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The six-axis force/torque sensor based on a Y-type structure has the advantages of simple structure, small space volume, low cost and wide application prospects. To meet the overall structural stiffness requirements and sensor performance requirements in robot engineering applications, this paper aims to propose a Y-type six-axis force/torque sensor.

The performance indicators such as each component sensitivities and stiffnesses of the sensor were selected as optimization objectives. The multiobjective optimization equations were established. A multiple quadratic response surface in ANSYS Workbench was modeled by using the central composite design experimental method. The optimal manufacturing structural parameters were obtained by using multiobjective genetic algorithm.

The sensor was optimized and the simulation results show that the overload resistance of the sensor is 200%F.S., and the axial stiffness, radial stiffness, bending stiffness and torsional stiffness are 14.981 kN/mm, 16.855 kN/mm, 2.0939 kN m/rad and 6.4432 kN m/rad, respectively, which meet the design requirements, and the sensitivities of each component of the optimized sensor have been well increased to be 2.969, 2.762, 4.010, 2.762, 2.653 and 2.760 times as those of the sensor with initial structural parameters. The sensor prototype with optimized parameters was produced. According to the calibration experiment of the sensor, the maximum Class I and II errors and measurement uncertainty of each force/torque component of the sensor are 1.835%F.S., 1.018%F.S. and 1.606%F.S., respectively. All of them are below the required 2%F.S.

Hence, the conclusion can be drawn that the sensor has excellent comprehensive performance and meets the expected practical engineering requirements.

Stiffness adjusting ability is essential for soft robotic arms to perform complex tasks. A soft state enables dexterous operation and safe interaction, while a rigid state enables large force output or heavy weight carrying. However, making a compact integration of soft actuators with powerful stiffness adjusting mechanisms is challenging. This study aims to develop a piston-like particle jamming mechanism for enhanced stiffness adjustment of a soft robotic arm.

The arm has two pairs of differential tendons for spatial bending, and a jamming core consists of four jamming units with particles sealed inside braided tubes for stiffness adjustment. The jamming core is pushed and pulled smoothly along the tendons by a piston, which is then driven by a motor and a ball screw mechanism.

The tip displacement of the arm under 150 N jamming force and no more than 0.3 kg load is minimal. The maximum stiffening ratio measured in the experiment under 150 N jamming force is up to 6–25 depends on the bending direction and added load of the arm, which is superior to most of the vacuum powered jamming method.

The proposed robotic arm makes an innovative compact integration of tendon-driven robotic arm and motor-driven piston-like particle jamming mechanism. The jamming force is much larger compared to conventional vacuum-powered systems and results in a superior stiffening ability.

The electromechanical planetary transmission system has the advantages of high transmission power and fast running speed, which is one of the important development directions in the future. However, during the operation of the electromechanical planetary transmission system, friction and other factors will lead to an increase in gear temperature and thermal deformation, which will affect the transmission performance of the system, and it is of great significance to study the influence of the temperature effect on the nonlinear dynamics of the electromechanical planetary system.

The effects of temperature change, motor speed, time-varying meshing stiffness, meshing damping ratio and error amplitude on the nonlinear dynamic characteristics of electromechanical planetary systems are studied by using bifurcation diagrams, time-domain diagrams, phase diagrams, Poincaré cross-sectional diagrams, spectra, etc.

The results show that when the temperature rise is less than 70 °C, the system will exhibit chaotic motion. When the motor speed is greater than 900r/min, the system enters a chaotic state. The changes in time-varying meshing stiffness, meshing damping ratio, and error amplitude will also make the system exhibit abundant bifurcation characteristics.

Based on the principle of thermal deformation, taking into account the temperature effect and nonlinear parameters, including time-varying meshing stiffness and tooth side clearance as well as comprehensive errors, a dynamic model of the electromechanical planetary gear system was established.

A newly developed frequency-independent lumped parameter model (LPM) is the purpose of the present paper. This new model’s direct outcome ensures high efficiency and a straightforward calculation of foundations’ vertical vibrations. A rigid circular foundation shape resting on a nonhomogeneous half-space subjected to a vertical time-harmonic excitation is considered.

A simple model representing the soil–foundation system consists of a single degree of freedom (SDOF) system incorporating a lumped mass linked to a frequency-independent spring and dashpot. Besides that, an additional fictitious mass is incorporated into the SDOF system. Several numerical methods and mathematical techniques are used to identify each SDOF’s parameter: (1) the vertical component of the static and dynamic foundation impedance function is calculated. This dynamic interaction problem is solved by using a formulation combining the boundary element method and the thin layer method, which allows the simulation of any complex nonhomogeneous half-space configuration. After, one determines the static stiffness’s expression of the circular foundation resting on a nonhomogeneous half-space. (2) The system’s parameters (dashpot coefficient and fictitious mass) are calculated at the resonance frequency; and (3) using a curve fitting technique, the general formulas of the frequency-independent dashpot coefficients and additional fictitious mass are established.

Comparisons with other results from a rigorous formulation were made to verify the developed model’s accuracy; these are exceptional cases of the more general problems that can be addressed (problems like shallow or embedded foundations of arbitrary shape, other vibration modes, etc.).

In this new LPM, the impedance functions will no longer be needed. The engineer only needs a limited number of input parameters (geometrical and mechanical characteristics of the foundation and the soil). Moreover, a simple calculator is required (i.e. we do not need any sophisticated software).

This review paper seeks to enhance knowledge of how pre-loading affects reinforced concrete (RC) beams under fire. It investigates key factors like deflection and load capacity to understand pre-loading's role in replicating RC beams' actual responses to fire, aiming to improve fire testing protocols and structural fire engineering design.

This review systematically aggregates data from existing literature on the fire response of RC beams, comparing scenarios with (WP) and without pre-loading (WOP). Through statistical tools like the two-tailed t-test and Mann–Whitney U-test, it assesses deflection extremes. The study further examines structural responses, including flexural and shear behavior, ultimate load capacity, post-yield behavior, stiffness degradation and failure modes. The approach concludes with a statistical forecast of ideal pre-load levels to elevate experimental precision and enhance fire safety standards.

The review concludes that pre-loading profoundly affects the fire response of RC beams, suggesting a 35%–65% structural capacity range for realistic simulations. The review also recommended the initial crack load as an alternative metric for determining the pre-loading impact. Crucially, it highlights that pre-loading not only influences the fire response but also significantly alters the overall structural behavior of the RC beams.

The review advances structural fire engineering with an in-depth analysis of pre-loading's impact on RC beams during fire exposure, establishing a validated pre-load range through thorough statistical analysis and examination of previous research. It refines experimental methodologies and structural design accuracy, ultimately bolstering fire safety protocols.

This paper aims to design an active shock absorber scheme for use in conjunction with a passive shock absorber to suppress the horizontal vibration of elevator cars in a smaller range and shorter time. The developed active shock absorber will also improve the safety and comfort of passengers driving in ultra-high-speed elevators.

A six-degree of freedom dynamic model is established according to the position and condition of the car. Then the active shock absorber and disturbance compensation-based adaptive control scheme are designed and simulated in MATLAB/Simulink. The results are analysed and compared with the traditional shock absorber.

The results show that, compared with traditional spring-based passive damping systems, the designed active shock absorber can reduce vibration displacement by 60%, peak acceleration by 50% and oscillation time by 2/3 and is more robust to different spring stiffness, damping coefficient and load.

The developed active shock absorber and its control algorithm can significantly reduce vibration amplitude and converged time. It can also adjust the damping strength according to the actual load of the elevator car, which is more suitable for high-speed elevators.

Dehydrated bacterial cellulose’s (BC) intrinsic rigidity constrains applicability across textiles, leather, health care and other sectors. This study aims to yield a novel BC modification method using glycerol and succinic acid with catalyst and heat, applied via an industrially scalable padding method to tackle BC’s stiffness drawbacks and enhance BC properties.

Fabric-like BC is generated via mechanical dehydration and then finished by using padding method with glycerol, succinic acid, catalyst and heat. Comprehensive material characterizations, including international testing standards for stiffness, bending properties (cantilever method), tensile properties, moisture vapor transmission rate, moisture content and regain, washing, thermal gravimetric analysis, derivative thermogravimetry, Fourier-transform infrared spectroscopy and colorimetric measurement, are used.

The combination of BC/glycerol/succinic acid dramatically enhanced porous structure, elongation (27.40 ± 6.39%), flexibility (flexural rigidity of 21.46 ± 4.01 µN m; bending modulus of 97.45 ± 18.20 MPa) and moisture management (moisture vapor transmission rate of 961.07 ± 86.16 g/m²/24 h; moisture content of 27.43 ± 2.50%; and moisture regain of 37.94 ± 4.73%). This softening process modified the thermal stability of BC. Besides, this study alleviated the drawbacks for washing (five cycles) of BC and glycerol caused by the ineffective affinity between glycerol and cellulose by adding succinic acid with catalyst and heat.

The study yields an effective padding process for BC softening and a unique modified BC to contribute added value to textile and leather industries as a sustainable alternative to existing materials and a premise for future research on BC functionalization by using doable technologies in mass production as padding.

Simulations exist for the prediction of the behaviour of building structural systems under fire, including two-way coupled fire-structure interaction. However, these simulations do not include detailed models of the connections, whereas these connections may impact the overall behaviour of the structure. Therefore, this paper proposes a two-scale method to include screw connections.

The two-scale method consists of (a) a global-scale model that models the overall structural system and (b) a small-scale model to describe a screw connection. Components in the global-scale model are connected by a spring element instead of a modelled screw, and the stiffness of this spring element is predicted by the small-scale model, updated at each load step. For computational efficiency, the small-scale model uses a proprietary technique to model the behaviour of the threads, verified by simulations that model the complete thread geometry, and validated by existing pull-out experiments. For four screw failure modes, load-deformation behaviour and failure predictions of the two-scale method are verified by a detailed system model. Additionally, the two-scale method is validated for a combined load case by existing experiments, and demonstrated for different temperatures. Finally, the two-scale method is illustrated as part of a two-way coupled fire-structure simulation.

It was shown that proprietary ”threaded connection interaction” can predict thread relevant failure modes, i.e. thread failure, shank tension failure, and pull-out. For bearing, shear, tension, and pull-out failure, load-deformation behaviour and failure predictions of the two-scale method correspond with the detailed system model and Eurocode predictions. Related to combined load cases, for a variety of experiments a good correlation has been found between experimental and simulation results, however, pull-out simulations were shown to be inconsistent.

More research is needed before the two-scale method can be used under all conditions. This relates to the failure criteria for pull-out, combined load cases, and temperature loads.

The two-scale method bridges the existing very detailed small-scale screw models with present global-scale structural models, that in the best case only use springs. It shows to be insightful, for it contains a functional separation of scales, revealing their relationships, and it is computationally efficient as it allows for distributed computing. Furthermore, local small-scale non-convergence (e.g. a screw failing) can be handled without convergence problems in the global-scale structural model.

The study aims to equip robots with the ability to precisely maintain interaction forces, which is crucial for tasks such as polishing in highly dynamic environments with unknown and varying stiffness and geometry, including those found in airplane wings or thin, soft materials. The purpose of this study is to develop a novel adaptive force-tracking admittance control scheme aimed at achieving a faster response rate with higher tracking accuracy for robot force control.

In the proposed method, the traditional admittance model is improved by introducing a pre-proportional-derivative controller to accelerate parameter convergence. Subsequently, the authors design an adaptive law based on fuzzy logic systems (FLS) to compensate for uncertainties in the unknown environment. Stability conditions are established for the proposed method through Lyapunov analysis, which ensures the force tracking accuracy and the stability of the coupled system consisting of the robot and the interaction environment. Furthermore, the effectiveness and robustness of the proposed control algorithm are demonstrated by simulation and experiment.

A variety of unstructured simulations and experimental scenarios are designed to validate the effectiveness of the proposed algorithm in force control. The outcomes demonstrate that this control strategy excels in providing fast response, precise tracking accuracy and robust performance.

In real-world applications spanning industrial, service and medical fields where accurate force control by robots is essential, the proposed method stands out as both practical and straightforward, delivering consistently satisfactory performance across various scenarios.

This research introduces a novel adaptive force-tracking admittance controller based on FLS and validated through both simulations and experiments. The proposed controller demonstrates exceptional performance in force control within environments characterized by unknown and varying.

This study aims to evaluate the failure behavior of glass fiber-reinforced epoxy (GFRE) laminate subjected to cyclic loading conditions. It involves experimental investigation and statistical analysis using Weibull distribution to characterize the failure behavior of the GFRE composite laminate.

Fatigue tests were conducted using a tension–tension loading scheme at a frequency of 2 Hz and a loading ratio (R) of 0.1. The tests were performed at five different stress levels, corresponding to 50%–90% of the ultimate tensile strength (UTS). Failure behavior was assessed through cyclic stress-strain hysteresis plots, dynamic modulus behavior and scanning electron microscopy (SEM) analysis of fracture surfaces.

The study identified common modes of failure, including fiber pullouts, fiber breakage and matrix cracking. At low stress levels, fiber breakage, matrix cracking and fiber pullouts occurred due to high shear stresses at the fiber–matrix interface. Conversely, at high stress levels, fiber breakage and matrix cracking predominated. Higher stress levels led to larger stress-strain hysteresis loops, indicating increased energy dissipation during cyclic loading. High stress levels were associated with a more significant decrease in stiffness over time, implying a shorter fatigue life, while lower stress levels resulted in a gradual decline in stiffness, leading to extended fatigue life.

This study makes a valuable contribution to understanding fatigue behavior under tension–tension loading conditions, coupled with an in-depth analysis of the failure mechanism in GFRE composite laminate at different stress levels. The fatigue behavior is scrutinized through stress-strain hysteresis plots and dynamic modulus versus normalized cycles plots. Furthermore, the characterization of the failure mechanism is enhanced by using SEM imaging of fractured specimens. The Weibull distribution approach is used to obtain a reliable estimate of fatigue life.