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Plastic Deformation in Circular Shafts

Plastic Deformation in Circular Shafts

When materials are subjected to forces that surpass their yield strength, they undergo a process known as plastic deformation. This results in a permanent alteration or strain in their structure. This concept can be specifically applied to circular shafts, where the deformation leads to a change in its shape. The precise evaluation of this plastic deformation requires understanding the stress distribution within the circular shaft, which is achieved by calculating the maximum shearing stress in...

Deformation in a Circular Shaft

Deformation in a Circular Shaft

One of the distinctive characteristics of circular shafts is their ability to maintain their cross-sectional integrity under torsion. In other words, each cross-section continues to exist as a flat, unaltered entity, simply rotating like a solid, rigid slab. To understand the distribution of shearing stress within such a shaft, consider a cylindrical section inside this circular shaft. This section has a length of L and a radius of R, with one end fixed. The radius of the cylindrical section is...

Work and Energy for Variable Forces

Work and Energy for Variable Forces

When an object is acted upon by a variable force, the amount of work done and the change in energy of the object can be more complex to calculate compared to when a constant force is applied. Work is the product of force and displacement, while energy is the capacity of a system to do work. When a constant force is applied to an object, the work done can be calculated as the product of the force and the distance moved in the direction of the force. However, when a variable force is applied, the...

Residual Stresses in Circular Shafts

Residual Stresses in Circular Shafts

In materials that exhibit elastic and plastic behavior, known as elastoplastic materials, residual stresses can accumulate when these materials experience plastic deformation. This deformation arises from either high levels of shearing stress or significant strains. Residual stresses are internal stresses that persist within a material after removing the external force causing deformation. This phenomenon is demonstrated when observing the behavior of a shaft under torque; notably, the shaft's...

Mechanical Systems

Mechanical Systems

Mechanical systems are analogous to to electrical networks where springs and masses play similar roles to inductors and capacitors, respectively. A viscous damper in mechanical systems functions similarly to a resistor in electrical networks, dissipating energy. The forces acting on a mass in such systems include an applied force in the direction of motion, counteracted by forces from the spring, a viscous damper, and the mass's acceleration. This interplay of forces is mathematically described...

Circular Shafts - Elastoplastic Materials

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The study of solid circular shafts under stress shows that within the elastic limit, stress increases directly to the distance from the shaft's center. This relationship holds until the shaft reaches a critical point of stress, beyond which it begins to yield, marking the transition from elastic to plastic deformation. At this crucial juncture, the maximum torque the shaft can endure without permanent deformation is determined, signifying the limit of its elastic behavior.
As torque on the...

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Fabrication Process of Silicone-based Dielectric Elastomer Actuators

Fabrication Process of Silicone-based Dielectric Elastomer Actuators

Published on: February 1, 2016

A novel energy-efficient rotational variable stiffness actuator.

Shodhan Rao¹, Raffaella Carloni, Stefano Stramigioli

¹Dept Electrical Engineering, Faculty of Electrical Engineering, Mathematics and Computer Science, University of Twente, 7500 AE Enschede, The Netherlands. fs.rao@utwente.nl

Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual International Conference

|January 19, 2012

Summary

This summary is machine-generated.

This study introduces a new rotational actuator with adjustable stiffness, independent of position. It achieves energy efficiency by maintaining constant internal stored energy, reducing friction with advanced components.

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Area of Science:

Robotics
Mechanical Engineering
Actuator Design

Background:

Traditional actuators often lack independent control over stiffness and position.
Energy efficiency is a critical factor in modern actuator development.
Variable stiffness actuators (VSAs) offer enhanced adaptability and safety in robotic systems.

Purpose of the Study:

To present the working principle, design, and realization of a novel rotational variable stiffness actuator.
To develop an energy-efficient actuator where stiffness can be varied independently of angular position.
To extend the principle of the translational energy-efficient actuator (vsaUT) to a rotational application.

Main Methods:

The actuator's design is based on an extension of the translational energy-efficient actuator (vsaUT) principle.
A prototype was designed and realized to demonstrate the working principle.
Low-friction components such as ball-bearings and linear slide guides were incorporated to minimize energy losses.

Main Results:

A novel rotational variable stiffness actuator was successfully designed and realized.
The actuator demonstrates the ability to vary stiffness independently of output angular position.
The design incorporates features to enhance energy efficiency by maintaining constant internal stored energy.
Friction losses were minimized through the use of ball-bearings and linear slide guides in the prototype.

Conclusions:

The developed rotational variable stiffness actuator offers independent control over stiffness and position.
The energy-efficient design contributes to reduced power consumption in robotic applications.
The prototype validates the extended principle of translational energy-efficient actuators for rotational systems.