Design of a smart tailored stiffness nonlinear spring
- Paper number
IAC-17,C2,5,2,x40665
- Author
Mr. Mohammed K. Abbas, Northwestern Polytechnical University, China
- Coauthor
Prof. Zhichun Yang, Northwestern Polytechnical University, China
- Coauthor
Dr. Yingsong Gu, Northwestern Polytechnical University, China
- Coauthor
Dr. Wei Wang, Northwestern Polytechnical University, China
- Coauthor
Mr. Ibrahim M. Safwat, Northwestern Polytechnical University, China
- Year
2017
- Abstract
Assembly manipulator plays an essential role in the space structure deployment process. Current manipulators’ members possess a particular load-displacement function. However, the operation in unknown environments with variable external loads requires an intelligent manipulator that respond to the load according to the assigned load-displacement function associated with the current task. This paper presents a novel approach to generate a tailored nonlinear stiffness spring from a linear stiffness structure using smart materials. Herein, one member of the manipulator is idealized as an elastic cantilever beam with a particular load-displacement function. Due to its high flexibility and strong actuating force, a Macro-fiber composite (MFC) patch is bonded to the beam’s surface and used as an actuator to secure a tailored load-displacement function. A finite element model is developed based on the linear piezoelectric constitutive equations. Modal truncation method is used to reduce the dynamic model order of the structure. Extended Prandtl-Ishlinskii approach is used to compensate complex hysteresis and creep nonlinearities accompanied with the MFC actuation. A Feedback PID controller is designed to compensate the displacement error. Finite element model is experimentally validated and used to simulate the cantilever beam. Both simulation and experimental results demonstrate the effectiveness of the proposed approach to design the required tailored nonlinear spring.
- Abstract document
- Manuscript document
IAC-17,C2,5,2,x40665.pdf (🔒 authorized access only).
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