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Featured Application: In this study, the main components of the flexible support system (FSS) are optimized for multi-objective parameters using the finite element method, to reduce the internal resistance of the FSS and improve the consistency of force output. The hardness of rolling diaphragm (RD) is determined by the pressure test of the FSS. The actual resistance of the support cylinder at each movement position is determined by the internal resistance test, and the consistency of the value of each support cylinder is determined by the force output consistency test. It provides a theoretical basis for the application of the FSS in the optical mirror processing stage. During the processing of an optical mirror, the performance parameters of the bottom support system would affect the surface forming accuracy of the mirror. The traditional bottom support system has a large unadjustable support stiffness, which increases the difficulty of unloading the impact force generated by the grinding disc. In response to this scenario, a flexible support system (FSS) consisting of 36 support cylinders with beryllium bronze reeds (BBRs) and rolling diaphragms (RDs) as key components is designed. It is necessary to analyze the key components of the support cylinder to reduce its axial movement resistance, ensure a consistent force output of each support point. First, the internal resistance model of a flexible support cylinder is established, and the main factors of internal resistance are then analyzed. Thereafter, the multi-objective structural parameters of the BBR and RD are simulated in ANSYS using the control variable method. The optimal structural parameters of BBR and RD are determined by simulation. Finally, experiments are performed on the RD ultimate pressure, internal resistance of the support cylinder, and consistency of the force output of the FSS. The experimental results show that the support cylinder with the optimized design has good force output consistency, which provides a theoretical basis for the application of FSS in optical mirror processing. [ABSTRACT FROM AUTHOR]

Muscle models and animal observations suggest that physical damping is beneficial for stabilization. Still, only a few implementations of physical damping exist in compliant robotic legged locomotion. It remains unclear how physical damping can be exploited for locomotion tasks, while its advantages as sensor-free, adaptive force- and negative work-producing actuators are promising. In a simplified numerical leg model, we studied the energy dissipation from viscous and Coulomb damping during vertical drops with ground-level perturbations. A parallel spring- damper is engaged between touch-down and mid-stance, and its damper auto-decouples from mid-stance to takeoff. Our simulations indicate that an adjustable and viscous damper is desired. In hardware we explored effective viscous damping and adjustability, and quantified the dissipated energy. We tested two mechanical, leg-mounted damping mechanisms: a commercial hydraulic damper, and a custom-made pneumatic damper. The pneumatic damper exploits a rolling diaphragm with an adjustable orifice, minimizing Coulomb damping effects while permitting adjustable resistance. Experimental results show that the leg-mounted, hydraulic damper exhibits the most effective viscous damping. Adjusting the orifice setting did not result in substantial changes of dissipated energy per drop, unlike adjusting the damping parameters in the numerical model. Consequently, we also emphasize the importance of characterizing physical dampers during real legged impacts to evaluate their effectiveness for compliant legged locomotion.

During the processing of an optical mirror, the performance parameters of the bottom support system would affect the surface forming accuracy of the mirror. The traditional bottom support system has a large unadjustable support stiffness, which increases the difficulty of unloading the impact force generated by the grinding disc. In response to this scenario, a flexible support system (FSS) consisting of 36 support cylinders with beryllium bronze reeds (BBRs) and rolling diaphragms (RDs) as key components is designed. It is necessary to analyze the key components of the support cylinder to reduce its axial movement resistance, ensure a consistent force output of each support point. First, the internal resistance model of a flexible support cylinder is established, and the main factors of internal resistance are then analyzed. Thereafter, the multi-objective structural parameters of the BBR and RD are simulated in ANSYS using the control variable method. The optimal structural parameters of BBR and RD are determined by simulation. Finally, experiments are performed on the RD ultimate pressure, internal resistance of the support cylinder, and consistency of the force output of the FSS. The experimental results show that the support cylinder with the optimized design has good force output consistency, which provides a theoretical basis for the application of FSS in optical mirror processing.

Abstract: Hydraulic accumulators are used in a variety of applications to minimize the pressure variation in hydraulic circuits and to store energy. Conventional hydraulic accumulators suffer from two major limitations, the hydraulic system pressure varies with the quantity of energy stored and the energy density is significantly lower than other energy domains. In this paper, a novel hydraulic accumulator is presented that uses a piston with an area that varies with stroke to maintain a constant hydraulic system pressure while the gas pressure changes. The variable area piston is sealed with a fabric reinforced rolling diaphragm. In this work, the piston radius profile is developed as a function of the piston displacement and then transformed into a function of the axial contact location between the piston and the diaphragm. The piston profile was solved numerically for a variety of conditions using both transformation methods to illustrate the geometric design trade-offs. Using a variable area gas piston with a fixed cylinder area, the maximum gas volume ratio was 1.8:1. An analysis of the energy density revealed that the constant pressure accumulator provides a 16% improvement in energy density over a conventional accumulator at a volume ratio of 2.71:1 and also exceeds the maximum energy density of a conventional accumulator at the lower volume ratio of 1.8:1. This new promising technology maintains a constant hydraulic system pressure independent of the quantity of energy stored, easing system control and allowing other circuit components to be downsized to meet the same power requirements, while also increases the energy storage density. [Copyright &y& Elsevier]