Mathematical Modeling, Control, Computer Simulation and Laboratory Experiments of a Spatial Servopneumatic Parallel Robot

In this paper, the special construction of a parallel robot, called spatial servopneumatic multi-axis test facility, will be discussed. The investigations include the following aspects: (i) the laboratory set-up of the robot, (ii) various results obtained in laboratory experiments, taking into account quite different control algorithms and command-input signals, (iii) a comparison of the laboratory experiments with the computer simulations of Part I of this paper, and ({vi}) a quality check of the results compared with the cost of the different controller realizations. The results of both the computer simulations and the laboratory experiments show: (i) The dynamic behavior of the parallel structure can be tremendously improved by using sophisticated nonlinear control algorithms. (ii) This improvement has to be paid by a drastically increased amount of work for deriving the model equations and control algorithms, and by augmented hardware cost of the sensing elements and controller electronics. (iii) Carefully developed model equations and identified model parameters provide theoretical models of the complex parallel structure that are very close to reality. This enables the design engineer to systematically investigate constructive alternatives of the design parameters, sensor and actuator concepts, and control strategies of the MAP prior to their hardware realization.This work has been supported by the German Science Foundation (DFG) under Contract No. Ha 1666/6-3.     

On the dynamic electromechanical loading of dielectric elastomer membranes

Dielectric elastomer actuators (DEAs) have received considerable attention recently due to large voltage-induced strains, which can be over 100%. Previously, a large deformation quasi-static model that describes the out-of-plane deformations of clamped diaphragms was derived. The numerical model results compare well with quasi-static experimental results for the same configuration. With relevance to dynamic applications, the time-varying response of initially planar dielectric elastomer membranes configured for out-of-plane deformations has not been reported until now. In this paper, an experimental investigation and analysis of the dynamic response of a dielectric elastomer membrane is reported. The experiments were conducted with prestretched DEAs fabricated from 0.5 mm thick polyacrylate films and carbon grease electrodes. The experiments covered the electromechanical spectrum by investigating membrane response due to (i) a time-varying voltage input and (ii) a time-varying pressure input, resulting in a combined electromechanical loading state in both cases. For the time-varying voltage experiments, the membrane had a prestretch of three and was passively inflated to various predetermined states, and then actuated. The pole strains incurred during the inflation were as high as 25.6%, corresponding to slightly less than a hemispherical state. On actuation, the membrane would inflate further, causing a maximum additional strain of 9.5%. For the time-varying pressure experiments, the prestretched membrane was inflated and deflated mechanically while a constant voltage was applied. The membrane was cycled between various predetermined inflation states, the largest of which was nearly hemispherical, which with an applied constant voltage of 3 kV corresponded to a maximum polar strain of 28%. The results from these experiments reveal that the response of the membrane is a departure from the classical dynamic response of continuum membrane structures. The dynamic response of the membrane is that of a damped system with specific deformation shapes reminiscent of the classical membrane mode shapes but without same-phase oscillation, that is to say all parts of the system do not pass through the equilibrium configuration at the same time. Of particular interest is the ability to excite these deformations through a varying electrical load at constant mechanical pressure.     

Experimental analysis of current and deformation of ion-exchange polymer metal composite actuators

In this paper we describe the experimental analysis of a novel ion-exchange polymer metal composite (IPMC) actuator under large external voltage. The experimental analysis is supplemented with a coupled thermodynamic model, which includes mass transport across the thickness of the polymer actuator, chemical reactions at boundaries, and deformation as a function of the solvent (water) distribution. In this paper, the case of large electrode potentials (over 1.2 V) has been analyzed experimentally and theoretically. At these voltage levels, electrochemical reactions take place at both electrodes. These are used in the framework of overpotential theory to develop boundary conditions for the water transport in the bulk of polymer. The model is then simplified to a three-component system comprised of a fixed negatively charged polymeric matrix, protons, and free water molecules within the polymer matrix. Among these species, water molecules are considered to be the dominant species responsible for the deformation of the IPMC actuators. Experiments conducted at different initial water contents are described and discussed in the context of the proposed deformation mechanism. Comparison of numerical simulations with experimental data shows good agreement.     

Kinetics of nonisothermal crystallization and melting of normal high density and ultra-high molecular weight polyethylene blends

The kinetics of nonisothermal crystallization and melting of blends of ultra-high molecular weight polyethylene (UHMWPE) and polyethylene high density with normal molecular weight (NMWPE) are investigated by means of differential scanning calorimetry (DSC). Mixing the components at a temperature below the flow temperature of UHMWPE (215 °C) results in increased crystallization/melting rates of the individual components in the blends above the corresponding additive values. The morphological observations of the blends, carried out by means of polarization microscopy, show that a strong boundary of both types of structures (UHMWPE non-flowing aggregates and NMWPE spherulite structures) does not exist. The NMWPE spherulites' dimensions decrease on increasing the UHMWPE concentration in the blends, but their number increases. The facilitation of the crystallization/melting of the components in the blends is explained in terms of mutual influence exhibited by the components with respect to each other. It is due to the inner stresses in nonflowing UHMWPE characterized with a lot of entangled tie molecules and to the partial co-crystallization of NMWPE molecules with the flowing part of UHMWPE. At mixing temperatures above 215 °C the melting/crystallization integral kinetic curves have only one linear part in contrast to these of the same blend (11 ratio of components), prepared at 190 °C. The rates of melting/crystallization remain almost constant with the increase of the mixing temperatures.     

基于MDARM和VxWorks的小型无人机执行器故障检测方法

由于目前在小型无人机执行器故障诊断中存在着智能化程度较低,容易受到人为因素干扰,从而出现故障漏检等问题,难以满足小型无人机对飞行安全的要求。为此,本文提出一种基于多维数据关联规则挖掘(Multidimensional Data Association Rules Mining: MDARM)和VxWorks操作系统的小型无人机执行器故障诊断方法,通过建立执行器内部传感器测量的温度、压力、流速、力矩等相关变量的历史数据库,并对这些数据进行预处理,以避免带来噪声污染,并利用可测量参数与不可测量参数之间的关联性,建立故障诊断知识库,避免了诊断过程中的人为因素干扰,实现小型无人机执行器故障的精准测量。实验结果证明,这种方法能够有效地提高故障准确率64.7%,对小型无人机执行器的智能诊提供有效指导,应用前景广阔。     

Stimuli‐Responsive Theragrippers for Chemomechanical Controlled Release

We report on a therapeutic approach using thermo‐responsive multi‐fingered drug eluting devices. These therapeutic grippers referred to as theragrippers are shaped using photolithographic patterning and are composed of rigid poly(propylene fumarate) segments and stimuli‐responsive poly(N‐isopropylacrylamide‐co‐acrylic acid) hinges. They close above 32 °C allowing them to spontaneously grip onto tissue when introduced from a cold state into the body. Due to porosity in the grippers, theragrippers could also be loaded with fluorescent dyes and commercial drugs such as mesalamine and doxorubicin, which eluted from the grippers for up to seven days with first order release kinetics. In an in vitro model, theragrippers enhanced delivery of doxorubicin as compared to a control patch. We also released theragrippers into a live pig and visualized release of dye in the stomach. The design of such tissue gripping drug delivery devices offers an effective strategy for sustained release of drugs with immediate applicability in the gastrointestinal tract.     

Photomobile Polymer Materials with Crosslinked Liquid‐Crystalline Structures: Molecular Design,Fabrication, and Functions

Crosslinked liquid‐crystalline polymer materials that macroscopically deform when irradiated with light have been extensively studied in the past decade because of their potential in various applications, such as microactuators and microfluidic devices. The basic motions of these materials are contraction–expansion and bending–unbending, which are observed mainly in polysiloxanes and polyacrylates that contain photochromic moieties. Other sophisticated motions such as twisting, oscillation, rotation, and translational motion have also been achieved. In recent years, efforts have been made to improve the photoresponsive and mechanical properties of this novel class of materials through the modification of molecular structures, development of new fabrication methods, and construction of composite structures. Herein, we review structures, functions, and working mechanisms of photomobile materials and recent advances in this field.     

高分子材料平面应变拉伸变形局部化

将基于应变软化玻璃状高分子材料微观特征建立的ＢＰＡ８－链分子网络模型引入ＵｐｄａｔｉｎｇＬａｇｒａｎｇｅ有限元方法，建立了适于变形局部化分析的大变形弹塑性有限元驱动应力法．在此基础上，数值模拟了初始各向同性高分子材料平面应变拉伸变形局部化的传播过程．探讨了ＢＰＡ模型对具有加工硬化特性的结晶性高分子材料变形分析的适应性；分析了局部化传播过程中颈缩截面的非均匀应力三轴效应；最后，讨论了网格尺寸以及初始几何不均匀性对颈缩扩散以及应力三轴效应的影响     

压电激励圆形曲梁的静态响应及位移控制

研究压电激励圆形曲梁的静态位移响应及位移控制的参数特性。将压电夹层圆形曲梁等效为单层结构,基于一维小曲率曲梁理论,建立其控制方程。在集中弯矩和径向集中力以及电载荷作用下,分析了带压电激励器的圆形悬臂曲梁的静态响应。与有限元结果比较表明:本文的理论模型能够模拟压电激励的小曲率圆形曲梁的静态响应。压电夹层圆形曲梁在任意位置的径向集中力载荷作用下,控制其自由端径向位移响应为零,求得控制电压的解析表达,数值分析表明:随着集中力载荷的位置变化和梁长的变化,最优控制电压将出现峰值和反号。