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 Variable stiffness mechanism for energy harvesting
Eman Adel Ahmed and Iman Magdi Abdelsalam

Supervisor: Dr. Yasser Anis

July 14, 2018

∗
funded by Itida

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1 Tasks done by each student
1.

2.

2 Summary
In this thesis, a variable stiffness mechanism for energy harvesting from vibration of rail track for
self- powering of track side equipment that depends on wireless sensors networks or in a remote
area off-the-grid is to be presented. The mechanism uses the novel approach of negative stiffness
to vary its stiffness but still maintain its apparent stiffness as a positive stiffness and achieve force
displacement relation that almost linear for specific settings of the mechanism parameters, varying
stiffness of mechanism subsequently vary mechanism natural frequency which enable mechanism of
tuning. A mathematical model with aim of linearization relation between stiffness force and relative
displacement of mechanism moving mass was developed. Correctness of this linear approximation
developed in mathematical model validated using simulation software. Prototype of the mechanism
was developed to test the mechanism actual ability to change it stiffness, also to test range of parameter
values and combination of parameters that affect mechanism the most experimentally.

3 Proposed mechanism
Effect of negative stiffness proposed in our mechanism can be changed through changing system
parameters. We chose to give a controlled input distance Xh to control compression in horizontal
springs. The more Xh increases, the more negative stiffness effect increases thus apparent system
decreases and so natural frequency. Mechanism shown in Figure 1.

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 Mass
Supporting
actuator
rod

Horizontal spring
sliders

frame Transducer Vertical spring

Excitation frequency

Figure 1: Schematic of our proposed variable stiffness mechanism

4 Mathematical model
Formulation between mechanism controlled input Xh and mechanism natural frequency ωn for a set
of parameter where reached as shown in 1. This equation is a function in other system parameters as
shown in Figure ??
v  
u
u k − 2k Xh −b+s+l0 + 1
t p n r
ωn = (1)
M

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 Initial position
𝑀 𝑏
𝑦 𝑙0
ℎ0 𝑀
𝑟 𝑙

𝛼
𝑘𝑝 𝑘𝑛
𝑘𝑛

𝑠 𝑋ℎ

Figure 2: Proposed system parameters used in equations

5 Numerical validation
Simulation using Working model to see how mathematical model linearization approach match how
mechanism behave. Mechanism parameters used in simulations shown in Table 1. Natural frequency
of mechanism corresponding to the controlled input to change stiffness shown in Table 2. Graph to
show analytical result Vs. simulation shown in Figure 3.

Table 1: Mechanism parameters’ value

parameters value

Moving mass M 320 gm

Rod length r 50 mm
Slider length s 55 mm
Distance b 160 mm
Initial spring length l0 70 mm
Controlled moved displacement Xh 0 : 35 mm
Horizontal springs stiffness kn 30 N/mm
vertical springs stiffness k p 120 N/mm

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 Table 2: Mechanism natural frequency at specific Xh

Xh in (mm) Natural frequency in (rad/sec)

0 17.7601
5 17.2103
10 16.6297
15 16.0202
20 15.3498
25 14.5801
30 13.6100
35 11.9902

Figure 3: Analytical and numerical natural frequency plotting against Xh

Noting that the behavior of system deviate from linearity when Xh increases as horizontal springs
get more compressed but in small Xh values, which are less than half of the spring initial length the
mechanism almost behaves linear. Thus, mathematical model is validated for the use of vertical and
two horizontal linear springs.

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6 Mechanism prototype
In order to check effect of increasing the negative stiffness of the mechanism through increasing the
input controlled distance xh experimentally, a physical system built to gain also some of the know-
how of manufacturing such mechanism. CAD model of the achieved system shown in Figures 4, 5
and 6. Real pictures of the built mechanism shown in Figures 7, 8 and 9.

Figure 4: CAD model front view

Figure 5: CAD model side view

Figure 6: CAD model top view

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 Figure 7: real mechanism photo

Figure 8: real mechanism photo

Figure 9: real mechanism photo

7 Experimental work
It is hard to develop a prototype of small components due to inaccuracy in manufacturing with small
dimensions. Thus, a prototype of large size was developed due to usage of standard components
that can function relatively as how mechanism should function. Testing aims to generate resonance
to identify natural frequency at specific Xh and compare it with the natural frequency at specific Xh
calculated from mathematical model to check how much the linear approach adapted in the mathe-
matical model is close enough to experiments. As standard components have large weight it is not

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easy for the mechanism to be tested with vibration shaker that causes base excitation and result in
relative motion of the moving mass. Thus, to excite the moving mass of the mechanism test effect
of changing controlled input Xh a motor of 150 rpm along with eccentric mass are used to create
unbalancing. Experimental setting shown in figure 10

Figure 10: Experimental setting of our prototype

8 Conclusion
Here are the main output points from this work:

• Energy harvesting from vibration of rail track is suitable for providing power needed for self-
powering of trackside equipment that need power range 3-25W. Moreover, the conversion of
mechanical energy from vibration to electrical energy can be controlled.

• Mechanical tuning can attain largest tunability through changing system parameters inertia or
stiffness. Stiffness can be changed by methods of preload, pre-deflection or change gravity
center. Mechanisms depending on inertia force has to be used with rotational vibration sources.

• In this work, the concept of using negative stiffness corrector connected in parallel with positive
stiffness element to change stiffness thus giving ability of tuning is investigated

• using parametric study system parameters are chosen to achieve positive stiffness and force
displacement relation is almost linear. Thus negative stiffness function would only be to vary
total apparent mechanism stiffness.

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 • Changing mechanisms parameters (distance between mass and fixation points, shape and an-
gles) varies value of negative stiffness. Changing distance between fixation points through
controlled input distance Xh was chosen to vary value of negative stiffness

• Mathematical model to find relation between of controlled input distance Xh , negative stiffness
effect, total apparent mechanism stiffness and natural frequency of the system was performed.
It was found that increasing controlled input distance Xh , increases negative stiffness effect,
decreasing total apparent mechanism stiffness and thus decreasing natural frequency.

• Mathematical model was validated using simulation software which showed that linear ap-
proach gives almost exactly results from simulation provided that the deflection in vertical
spring that represents positive stiffness element is not large and the controlled input distance Xh
does not compress horizontal springs to the value of half of their initial length.

• Standard components used in CNC and 3-D printing machines were used to construct a proto-
type for experimental work.

8.1 Ongoing and Future work

1. Holding experiment work to get results using current prototype.

2. Manufacturing of mechanism with small dimensions and low damping.

3. Using actuators to control input distance Xh to allow mechanism of self-tuning.

4. Holding a parametric study to further investigation of system parameters effect on achieving

linear behavior.

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