Self-Forcing Mechanism of the Braided Tube as a Robotic Gripper

Shang, Zufeng; Li, Jinhua; Zhang, Zemin; Zhang, Guokai; Wang, Shuxin

doi:10.1115/1.4043686

Cited by 5 publications

(4 citation statements)

References 27 publications

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“…18 Over recent years, many other works have been done focusing on mathematical calculation of braiding structures and FEA application. [19][20][21][22][23] Recently, a new method of mathematical and geometrical modelling of braided ropes for CBOS was proposed, of which the bent geometrical models could be used in further FEM analysis on stress distribution evaluation. 24 In most cases, research is focused on the rope when analysing the CBOS behaviour, and 2D element types such as beam or truss element are applied to represent the yarns with the consideration of investing reasonable computing power.…”

Section: Introductionmentioning

confidence: 99%

Yarn level finite element method simulation for bending over sheaves of braided ropes

Li,

Shang,

Zappa

et al. 2023

Journal of Industrial Textiles

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The complex problem of ropes (cyclic) bending over sheaves (CBOS) is considered in this article. Ropes that are used to manoeuvre and regulate sails undergo a variety of dynamic stresses which are crucial yet difficult to determine, due to the complexity of the multi-scaled braiding structure of ropes. A full dynamic Finite Element Method (FEM) simulation of a braided rope bending over a sheave is conducted with the commercial software Abaqus/Explicit, as it can capture the complex processes occurring inside the rope to high accuracy. A theoretical deduction is performed to determine the yarn paths in a 3D braided structure. Relative movement between braided yarns (including the interlacing point) are better assessed at yarn level through 3D element types instead of the traditional beam elements, as they allow to obtain an estimation of yarn-yarn displacement. Parametric studies are conducted to better understand the factors that affect the yarn sliding. The ratio between the diameter of the sheave and the rope, and the braiding angle, are found to be crucial for the relative movement, while the number of yarns and their diameters have little influence. The successful simulation process demonstrates the feasibility of modelling and analysing the complex interaction occurring in braided structures under specific boundary conditions. The calculated estimated displacement can contribute to further investigations such as the friction and heat generation problem in braided ropes. Simulation with this method can provide alternatives in predicting lifespan of braided products that cannot be easily inspected.

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Section: Introductionmentioning

confidence: 99%

Yarn level finite element method simulation for bending over sheaves of braided ropes

Li,

Shang,

Zappa

et al. 2023

Journal of Industrial Textiles

Self Cite

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“…Similar to the helical stent, the helical braided stent consists of two sets of monofilament winding along the spiral path 26,27 . Because of its unique network structure, the helical braided stent has a series of advantages such as excellent flexibility, high coverage and strong fatigue resistance 28 . Therefore, helical braided stents are suitable for biliary tract and peripheral blood vessels, such as carotid artery and superficial femoral artery, and physiological environment is relatively neutral with pH between 6.8 and 7.4.…”

Section: Introductionmentioning

confidence: 99%

“…26,27 Because of its unique network structure, the helical braided stent has a series of advantages such as excellent flexibility, high coverage and strong fatigue resistance. 28 Therefore, helical braided stents are suitable for biliary tract and peripheral blood vessels, such as carotid artery and superficial femoral artery, and physiological environment is relatively neutral with pH between 6.8 and 7.4. When longitudinally tensioned or radially compressed, each monofilament deforms independently as a helical spring, so the helical braided stent can be regarded as a linear combination of helical stents.…”

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confidence: 99%

Influence of parameters on mechanical properties of poly (L‐lactic acid) helical stents

Zhao

Liu

et al. 2022

J Biomed Mater Res

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With better biocompatibility, bioresorbable poly (L-lactic acid) (PLLA) helical stents are expected to replace the commonly used metallic stents. However, due to the great difference between the material properties of PLLA and those of metals, the current research results on mechanical properties of stents will not be applicative. In this article, the effects of i on the radial compression performance and bending stiffness of PLLA helical stents were systematically studied, and the effect of temperature on the radial compression performance of the helical stent was investigated. The findings obtained indicate that the reduction of initial pitch angle and initial diameter can enhance the radial compression performance. The reduction of initial pitch angle and the increase of initial diameter can weaken the bending stiffness of the helical stent. Moreover, the increase of temperature will reduce the radial stiffness and peak compression force of the helical stent. A favorable agreement between the theoretical and experimental results of radial compression properties was found in stents with the initial pitch angle between 14 and 21 and all initial diameters. This work can provide suggestions for the use of the theoretical formula in structure design of the helical stent.

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“…2D smart braided tube is a smart structure design with a combination of smart filament materials, having been implemented in various applications such as medical stents [1][2][3], artificial muscle [4] and smart robots [5,6] because of large deformation recovery, excellent radial flexibility and bending * Author to whom any correspondence should be addressed. compliance.…”

Section: Introductionmentioning

confidence: 99%

Electro-induced tensile deformation of over-braiding composite tube with carbon fiber reinforced shape memory polyurethane filament

Zhe¹,

Chen²,

Gu³

et al. 2022

Smart Mater. Struct.

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2D shape memory composite tubes, which has excellent flexibility and high durability, have been widely used in intelligent material design. Here we report fabrication of an over-braiding pure shape memory polyurethane (SMPU) and continuous carbon fiber reinforced shape memory polyurethane (CCF/SMPU) braided tubes with different braided layers (L1, L2, L3). The dynamic thermomechanical behaviors, tensile properties, shape memory behaviors and tensile recovery forces had been investigated. Tensile shape recovery force was recorded to find effects of recovery temperature, applied voltage on the shape memory behaviors. We found that the tensile load, shape recovery ratio and recovery force increase with the braided layers increased. The maximum shape recovery ratio could be reached to 98.8% and shape recovery force of over-braiding CCF/SMPU composite tube was up to 14.825 N. The infilling of carbon fibers could improve the tensile strength and shape memory behaviors simultaneously. Such an effect could be benefit to explore applications of braided composite structures both with high strength and deformation recovery capacity.

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Self-Forcing Mechanism of the Braided Tube as a Robotic Gripper

Cited by 5 publications

References 27 publications

Yarn level finite element method simulation for bending over sheaves of braided ropes

Yarn level finite element method simulation for bending over sheaves of braided ropes

Influence of parameters on mechanical properties of poly (L‐lactic acid) helical stents

Electro-induced tensile deformation of over-braiding composite tube with carbon fiber reinforced shape memory polyurethane filament

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