This paper presents the design and prototype of a small quadruped robot whose walking motion is realized by two piezocomposite actuators. In the design, biomimetic ideas are employed to obtain the agility of motions a...This paper presents the design and prototype of a small quadruped robot whose walking motion is realized by two piezocomposite actuators. In the design, biomimetic ideas are employed to obtain the agility of motions and sustainability of a heavy load. The design of the robot legs is inspired by the leg configuration of insects, two joints （hip and knee） of the leg enable two basic motions, lifting and stepping. The robot frame is designed to have a slope relative to the horizontal plane, which makes the robot move forward. In addition, the bounding locomotion of quadruped animals is implemented in the robot. Experiments show that the robot can carry an additional load of about 100 g and run with a fairly high velocity. The quadruped prototype can be an important step towards the goal of building an autonomous mobile robot actuated by piezocomposite actuators.展开更多
该文针对超声无损检测与成像功能空气耦合换能器开展了分析计算和研制。为解决压电材料与空气间巨大的阻抗失配问题,进行了多匹配层设计,并基于有限元技术仿真设计了1-3压电复合材料参数。借助复数压电方程,导出考虑损耗的多匹配层压电...该文针对超声无损检测与成像功能空气耦合换能器开展了分析计算和研制。为解决压电材料与空气间巨大的阻抗失配问题,进行了多匹配层设计,并基于有限元技术仿真设计了1-3压电复合材料参数。借助复数压电方程,导出考虑损耗的多匹配层压电复合材料换能器厚度振动等效电路,获得其等效导纳,以此计算电导谱,同时基于有限元技术数值计算相应电导谱,二者有较好的一致性。在此基础上分别设计制作复合压电材料,多匹配层材料以及由此构成的空气耦合超声换能器。换能器的实测电导谱与数值仿真结果一致。进一步的换能器回波信号测试及其谱分析结果表明,所研制的160 k Hz中心频率空气耦合换能器样品有较好灵敏度和带宽。这些结果说明,该文研制的空气耦合超声换能器的初样是成功的。展开更多
The problem of determining the effective moduli of a ceramic matrix piezocomposite with respect to multiscale porosity was considered.To solve the homogenization problem,the method of effective moduli in the standard ...The problem of determining the effective moduli of a ceramic matrix piezocomposite with respect to multiscale porosity was considered.To solve the homogenization problem,the method of effective moduli in the standard formulation,the finite element method and the ANSYS computational package were used.Various models of two-phase and three-phase composites consisting of a piezoceramic matrix,elastic inclusions of corundum and pores of various sizes have been investigated.Finite element models of representative volumes of 3–0 and 3–0–0 connectivities were developed.The results of computational experiments showed that effective moduli depend quite significantly not only on the volume fractions of inclusions and pores,but also on the structure and size of pores in comparison with the characteristic sizes of inclusions.展开更多
The piezoelectric effect is used in sensing applications such as in force and displacement sensors.However,the brittleness and low performance of piezoceramic lead zirconate titanate(PZT) often impede its applicabilit...The piezoelectric effect is used in sensing applications such as in force and displacement sensors.However,the brittleness and low performance of piezoceramic lead zirconate titanate(PZT) often impede its applicability in civil structures which are subjected to large loads.The concept of a piezocomposite electricity generating element(PCGE) has been proposed for improving the electricity generation performance and overcoming the brittleness of piezoceramic wafers.The post-curing residual stress in the PZT layer constitutes a main reason for the PCGE's enhanced performance,and the outer epoxy-based composites protect the brittle PZT layer.A d33-mode PCGE designed for bridge monitoring application was inserted in a bridge bearing to provide a permanent and simple weigh-in-motion system.The designed PCGEs were tested through a series of tests including fatigue and dynamic tests to verify their applicability for monitoring purposes in a bridge structure.A simple beam example was presented to show the applicability of the proposed bridge bearing equipped with the PCGE for adequately measuring the traffic loads.展开更多
文摘This paper presents the design and prototype of a small quadruped robot whose walking motion is realized by two piezocomposite actuators. In the design, biomimetic ideas are employed to obtain the agility of motions and sustainability of a heavy load. The design of the robot legs is inspired by the leg configuration of insects, two joints （hip and knee） of the leg enable two basic motions, lifting and stepping. The robot frame is designed to have a slope relative to the horizontal plane, which makes the robot move forward. In addition, the bounding locomotion of quadruped animals is implemented in the robot. Experiments show that the robot can carry an additional load of about 100 g and run with a fairly high velocity. The quadruped prototype can be an important step towards the goal of building an autonomous mobile robot actuated by piezocomposite actuators.
文摘该文针对超声无损检测与成像功能空气耦合换能器开展了分析计算和研制。为解决压电材料与空气间巨大的阻抗失配问题,进行了多匹配层设计,并基于有限元技术仿真设计了1-3压电复合材料参数。借助复数压电方程,导出考虑损耗的多匹配层压电复合材料换能器厚度振动等效电路,获得其等效导纳,以此计算电导谱,同时基于有限元技术数值计算相应电导谱,二者有较好的一致性。在此基础上分别设计制作复合压电材料,多匹配层材料以及由此构成的空气耦合超声换能器。换能器的实测电导谱与数值仿真结果一致。进一步的换能器回波信号测试及其谱分析结果表明,所研制的160 k Hz中心频率空气耦合换能器样品有较好灵敏度和带宽。这些结果说明,该文研制的空气耦合超声换能器的初样是成功的。
基金Project No.9.1001.2017/4.6 of the competitive part of the state task of the Ministry of Science and Higher Education of Russia.
文摘The problem of determining the effective moduli of a ceramic matrix piezocomposite with respect to multiscale porosity was considered.To solve the homogenization problem,the method of effective moduli in the standard formulation,the finite element method and the ANSYS computational package were used.Various models of two-phase and three-phase composites consisting of a piezoceramic matrix,elastic inclusions of corundum and pores of various sizes have been investigated.Finite element models of representative volumes of 3–0 and 3–0–0 connectivities were developed.The results of computational experiments showed that effective moduli depend quite significantly not only on the volume fractions of inclusions and pores,but also on the structure and size of pores in comparison with the characteristic sizes of inclusions.
基金Project supported by Konkuk University,Korea,in 2014
文摘The piezoelectric effect is used in sensing applications such as in force and displacement sensors.However,the brittleness and low performance of piezoceramic lead zirconate titanate(PZT) often impede its applicability in civil structures which are subjected to large loads.The concept of a piezocomposite electricity generating element(PCGE) has been proposed for improving the electricity generation performance and overcoming the brittleness of piezoceramic wafers.The post-curing residual stress in the PZT layer constitutes a main reason for the PCGE's enhanced performance,and the outer epoxy-based composites protect the brittle PZT layer.A d33-mode PCGE designed for bridge monitoring application was inserted in a bridge bearing to provide a permanent and simple weigh-in-motion system.The designed PCGEs were tested through a series of tests including fatigue and dynamic tests to verify their applicability for monitoring purposes in a bridge structure.A simple beam example was presented to show the applicability of the proposed bridge bearing equipped with the PCGE for adequately measuring the traffic loads.
