Search Results (113)

In rotating machinery, the demands for torque sensor resolution and range in various torque measurements are becoming increasingly stringent. This paper presents a novel variable stiffness torque sensor designed to meet the demands for high resolution or a large range under varying measurement conditions. Unlike traditional strain gauge-based torque sensors, this sensor combines the advantages of torsion springs and magnetorheological fluid (MRF) to achieve dynamic adjustments in both resolution and range. Specifically, the stiffness of the elastic element is adjusted by altering the shear stress of the MRF via an applied magnetic field while simultaneously harnessing the high sensitivity of the torsion spring. The stiffness model is established and validated for accuracy through finite element analysis. A screw modulation-based angle measurement method is proposed for the first time, offering high non-contact angle measurement accuracy and resolving eccentricity issues. The performance of the sensor prototype is evaluated using a self-developed power-closed torque test bench. The experimental results demonstrate that the sensor exhibits excellent linearity, hysteresis, and repeatability while effectively achieving dynamic continuous adjustment of resolution and range. Full article

Energy generation from renewable sources has increased exponentially worldwide, particularly wind energy, which is converted into electricity through wind turbines. The growing demand for renewable energy has driven the development of horizontal-axis wind turbines with larger dimensions, as the energy captured is proportional to the area swept by the rotor blades. In this context, the dynamic loads typically observed in wind turbine towers include vibrations caused by rotating blades at the top of the tower, wind pressure, and earthquakes (less common). In offshore wind farms, wind turbine towers are also subjected to dynamic loads from waves and ocean currents. Vortex-induced vibration can be an undesirable phenomenon, as it may lead to significant adverse effects on wind turbine structures. This study presents a two-dimensional transient model for a rigid body anchored by a torsional spring subjected to a constant velocity flow. We applied a coupling of the Fourier pseudospectral method (FPM) and immersed boundary method (IBM), referred to in this study as IMERSPEC, for a two-dimensional, incompressible, and isothermal flow with constant properties—the FPM to solve the Navier–Stokes equations, and IBM to represent the geometries. Computational simulations, solved at an aspect ratio of $\varphi =4.0$, were analyzed, considering Reynolds numbers ranging from $Re=150$ to Re = 1000 when the cylinder is stationary, and $Re=250$ when the cylinder is in motion. In addition to evaluating vortex shedding and Strouhal number, the study focuses on the characterization of space–time symmetry during the galloping response. The results show a spatial symmetry breaking in the flow patterns, while the oscillatory motion of the rigid body preserves temporal symmetry. The numerical accuracy suggested that the IMERSPEC methodology can effectively solve complex problems. Moreover, the proposed IMERSPEC approach demonstrates notable advantages over conventional techniques, particularly in terms of spectral accuracy, low numerical diffusion, and ease of implementation for moving boundaries. These features make the model especially efficient and suitable for capturing intricate fluid–structure interactions, offering a promising tool for analyzing wind turbine dynamics and other similar systems. Full article

The torsional, lateral, and axial vibrations that occur during drilling operations have negative effects on the drilling equipment. These negative effects can cause huge economic impacts, as the failure of drilling tools results in wasted materials, non-productive time, and substantial expenses for equipment repairs. Many researchers have tried to reduce these vibrations and have tested several models in their studies. In most of these models, the drill string used in oil wells behaves like a rotating torsion pendulum (mass spring), represented by different discs. The top drive (with the rotary table) and the BHA (with the drill pipes) have been considered together as a linear spring with constant torsional stiffness and torsional damping coefficients. In this article, three models with different degrees of freedom are considered, with the aim of analyzing the effect of variations in the stiffness and damping coefficients on the severity of torsional vibrations. A comparative study has been conducted between the three models for dynamic responses to parametric variation effects. To ensure the relevance of the considered models, the field data of torsional vibrations while drilling were used to support the modeling assumption and the designed simulation scenarios. The main novelty of this work is its rigorous comparative analysis of how the stiffness and damping coefficients influence the severity of torsional vibrations based on field measurements, which has a direct application in operational energy efficiency and equipment reliability. The results demonstrated that the variation of the damping coefficient does not significantly affect the severity of the torsional vibrations. However, it is highly recommended to consider all existing frictions in the tool string to obtain a reliable torsional vibration model that can reproduce the physical phenomenon of stick–slip. Furthermore, this study contributes to the improvement of operational energy efficiency and equipment reliability in fossil energy extraction processes. Full article

This study presents the design and experimental testing of a two-degrees-of-freedom (2DOF) elbow prosthesis prototype designed to replicate the movement patterns of a native or normal human elbow. Two methods of the control of the prosthesis, namely, the proportional–integral–derivative method (PID; a well-established method) and a combination of sliding mode control with a time base generator strategy (SMC + TBG; an advanced method), were compared on the basis of various performance metrics of the prosthesis, as obtained in laboratory tests. Among these metrics were the angular displacement and velocity as a function of time. The mechanical design combined 3D-printed components with custom-designed joints, featuring a worm gear transmission with a crown gear for flexion–extension, enhanced by torsional springs, and a pinion gear with a crown gear for pronation–supination and control. Sensors for voltage and current data acquisition enabled real-time monitoring and control. The prosthesis was tested in the laboratory with a range of motion of 100–120° for flexion–extension, 50° for supination, and 75° for pronation, demonstrating the adaptability of the actuators and validating their autonomy through battery-powered operation. The results showed that control using SMC + TBG resulted in biomimetic patterns for angular displacement and angular velocity of the prosthesis, whereas control using PID did not. Thus, the prosthesis with control provided using an SMC + TBG strategy may have been promised for use by people who have undergone transhumeral amputation. Full article

The study aimed to establish effective tools and methodologies for optimizing the bending process of metal wires, particularly focusing on the performance of SUS304 stainless steel in manufacturing torsion springs. This includes addressing challenges like spring-back and ensuring product quality and lifespan. The research employed a combination of analytical approaches, computer simulations using the Finite Element Method (FEM), and mechanical tests to validate the bending process. The mathematical analysis provided a theoretical framework, while FEA simulations allowed for the assessment of stress distribution and strain during bending. The simulations indicated that strains were distributed over a larger fiber than initially assumed, allowing for smaller bending radii without compromising material integrity. Using analytical models and supported by FEM, the study identified an effective range of bending radius values based on mechanical properties and wire radius. Laboratory tests confirmed that the bending process can be executed effectively, with no defects observed in the wire bending. Experimental tests validated these findings, showing consistent improvement in the accuracy, structural integrity, and durability of the formed wires. These results provide practical guidance for manufacturers seeking enhanced product quality and performance. Full article

With the rapid development of marine engineering, large−diameter steel pipe piles are increasingly used in infrastructure construction, such as bridges, docks, and offshore wind power projects. Therefore, studying the shear behavior of the sand–steel interface is of great importance. In this study, the traditional vane shear apparatus was improved by utilizing its torsional shear actuator, adding an overlying pressure fixing device, and applying lateral pressure through a compressive spring. The original cross plate was replaced with a cylindrical steel rod to simulate the shear behavior of the large−diameter pile–sand interface under different stress states. Experimental results show that this apparatus effectively solves the problem of soil loss due to the shear gap in both the ring shear and direct shear tests under smooth interface conditions. As the shear rate (2°/min, 4°/min, 6°/min) increased, the peak and residual shear stresses decreased, while the shear stress increased with vertical confinement pressure, accompanied by significant residual stress. As the relative density of sand increased from 27.4% to 72.2%, the shear behavior transitioned from contraction to dilation. Regarding surface roughness, the experiment identified a critical threshold: when roughness is below this threshold, it significantly affects the peak shear strength; when above this threshold, the effect is smaller, and failure shifts to the internal sand body. This study provides valuable insights into the mechanics of the sand–steel interface and contributes to optimizing the foundation design for marine infrastructure. Full article

Bionic paddling robots, as a novel type of underwater robot, demonstrate significant potential in the fields of underwater exploration and development. However, current research on bionic paddling robots primarily focuses on the motion mechanisms of large organisms such as frogs, while the exploration of small and highly agile bionic propulsion robots remains relatively limited. Additionally, existing biomimetic designs often face challenges such as structural complexity and cumbersome control systems, which hinder their practical applications. To address these challenges, this study proposes a novel diving-beetle-inspired paddling robot, drawing inspiration from the low-resistance physiological structure and efficient paddling locomotion of diving beetles. Specifically, a passive bionic swimming foot and a periodic paddling propulsion mechanism were designed based on the leg movement patterns of diving beetles, achieving highly efficient propulsion performance. In the design process, a combination of incomplete gears and torsion springs was employed, significantly reducing the driving frequency of servos and simplifying control complexity. Through dynamic simulations and experimental validation, the robot demonstrated a maximum forward speed of 0.82 BL/s and a turning speed of 18°/s. The results indicate that this design not only significantly improves propulsion efficiency and swimming agility but also provides new design insights and technical references for the development of small bionic underwater robots. Full article

Inspired by earthworm peristalsis, a novel modular robot suitable for narrow spaces is proposed, capable of elongation, contraction, deflection and crawling. Unlike motor-driven robots, the earthworm-inspired robot achieves extension and deflection in each module through “on–off” control of the SMA springs, utilizing the cooperation of mechanical skeletons and gears to avoid posture redundancy. The return to the initial posture and the maintenance of the posture are achieved through tension and torsion springs. To study the extension and deflection characteristics, we established a model through kinematic and force analysis to estimate the relationship between the length change and tensile characteristics of the SMA on both sides and the robot’s extension length and deflection angle. Through model verification and experiments, the robot’s extension, deflection and movement characteristics in narrow spaces and varying curvature narrow spaces were comprehensively studied. The results show that the earthworm-inspired robot, as predicted by the model, possesses accurate extension and deflection performance, and can perform inspection tasks in complex and narrow space environments. Additionally, compared to motor-driven robots, the robot designed in this study does not require insulation in low-temperature environments, and the cold conditions can improve its movement efficiency. This new configuration design and the extension and deflection characteristics provide valuable insights for the development of new modular robots and robot drive designs for extremely cold environments. Full article

In this study, a titanium alloy torsional spring used in aviation was taken as the research subject. Aiming at the fatigue life prediction problem of this spring, the life analysis of the titanium alloy torsional spring was performed using a customized UMAT subroutine based on the theory of continuous damage mechanics. Several sets of life prediction models and tests were compared. The fatigue lives of the springs at 60, 80, 100, and 120 degrees were 45,070, 65,067, 99,677, and 181,322 cycles, respectively. Compared with other fatigue life prediction methods, the fatigue life calculated by the customized subroutine was the most consistent with the fatigue life of the titanium alloy torsion spring tests. The average relative error between the measured experimental life value and the predicted value was 2.04%, which is less than 5%, meeting engineering measurement requirements. The effectiveness and applicability of the proposed model and method were verified, and the time and economic cost caused by excessively long experimental cycles were reduced. This helps improve the accuracy of fatigue life prediction for this titanium alloy torsional spring and provides analysis support for subsequent structural optimization and improvement. Full article

Dielectric elastomer actuators (DEAs) are increasingly recognized for their potential in robotic applications due to their ability to undergo significant deformation when subjected to an electric field. However, they are often limited by their low output power, which can make their integration into dynamic systems like hopping robots particularly challenging. This research optimizes the performance by introducing a cone DEA with a novel type of semi-diamond preload mechanism. This type of preload mechanism can meet the requirements of a negative-stiffness preload and a light weight. According to the experiments, the DEA can provide 3.62 mW power and its mass is only about 17.5 g. In order to drive hopping robots based on a cone DEA, this research introduces an energy accumulation mechanism coupled with a constant-torque cam for a hopping robot. The hopping robot weighs approximately 30.3 g and stands 10 cm tall in its upright position. Its energy accumulation mechanism involves a gear and cam transmission system, which is the key to store and release energy efficiently. The primary components of this mechanism include a torsion spring that stores mechanical energy when twisted, a constant-torque actuation cam that ensures the consistent application of torque during the energy storage phase, and a conical DEA that acts as an actuator. When the conical DEA is activated, it pushes a one-way clutch to the rocker, rotating the gear and cam mechanism and subsequently twisting the torsion spring to store energy. Upon release, the stored energy in the torsion spring is rapidly converted into kinetic energy, propelling the robot into the air. The experiments reveal that the designed DEA can drive the hopping robot by using the energy storage mechanism. Its hopping height is related to the pre-compression angle of the torsion spring. The DEA can drive the rigid hopping mechanism, and the maximum hopping height of the robot is up to 2.5 times its height. DEA hopping robots have obvious advantages, such as easy control, quietness and safety. Full article

Humanoid robots are becoming a global research focus. Due to the limitations of bipedal walking technology, mobile humanoid robots equipped with a wheeled chassis and dual arms have emerged as the most suitable configuration for performing complex tasks in factory or home environments. To address the high redundancy issue arising from the wheeled chassis and dual-arm design of mobile humanoid robots, this study proposes a whole-body coordinated motion control algorithm based on arm potential energy optimization. By constructing a gravity potential energy model for the arms and a virtual torsional spring elastic potential energy model with the shoulder-wrist line as the rotation axis, we establish an optimization index function for the arms. A neural network with variable stiffness is introduced to fit the virtual torsional spring, representing the stiffness variation trend of the human arm. Additionally, a posture mapping method is employed to map the human arm potential energy model to the robot, enabling realistic humanoid movements. Combining task-space and joint-space planning algorithms, we designed experiments for single-arm manipulation, independent object retrieval, and dual-arm carrying in a simulation of a 23-degree-of-freedom mobile humanoid robot. The results validate the effectiveness of this approach, demonstrating smooth motion, the ability to maintain a low potential energy state, and conformity to the operational characteristics of the human arm. Full article

The present article is an exploration of metamaterial structures exhibiting auxetic properties. The study shows the effect of three geometric parameters of re-entrant auxetic cells, namely, the internal initial cell angle (θ₀), the strut length ratio h/l, and the degree of opening of the unit cells expressed by the change in the Δθ angle, on the value of the Poisson’s ratio. It combines theoretical insights into physical re-entrant auxetic structures with the demonstration of structures that can be subjected to cyclic loading without being damaged. The experimental section features the results of the compression tests of a symmetrical structure made up of four re-entrant cells and tensile tests of a flat mesh structure of size 4 × 4. In the mesh structure, a modification was applied to the re-entrant cells, creating arched strut connections. It was shown that the value of the maximum load for such structures depends on the bending angle and the length of the inclined strut. The mesh structure was created using torsion springs. Its cyclic tension for different amplitudes yielded Poisson’s ratio values in the range of −1.4 to −1.7. These modifications have enabled stable, elastic, and failure-free cyclical changes of the structure’s dimensions under load. Full article

Continuum joints use structural elastic deformations to enable joint motion, and their intrinsic compliance and inherent mechanical robustness are envisioned for applications in which the robot, the human, and the environment need to be safe during interaction. In particular, the intrinsic compliance makes continuum joints a competitor to soft articulated joints, which require additional integrated spring elements. For soft articulated joints incorporating rigid and soft parts, natural motions have been investigated in robotics research to exploit this energy-efficient motion property for cyclic motions, e.g., locomotion. To the best of the author’s knowledge, there is no robotic system to date that utilizes the natural motion of a continuum joint under periodic excitation. In this paper, the resonant behavior of a tendon-driven continuum joint under periodic excitation of the torsional axis is experimentally investigated in a functional sense. In the experiments, periodic inputs are introduced on the joint side of a tendon driven continuum joint with four tendons. By modulating the pretension of the tendons, both the resonant frequency and the gain can be shifted, from 3 to 4.3 Hz and 2.8 to 1.4, respectively, in the present experimental setup. An application would be the rotation of a humanoid torso, where gait frequencies are synchronized with the resonant frequency of the continuum joint. Full article

To meet the requirements of the crab growth environment regarding aquatic plant density and improve the efficiency of aquatic plant clearing, this paper shows the development process of a fully automatic aquatic plant combing machine for crab farming. It proposed the use of torsion spring hooks to replace traditional cutting blades to break tangled aquatic plants, reducing the length of aquatic plants in dense areas and thus controlling the density of aquatic plants in crab ponds. Through theoretical analysis and calculation of the torsion spring hooks, it was ensured that they could meet the design requirements, and transient dynamic simulation tests were conducted based on ANSYS. Finally, experimental verification was carried out. The performance test results of the torsion spring hooks showed that the torsion force generated within a certain torsion angle range could break the aquatic plant, and obstacles could be avoided through self-deformation. The water performance test results showed that the average clearing efficiency of the whole machine for aquatic plants was 4.92 mu/h, the missed clearing rate of aquatic plants was 0.44%, and the crab injury rate was 0.028%. The design of this machine can provide a reference for the development of aquatic plant harvesters for crab farming. Full article

SMA actuators are a group of lightweight actuators that offer advantages over conventional technology and allow for simple and compact solutions to the increasing demand for electrical actuation. In particular, an increasing number of SMA torsional actuator applications have been published recently due to their ability to supply rotational motion under load, resulting in advantages such as module simplification and the reduction of overall product weight. This paper presents the conceptual design, operating principle, experimental characterization and working performance of torsional actuators applicable in active rudder in aeronautics. The proposed application comprises a pair of SMA torsion springs, which bi-directionally actuate the actuator by Joule heating and natural cooling. The experimental results confirm the functionality of the torsion springs actuated device and show the rotation angle of the developed active rudder was about 30° at a heating current of 5 A. After the design and experiment, one of their chief drawbacks is their relatively slow operating speed in rudder positioning, but this can be improved by control strategy and small modifications to the actuator mechanism described in this work. Full article