向运动并行计算方法研究

在考虑几何非线性的有限元分析中,初始构型和变形构型是严格区分的,并且变形后的构型对结构性能和功能的实现往往具有重要意义.传统的非线性有限元分析主要面向变形前的初始构型为导向的设计问题,而对于变形后构型为导向的设计问题则有较大局限性.针对此问题,引入非线性逆向运动分析方法,为了保证大变形非线性分析迭代的收敛性和计算效率,基于PETSc函数库建立了并行分析框架,并对并行框架中的模块划分、数据并行存储以及通信锁死和负载平衡等进行了详细阐述.在算例部分,首先通过正向运动和逆向运动分析结果对比,阐述了两种分析方法的不同以及逆向运动分析方法对变形前构型求解的准确性;其次,采用不同MPI进程数对并行分析程序的效率进行了测试.结果 表明,合理地选择MPI进程数目可显著提高非线性逆向运动分析的效率.     

On equations of motion of a nonlinear hydroelastic structure

Formal derivation of equations of a nonlinear hydroelastic structure, which is a volume of an ideal incompressible fluid covered by a shell, is proposed. The study is based on two assumptions. The first assumption implies that the energy stored in the shell is completely determined by the mean curvature and by the elementary area. In a three-dimensional case, the energy stored in the shell is chosen in the form of the Willmore functional. In a two-dimensional case, a more generic form of the functional can be considered. The second assumption implies that the equations of motionhave a Hamiltonian structure and can be obtained from the Lagrangian variational principle. In a two-dimensional case, a condition for the hydroelastic structure is derived, which relates the external pressure and the curvature of the elastic shell. __________ Translated from Prikladnaya Mekhanika i Tekhnicheskaya Fizika, Vol. 49, No. 4, pp. 174–191, July–August, 2008.     

A criterion for the stability of motion of nonlinear system

As to an autonomous nonlinear system, the stability of the equilibrium state in a sufficiently small neighborhood of the equilibrium state can be determined by eigenvalues of the linear part of the nonlinear system provided that the eigenvalues are not in a critical case. Many methods may be used to detect the stability for a linear system. A lot of researches for determining the stability of a nonlinear system are completed by mathematicians and mechanicians but most of them are methods for the special forms of nonlinear systems. Till now, none of these methods can be conveniently applied to all nonlinear systems. The method introduced by this paper gives the necessary and sufficient conditions of the stability of a nonlinear system. The familiar Krasovski's method is a special case of this method.     

Stability of motion of a two-mass system with nonlinear friction

This paper concerns the motion of different elastically coupled masses. One of the masses is subjected to a motive force, while the other mass is acted upon by friction. The motive force decreases linearly, while friction changes nonlinearly. The differential equations of motion are derived and are reduced to the standard form (after Bogolyubov). The averaging method is used to find steady-state solutions, one of which agrees with the exact steady-state solution of the initial system of equations. It is found that the actual conditions of stability of the steady-state solution are differ greatly from the conditions calculated on the basis of avaraged equations. These differences are due to the difference in the degrees of the characteristic Rouse-Hurwitz polynomials calculated on the basis of the initial and averaged equations. The analytical results are illustrated by modeling on a microcomputer. S. P. Timoshenko Institute of Mechanics, National Academy of Sciences of Ukraine, Kiev; Regional Scientific Research and Experimental Design Institute, Kiev, Ukraine. Translated from Prikladnaya Mekhanika, Vol. 35, No. 8, pp. 94–100, August, 1999.     

On suppression of chaotic motion of a nonlinear MEMS oscillator

Nonlinear Dynamics - The present novel coronavirus (SARS-CoV-2) infection has created a global emergency situation by spreading all over the world in a large scale within very short time period....     

Two-scale command shaping for arresting motion in nonlinear systems

Nonlinear Dynamics - Though engineers believe that self-excited oscillation and chaos is detrimental, recent research has revealed that self-excited periodic and chaotic oscillation can be...