Nonlinear geometrically exact dynamics of fluid-conveying cantilevered hard magnetic soft pipe with uniform and nonuniform magnetizations

Dehrouyeh-Semnani, Amir Mehdi

doi:10.1016/j.ymssp.2022.110016

Cited by 20 publications

(1 citation statement)

References 74 publications

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“…At present, steerable guidewires and continuum robots (CR) offer alternative methods [20,21] to conventional interventional guidewires [22][23][24], which improve flexibility and maneuverability. Researchers have proposed many different manipulation and actuation methods, such as electric motors [25,26], cables [27][28][29], tendons [30], pneumatics [31], smart materials [32], magnetics [33][34][35], and hydraulics [36,37]. However, traditional continuum robots require extra mechanical devices or structures such as drive mechanisms or pneumatic chambers, which are difficult to miniaturize.…”

Section: Introductionmentioning

confidence: 99%

A Magnetic-Controlled Flexible Continuum Robot with Different Deformation Modes for Vascular Interventional Navigation Surgery

Wang

Weng

et al. 2023

Actuators

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A magnetic-controlled flexible continuum robot (MFCR) is a kind of continuum robot with small-size and flexibility that deforms under controlled magnetic fields, which makes MFCRs easy to fit in special sizes and designs and provides them with the ability to feasibly arrive at the desired area through certain blood vessel bifurcation. The magnetic drive method is suitable for the miniaturization of soft continuum robots but shows limitations in realizing high flexibility. To achieve miniaturization and high flexibility, in this work, the deformation schemes of a magnetic-controlled flexible continuum robot (MFCR) are proposed, simulated, and experimentally validated. The proposed MFCR includes a soft steering part made of a silicone elastomer with uniformly dispersed NdFeB powder which has a specific magnetization direction. With the actuation of different magnetic fields, the proposed MFCR shows three different deformation modes (C-shape, J-shape, and S-shape) and high flexibility. By using the potential energy model combined with magnetic and elastic potential energy, the quasi-static deformation model of MFCR is built. Through various simulations and experiments, we analyzed and predicted different deformation modes. The results from the experiments demonstrate the accuracy of the deformation model. The results indicate that the MFCR has good control precision and deformation performance with potential applications in robot-assisted minimally invasive surgery.

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Section: Introductionmentioning

confidence: 99%

A Magnetic-Controlled Flexible Continuum Robot with Different Deformation Modes for Vascular Interventional Navigation Surgery

Wang

Weng

et al. 2023

Actuators

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Vibration control of fluid-conveying pipes: a state-of-the-art review

Ding,

2023

Appl. Math. Mech.-Engl. Ed.

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Fluid-conveying pipes are widely used to transfer bulk fluids from one point to another in many engineering applications. They are subject to various excitations from the conveying fluids, the supporting structures, and the working environment, and thus are prone to vibrations such as flow-induced vibrations and acoustic-induced vibrations. Vibrations can generate variable dynamic stress and large deformation on fluid-conveying pipes, leading to vibration-induced fatigue and damage on the pipes, or even leading to failure of the entire piping system and catastrophic accidents. Therefore, the vibration control of fluid-conveying pipes is essential to ensure the integrity and safety of pipeline systems, and has attracted considerable attention from both researchers and engineers. The present paper aims to provide an extensive review of the state-of-the-art research on the vibration control of fluid-conveying pipes. The vibration analysis of fluid-conveying pipes is briefly discussed to show some key issues involved in the vibration analysis. Then, the research progress on the vibration control of fluid-conveying pipes is reviewed from four aspects in terms of passive control, active vibration control, semi-active vibration control, and structural optimization design for vibration reduction. Furthermore, the main results of existing research on the vibration control of fluid-conveying pipes are summarized, and future promising research directions are recommended to address the current research gaps. This paper contributes to the understanding of vibration control of fluid-conveying pipes, and will help the research work on the vibration control of fluid-conveying pipes attract more attention.

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Nonlinear dynamics of a circular curved cantilevered pipe conveying pulsating fluid based on the geometrically exact model

Cao,

Guo,

Chen

et al. 2024

Appl. Math. Mech.-Engl. Ed.

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Due to the novel applications of flexible pipes conveying fluid in the field of soft robotics and biomedicine, the investigations on the mechanical responses of the pipes have attracted considerable attention. The fluid-structure interaction (FSI) between the pipe with a curved shape and the time-varying internal fluid flow brings a great challenge to the revelation of the dynamical behaviors of flexible pipes, especially when the pipe is highly flexible and usually undergoes large deformations. In this work, the geometrically exact model (GEM) for a curved cantilevered pipe conveying pulsating fluid is developed based on the extended Hamilton’s principle. The stability of the curved pipe with three different subtended angles is examined with the consideration of steady fluid flow. Specific attention is concentrated on the large-deformation resonance of circular pipes conveying pulsating fluid, which is often encountered in practical engineering. By constructing bifurcation diagrams, oscillating shapes, phase portraits, time traces, and Poincare maps, the dynamic responses of the curved pipe under various system parameters are revealed. The mean flow velocity of the pulsating fluid is chosen to be either subcritical or supercritical. The numerical results show that the curved pipe conveying pulsating fluid can exhibit rich dynamical behaviors, including periodic and quasi-periodic motions. It is also found that the preferred instability type of a cantilevered curved pipe conveying steady fluid is mainly in the flutter of the second mode. For a moderate value of the mass ratio, however, a third-mode flutter may occur, which is quite different from that of a straight pipe system.

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Nonlinear geometrically exact dynamics of fluid-conveying cantilevered hard magnetic soft pipe with uniform and nonuniform magnetizations

Cited by 20 publications

References 74 publications

A Magnetic-Controlled Flexible Continuum Robot with Different Deformation Modes for Vascular Interventional Navigation Surgery

A Magnetic-Controlled Flexible Continuum Robot with Different Deformation Modes for Vascular Interventional Navigation Surgery

Vibration control of fluid-conveying pipes: a state-of-the-art review

Nonlinear dynamics of a circular curved cantilevered pipe conveying pulsating fluid based on the geometrically exact model

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