Showing papers on "Stiffness published in 2011"

Cohesive Zone Models: A Critical Review of Traction-Separation Relationships Across Fracture Surfaces

Abstract: One of the fundamental aspects in cohesive zone modeling is the definition of the traction-separation relationship across fracture surfaces, which approximates the nonlinear fracture process. Cohesive traction-separation relationships may be classified as either nonpotential-based models or potential-based models. Potential-based models are of special interest in the present review article. Several potential-based models display limitations, especially for mixed-mode problems, because of the boundary conditions associated with cohesive fracture. In addition, this paper shows that most effective displacement-based models can be formulated under a single framework. These models lead to positive stiffness under certain separation paths, contrary to general cohesive fracture phenomena wherein the increase of separation generally results in the decrease of failure resistance across the fracture surface (i.e., negative stiffness). To this end, the constitutive relationship of mixed-mode cohesive fracture should be selected with great caution.

Stiffness at small strain: research and practice

Abstract: This paper provides the background to the 50th Rankine Lecture. It considers the growth in emphasis of the prediction of ground displacements during design in the past two decades of the 20th century, as a result of the lessons learnt from field observations. The historical development of the theory of elasticity is then described, as are the constitutive frameworks within which it has been proposed that geotechnical predictions of deformation should be carried out. Factors affecting the stiffness of soils and weak rocks are reviewed, and the results of a numerical experiment, assessing the impact of a number of stiffness parameters on the displacements around a retaining structure, are described. Some field and laboratory methods of obtaining stiffness parameters are considered and critically discussed, and the paper concludes with a suggested strategy for the measurement and integration of stiffness data, and the developments necessary to improve the existing state of the art.

Self-healing efficiency of cementitious materials containing tubular capsules filled with healing agent

Abstract: It has been estimated that, in Europe, 50% of the annual construction budget is spent on rehabilitation and repair of the existing structures [1] . Therefore, autonomous crack healing of concrete, a construction material that is highly susceptible to cracking, would be desirable. In this research, an encapsulated healing agent was embedded in the mortar matrix to obtain self-healing properties. Upon crack appearance, the capsules break and the healing agent is released, causing crack repair. By means of Computed Tomography and visual observation of the crack faces, filling of the cracks with healing agent was observed. It was seen that more than 50% of the original strength and stiffness could be regained after self-healing. It was also found that the water permeability could be reduced by a factor 102 to 104 due to autonomous crack healing. As a consequence, the proposed technique may be used for partial restoration of concrete properties after cracking.

Joint stiffness identification of six-revolute industrial serial robots

Abstract: Although robots tend to be as competitive as CNC machines for some operations, they are not yet widely used for machining operations. This may be due to the lack of certain technical information that is required for satisfactory machining operation. For instance, it is very difficult to get information about the stiffness of industrial robots from robot manufacturers. As a consequence, this paper introduces a robust and fast procedure that can be used to identify the joint stiffness values of any six-revolute serial robot. This procedure aims to evaluate joint stiffness values considering both translational and rotational displacements of the robot end-effector for a given applied wrench (force and torque). In this paper, the links of the robot are assumed to be much stiffer than its actuated joints. The robustness of the identification method and the sensitivity of the results to measurement errors and the number of experimental tests are also analyzed. Finally, the actual Cartesian stiffness matrix of the robot is obtained from the joint stiffness values and can be used for motion planning and to optimize machining operations.

Stiffness Control of Surgical Continuum Manipulators

Abstract: This paper introduces the first stiffness controller for continuum robots. The control law is based on an accurate approximation of a continuum robot's coupled kinematic and static force model. To implement a desired tip stiffness, the controller drives the actuators to positions corresponding to a deflected robot configuration that produces the required tip force for the measured tip position. This approach provides several important advantages. First, it enables the use of robot deflection sensing as a means to both sense and control tip forces. Second, it enables stiffness control to be implemented by modification of existing continuum robot position controllers. The proposed controller is demonstrated experimentally in the context of a concentric tube robot. Results show that the stiffness controller achieves the desired stiffness in steady state, provides good dynamic performance, and exhibits stability during contact transitions.

Development of a universal stress sensor for graphene and carbon fibres

Abstract: Embedding carbon fibres in polymer matrices provides significant gains in strength and stiffness. Here, the Raman G peak of carbon fibre is studied in relation to applied strain and referenced to graphene; the work could facilitate stress measurements of carbon fibre polymer composites.

AwAS-II: A new Actuator with Adjustable Stiffness based on the novel principle of adaptable pivot point and variable lever ratio

Abstract: The Actuator with Adjustable Stiffness (AwAS) is an actuator which can independently control equilibrium position and stiffness by two motors. The first motor controls the equilibrium position while the second motor regulates the compliance. This paper describes the design and development of AwAS-II which is an improved version of the original realization. AwAS tuned the stiffness by controlling the location of the springs and adjusting its arm, length. Instead AwAS-II regulates the compliance by implementing a force amplifier based on a lever mechanism on which a pivot point can adjust the force amplification ratio from zero to infinitive. As in the first implementation, the actuator which is responsible for adjusting the stiffness in AwAS II is not working against the spring forces. Its displacement is perpendicular to the force generated by springs which makes changing the stiffness energetically efficient. As the force amplification ratio can theoretically change from zero to infinitive consequently the level of stiffness can tune from very soft to completely rigid. Because this range does not depends on the spring's rate and length of the lever, thus soft springs and small lever can be used which result in a lighter and more compact setup. Furthermore as the lever arm is shorter the time required for the stiffness regulation is smaller.

A new variable stiffness actuator (CompAct-VSA): Design and modelling

Abstract: This paper describes the design and modelling of a new variable stiffness actuator (CompAct-VSA). The principle of operation of CompAct-VSA is based on a lever arm mechanism with a continuously regulated pivot point. The proposed concept allows for the development of an actuation unit with a wide range of stiffness and a fast stiffness regulation response. The implementation of the actuator makes use of a cam shaped lever arm with a variable pivot axis actuated by a rack and pinion transmission system. This realization results in a highly integrated and modular assembly. Size and weight are indeed an open issue in the VSAs design, which ultimately limit their implementation in multi-dof robotic systems. The paper introduces the mechanics, the principle of operation and the model of the actuator. Preliminary results are presented to demonstrate the fast stiffness regulation response and the wide range of stiffness achieved by the proposed CompAct-VSA design.

Acoustic radiation force-based elasticity imaging methods.

Abstract: Conventional diagnostic ultrasound images portray differences in the acoustic properties of soft tissues, whereas ultrasound-based elasticity images portray differences in the elastic properties of soft tissues (i.e. stiffness, viscosity). The benefit of elasticity imaging lies in the fact that many soft tissues can share similar ultrasonic echogenicities, but may have different mechanical properties that can be used to clearly visualize normal anatomy and delineate pathological lesions. Acoustic radiation force-based elasticity imaging methods use acoustic radiation force to transiently deform soft tissues, and the dynamic displacement response of those tissues is measured ultrasonically and is used to estimate the tissue's mechanical properties. Both qualitative images and quantitative elasticity metrics can be reconstructed from these measured data, providing complimentary information to both diagnose and longitudinally monitor disease progression. Recently, acoustic radiation force-based elasticity imaging techniques have moved from the laboratory to the clinical setting, where clinicians are beginning to characterize tissue stiffness as a diagnostic metric, and commercial implementations of radiation force-based ultrasonic elasticity imaging are beginning to appear on the commercial market. This article provides an overview of acoustic radiation force-based elasticity imaging, including a review of the relevant soft tissue material properties, a review of radiation force-based methods that have been proposed for elasticity imaging, and a discussion of current research and commercial realizations of radiation force based-elasticity imaging technologies.

Artificial human limbs and joints employing actuators, springs and variable-damper elements

Abstract: Biomimetic Hybrid Actuators employed in biologically-inspired musculoskeletal architectures employ an electric motor for supplying positive energy to and storing negative energy from an artificial joint or limb, as well as elastic elements such as springs, and controllable variable damper components, for passively storing and releasing energy and providing adaptive stiffness to accommodate level ground walking as well as movement on stairs and surfaces having different slopes.

A Robot Joint With Variable Stiffness Using Leaf Springs

Abstract: Interaction with humans is inevitable for service robots, which results in safety being one of the most important factors in designing the robots. Compliant component is an answer to the safety issue at the cost of performance degradation. In order to reduce the performance degradation, manipulators equipped with variable stiffness have been studied by many researchers. This paper presents a variable stiffness joint (VSJ) designed for a robot manipulator, as well as a control scheme to control the stiffness and position of the VSJ. Compliance is generated by leaf springs and two actuators are used to control the position and stiffness of the joint using four-bar linkages. Two actuators in parallel configuration are connected to the spring. Changing the effective length of the spring results in a change in stiffness. The position of the joint is controlled via two actuators rotating at the same speed in the same direction. A nonlinear controller is used to control the VSJ, and a singular perturbation model is adopted to prove the stability of the closed-loop system. Experiments are conducted to show that the position and stiffness are controlled independent of each other, and having less stiffness at the joint helps in making an unexpected collision with an object safer.

A size-dependent Kirchhoff micro-plate model based on strain gradient elasticity theory

Abstract: A size-dependent Kirchhoff micro-plate model is developed based on the strain gradient elasticity theory. The model contains three material length scale parameters, which may effectively capture the size effect. The model can also degenerate into the modified couple stress plate model or the classical plate model, if two or all of the material length scale parameters are taken to be zero. The static bending, instability and free vibration problems of a rectangular micro-plate with all edges simple supported are carried out to illustrate the applicability of the present size-dependent model. The results are compared with the reduced models. The present model can predict prominent size-dependent normalized stiffness, buckling load, and natural frequency with the reduction of structural size, especially when the plate thickness is on the same order of the material length scale parameter.

An investigation into the compressive properties of stainless steel micro-lattice structures

Abstract: This article presents a theoretical analysis for predicting the initial stiffness E*, and plastic collapse strength σ*pl of BCC micro-lattice blocks under compressive loading. This theoretical analysis is based on the observed deformation mechanisms, and can, in principle, be developed to predict the elastic properties of other micro-lattice structures. The analytical solutions are verified by comparing the predictions with FEM data using 1D beam and 3D solid elements and uniaxial compression tests on samples fabricated by selective laser melting. The FEM predictions using the 3D solid elements agree well with the experimental data for a wide range of strut aspect ratios, d/L. In addition, the range of applicability of the analytical model and the FEM predictions using beam elements are clarified.

Energy-Efficient Variable Stiffness Actuators

Abstract: Variable stiffness actuators are a particular class of actuators that is characterized by the property that the apparent output stiffness can be changed independent of the output position. To achieve this, variable stiffness actuators consist of a number of elastic elements and a number of actuated degrees of freedom, which determine how the elastic elements are perceived at the actuator output. Changing the apparent output stiffness is useful for a broad range of applications, which explains the increasing research interest in this class of actuators. In this paper, a generic, port-based model for variable stiffness actuators is presented, with which a wide variety of designs can be modeled and analyzed. From the analysis of the model, it is possible to derive kinematic properties that variable stiffness actuator designs should satisfy in order to be energy efficient. More specifically, the kinematics should be such that the apparent output stiffness can be varied without changing the potential energy that is stored in the internal elastic elements. A concept design of an energy-efficient variable stiffness actuator is presented and implemented. Simulations of the model and experiments on the realized prototype validate the design principle.

Transverse and normal interfacial stiffness of solids with randomly rough surfaces

Abstract: Using a theoretical approach and computer simulations, we calculate the normal stiffness and the transverse stiffness of the interface between two contacting isotropic solids with randomly rough surfaces and Poisson ratio ν. The theoretical predictions for agree well with the simulations. Moreover, the theoretical result for the ratio is (2 − ν)/(2 − 2ν), as predicted by Mindlin for a single circular contact region. Finally, we compare the theory to experimental ultrasonic data.

Design of variable stiffness panels for maximum strength using lamination parameters

Abstract: Tailoring of laminated composite structures by changing ply angle and thickness locally provides a unique opportunity to take full advantage of anisotropic properties of composite materials Variable stiffness design has become more attractive with the development of industrial fibre placement machines Strength design is one of the areas where fibre steering is advantageous Design methods that consist of directly optimising fibre angles or fibre path coefficients can lead to local optima and/or non-continuous solutions These problems can be alleviated by using lamination parameters as design variables, which provide a compact definition of laminate stiffness Additionally these parameters are continuous and the design space has shown to be convex Dependency of strength failure criteria on ply angles may preclude using lamination parameters as design variables Here, a recently developed method which incorporates the strength failure criteria in the lamination parameter space by using a conservative failure envelope for all ply angles is utilised A hybrid approximation for the failure index is developed and is guaranteed to be convex using a convexifying approach As an example strength maximisation of a panel with a central hole under uniaxial tension is investigated Numerical results show improvements in strength with respect to the quasi-isotropic design Although there is a common belief that design for stiffness can be served as a surrogate for strength design, it is shown that considering the strength as a design criteria especially for structures with large stress gradients is very important

Stiffness of contacts between rough surfaces.

Abstract: The effect of self-affine roughness on solid contact is examined with molecular dynamics and continuum calculations. The contact area and normal stiffness rise linearly with the applied load, and the load rises exponentially with decreasing separation between surfaces. Results for a wide range of roughness, system size, and Poisson ratio can be collapsed using Persson's contact theory for continuous elastic media. The compliance due to atomic-scale motion at the interface between solids has little effect on the area and normal stiffness, but can reduce the total transverse stiffness by orders of magnitude. The scaling of this effect with system size is discussed.

Investigation of the size effects in Timoshenko beams based on the couple stress theory

Abstract: In this paper, a size-dependent Timoshenko beam is developed on the basis of the couple stress theory. The couple stress theory is a non-classic continuum theory capable of capturing the small-scale size effects on the mechanical behavior of structures, while the classical continuum theory is unable to predict the mechanical behavior accurately when the characteristic size of structures is close to the material length scale parameter. The governing differential equations of motion are derived for the couple-stress Timoshenko beam using the principles of linear and angular momentum. Then, the general form of boundary conditions and generally valid closed-form analytical solutions are obtained for the axial deformation, bending deflection, and the rotation angle of cross sections in the static cases. As an example, the closed-form analytical results are obtained for the response of a cantilever beam subjected to a static loading with a concentrated force at its free end. The results indicate that modeling on the basis of the couple stress theory causes more stiffness than modeling by the classical beam theory. In addition, the results indicate that the differences between the results of the proposed model and those based on the classical Euler–Bernoulli and classical Timoshenko beam theories are significant when the beam thickness is comparable to its material length scale parameter.

Micro-Mechanical Characterization of Lung Tissue Using Atomic Force Microscopy

Abstract: Matrix stiffness strongly influences growth, differentiation and function of adherent cells1-3. On the macro scale the stiffness of tissues and organs within the human body span several orders of magnitude4. Much less is known about how stiffness varies spatially within tissues, and what the scope and spatial scale of stiffness changes are in disease processes that result in tissue remodeling. To better understand how changes in matrix stiffness contribute to cellular physiology in health and disease, measurements of tissue stiffness obtained at a spatial scale relevant to resident cells are needed. This is particularly true for the lung, a highly compliant and elastic tissue in which matrix remodeling is a prominent feature in diseases such as asthma, emphysema, hypertension and fibrosis. To characterize the local mechanical environment of lung parenchyma at a spatial scale relevant to resident cells, we have developed methods to directly measure the local elastic properties of fresh murine lung tissue using atomic force microscopy (AFM) microindentation. With appropriate choice of AFM indentor, cantilever, and indentation depth, these methods allow measurements of local tissue shear modulus in parallel with phase contrast and fluorescence imaging of the region of interest. Systematic sampling of tissue strips provides maps of tissue mechanical properties that reveal local spatial variations in shear modulus. Correlations between mechanical properties and underlying anatomical and pathological features illustrate how stiffness varies with matrix deposition in fibrosis. These methods can be extended to other soft tissues and disease processes to reveal how local tissue mechanical properties vary across space and disease progression.

Factors Affecting Bond between New and Old Concrete

Abstract: This paper describes how the bond strength of concrete-to-concrete interfaces, of reinforced concrete (RC) members with parts cast at different ages, is highly influenced by the curing conditions Therefore, the monolithic behavior is dependent on these conditions Current design codes only consider: a) the compressive strength; b) the normal stress at the interface; c) the amount of reinforcement crossing the interface; and d) the roughness of the substrate surface Due to the fact that the curing conditions of both substrate and added concrete are ignored, the influence of the differential shrinkage is neglected The influence of the differential stiffness due to the mismatch between the Young’s modulus of both materials is also not considered This paper presents an experimental study that was conducted to assess the influence of differential shrinkage and stiffness on the bond strength of new-to-old concrete interfaces Both parameters were shown to have a significant influence on the bond strength and failure mode of concrete-to-concrete interfaces

Estimating material parameters of a structurally based constitutive relation for skin mechanics

Abstract: This paper presents a structurally based modeling framework to characterize the structure–function relation in skin tissues, based upon biaxial tensile experiments performed in vitro on porcine skin. Equi-axial deformations were imposed by stretching circular skin specimens uniformly along twelve directions, and the resultant loads at the membrane attachment points were measured. Displacement fields at each deformation step were tracked using an image 2D cross-correlation technique. A modeling framework was developed to simulate the experiments, whereby measured forces were applied to finite element models that were created to represent the geometry and structure of the tissue samples. Parameters of a structurally based constitutive relation were then identified using nonlinear optimization. Results showed that the ground matrix stiffness ranged from 5 to 32 kPa, fiber orientation mean from 2 to 13◦ from the torso midline, fiber undulation mean from 1.04 to 1.34 and collagen fiber stiffness from 48 to 366 MPa. It was concluded that the objective function was highly sensitive to the mean orientation and that a priori information about fiber orientation mean was important for the reliable identification of constitutive parameters.

Numerical modelling of desiccation cracking

Abstract: The ability to model and predict the formation of desiccation cracks is potentially beneficial in many applications such as clay liner design, earth dam construction, and crop science, etc. However, most studies have focused on statistical analysis of crack patterns and qualitative study of contributing factors to crack development rather than prediction. Because it is exceedingly difficult to capture the nonlinear processes during desiccation in analytical modelling, most such models handle crack formation without considering variation of material properties with time, and are unattractive to use in realistic modelling. The data obtained from laboratory experiments on clay soil desiccating in moulds were used as a basis to develop a more refined model of desiccation cracking. In this study, the properties, such as matric suction, stiffness and tensile strength of soil, and base adhesion, could be expressed approximately as functions of moisture content. The initial conditions and the development of suction due to desiccation and the varying material properties were inputted to UDEC, a distinct element code, using its internal programming language FISH. The model was able to capture some essential physical aspects of crack evolution in soil contained in moulds with varying lengths, heights, and materials of construction. Extension of this methodology is potentially beneficial not only for modelling desiccation cracking in clay, but also in other systems with evolving material properties such as concrete structures and road pavements. Copyright © 2010 John Wiley & Sons, Ltd.

Two rotary motors in F-ATP synthase are elastically coupled by a flexible rotor and a stiff stator stalk

Abstract: ATP is synthesized by ATP synthase (FOF1-ATPase). Its rotary electromotor (FO) translocates protons (in some organisms sodium cations) and generates torque to drive the rotary chemical generator (F1). Elastic power transmission between FO and F1 is essential for smoothing the cooperation of these stepping motors, thereby increasing their kinetic efficiency. A particularly compliant elastic domain is located on the central rotor (c10–15/ϵ/γ), right between the two sites of torque generation and consumption. The hinge on the active lever on subunit β adds further compliance. It is under contention whether or not the peripheral stalk (and the “stator” as a whole) also serves as elastic buffer. In the enzyme from Escherichia coli, the most extended component of the stalk is the homodimer b2, a right-handed α-helical coiled coil. By fluctuation analysis we determined the spring constant of the stator in response to twisting and bending, and compared wild-type with b-mutant enzymes. In both deformation modes, the stator was very stiff in the wild type. It was more compliant if b was elongated by 11 amino acid residues. Substitution of three consecutive residues in b by glycine, expected to destabilize its α-helical structure, further reduced the stiffness against bending deformation. In any case, the stator was at least 10-fold stiffer than the rotor, and the enzyme retained its proton-coupled activity.