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Abstract

The research was attempted to mimic the locomotion of the salamander, which is found to be one of the main animals from an evolutionary point of view. The design of the limb and body was started with the parametric studies of pneumatic network (Pneu-Net). Pneu-Net is a pneumatically operated soft actuator that bends when compressed fluid is passed inside the chamber. Finite Element Analysis software, ANSYS, was used to evaluate the height of the chamber, number of chambers and the gap between chambers for both limb and body of the soft mechanism. The parameters were decided based on the force generated by the soft actuators. The assembly of the salamander robot was then exported to MATLAB for simulating the locomotion of the robot in a physical environment. Sine-based controller was used to simulate the robot model and the fastest locomotion of the salamander robot was identified at 1 Hz frequency, 0.3 second of signal delay for limb actuator and negative π phase difference for every contralateral side of the limbs. Shin-Etsu KE-1603, a hyper elastic material, was used to build the salamander robot and a series of experiments were conducted to record the bending angle, the respective generated force in soft actuators and the gait speed of the robot. The developed salamander robot was able to walk at 0.06774 m/s, following an almost identical pattern to the simulation.
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Authors and Affiliations

Elango Natarajan
1
ORCID: ORCID
Kwang Y. Chia
1
Ahmad Athif Mohd Faudzi
2
Wei Hong Lim
1
Chun Kit Ang
1
Ali Jafaari
2

  1. Faculty of Engineering, UCSI University, Kuala Lumpur, Malaysia
  2. Center for Artificial Intelligence and Robotics (CAIRO), Universiti Teknologi Malaysia, Kulala Lumpur, Malaysia
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Abstract

An analysis of sandwich beams with truss core is an important issue in many fields of industry such as civil engineering, automotive, aerospace or maritime. The objective of the present study is a nonlinear static response of sandwich beams subjected to the three-point bending test configuration. The beams are composed of two parent components: upper and lower laminated face sheets (unidirectional tape) and a pyramidal truss core manufactured by means of 3D printing. A polyamide filament strengthened with chopped carbon fibres – CF-PA-12 is used for the core development. The both, experimental and numerical analyses are presented. A detailed numerical model of the sandwich beam was developed in Abaqus software. The numerical model considers modelling of the adhesive joint with an additional layer of material placed between the parent components of the beam. A continuum hybrid solid shell elements were used to model the adhesive layer. In addition, a special care was taken to use an appropriate material model for the CF-PA-12 filament. To do so, the uniaxial tensile tests were performed on 3D printed samples. Having acquired the test data, a hyperelastic material model was evaluated based on a curve fitting approach.
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Authors and Affiliations

Miroslaw Wesolowski
1
ORCID: ORCID
Mariusz Ruchwa
1
ORCID: ORCID
Sandris Rucevskis
2
ORCID: ORCID

  1. Koszalin University of Technology, Faculty of Civil Engineering, Environment and Geodesy,ul. Sniadeckich 2, 75-453 Koszalin, Poland
  2. Riga Technical University, Faculty of Civil Engineering, 6B/6A Kipsalas Street, Riga, LV-1048, Latvia
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Abstract

This paper contains the full way of implementing a user-defined hyperelastic constitutive model into the finite element method (FEM) through defining an appropriate elasticity tensor. The Knowles stored-energy potential has been chosen to illustrate the implementation, as this particular potential function proved to be very effective in modeling nonlinear elasticity within moderate deformations. Thus, the Knowles stored-energy potential allows for appropriate modeling of thermoplastics, resins, polymeric composites and living tissues, such as bone for example. The decoupling of volumetric and isochoric behavior within a hyperelastic constitutive equation has been extensively discussed. An analytical elasticity tensor, corresponding to the Knowles stored-energy potential, has been derived. To the best of author's knowledge, this tensor has not been presented in the literature yet. The way of deriving analytical elasticity tensors for hyperelastic materials has been discussed in detail. The analytical elasticity tensor may be further used to develop visco-hyperelastic, nonlinear viscoelastic or viscoplastic constitutive models. A FORTRAN 77 code has been written in order to implement the Knowles hyperelastic model into a FEM system. The performace of the developed code is examined using an exemplary problem.

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Authors and Affiliations

Cyprian Suchocki

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