Hardware-in-the-Loop Simulation of Constraint Elements in Mechanical Systems

Variable-stiffness modules add significant robustness to mechanical systems during forceful interactions with uncertain environments. Traditionally, most existing variable stiffness modules tend to be bulky by virtue of their use of solid components making them less suitable for mobile applications. In recent times, pretensioned cable-based modules have been proposed to reduce weight. While passive, these modules depend on significant internal tension to provide the desired stiffness and stiffness modulation capability tends to be limited. In this paper, we present design, analysis and testing of a cable based active variable stiffness module that can be realized to achieve a large stiffness range. Controlled changes in structural parameters (independent of cable length actuation) now permits independent modulation of the perceived stiffness with desired tension. This capability is now systematically evaluated on a hardware-in-the-loop experimental setup and results are analyzed.

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A Cable Based Active Variable Stiffness Module With Decoupled Tension

Journal of Mechanisms and Robotics ◽

10.1115/1.4029308 ◽

2015 ◽

Vol 7 (1) ◽

Cited By ~ 9

Author(s):

Xiaobo Zhou ◽

Seung-kook Jun ◽

Venkat Krovi

Keyword(s):

Mobile Applications ◽

Structural Parameters ◽

Mechanical Systems ◽

Variable Stiffness ◽

Experimental Setup ◽

Hardware In The Loop ◽

Uncertain Environments ◽

Cable Length ◽

Present Design ◽

Low Tension

Variable stiffness modules add significant robustness to mechanical systems during forceful interactions with uncertain environments. Most existing variable stiffness modules tend to be bulky—by virtue of their use of solid components—making them less suitable for mobile applications. In recent times, pretensioned cable-based variable stiffness modules have been proposed to reduce weight. While passive, these modules depend on significant internal tension to provide the desired stiffness—as a consequence, their stiffness modulation capability tends to be limited. In this paper, we present design, analysis, and testing of a cable-based active-variable stiffness module which can achieve large stiffness modulation range with low tension. Controlled changes in structural parameters (independent of cable length actuation) now permit independent modulation of both the desired tension and the perceived stiffness. This capability is now systematically evaluated via simulation as well as on a hardware-in-the-loop experimental setup.

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Proposition of a modeling method for constrained mechanical systems based on the vector bond graph

Journal of the Franklin Institute ◽

10.1016/s0016-0032(98)90005-9 ◽

1998 ◽

Vol 355 (3) ◽

pp. 451-469 ◽

Cited By ~ 1

Author(s):

J Jang

Keyword(s):

Mechanical Systems ◽

Bond Graph ◽

Modeling Method ◽

Constrained Mechanical Systems

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Vibration of Mechanical Systems

10.1017/cbo9780511778087 ◽

2010 ◽

Cited By ~ 16

Author(s):

Alok Sinha

Keyword(s):

Mechanical Systems

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Micro-opto-electro-mechanical systems

AccessScience ◽

10.1036/1097-8542.yb031000 ◽

2015 ◽

Keyword(s):

Mechanical Systems

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Nano-electro-mechanical systems (NEMS)

AccessScience ◽

10.1036/1097-8542.yb130172 ◽

2015 ◽

Keyword(s):

Mechanical Systems

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Phase space of mechanical systems with a gauge group

Uspekhi Fizicheskih Nauk ◽

10.3367/ufnr.0161.199102b.0013 ◽

1991 ◽

Vol 161 (2) ◽

pp. 13-75 ◽

Cited By ~ 2

Author(s):

Lev V. Prokhorov ◽

Sergei V. Shabanov

Keyword(s):

Phase Space ◽

Gauge Group ◽

Mechanical Systems

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EVALUATION OF MECHANICAL SYSTEMS USED IN PERFUSION

Acta Endocrinologica ◽

10.1530/acta.0.069s044b ◽

1972 ◽

Vol 68 (2_Supplb) ◽

pp. S44-S73 ◽

Cited By ~ 3

Author(s):

Eugene F. Bernstein

Keyword(s):

Mechanical Systems ◽

Organ Perfusion ◽

Critical Factors ◽

System 2 ◽

Common Problems ◽

Mechanical Components ◽

Perfusion Experiment ◽

Selection Of

ABSTRACT Among the critical factors in organ perfusion are (1) the mechanical components of the system, (2) the composition of the perfusate, and (3) the perfusing conditions. In this review, particular consideration is given to the pump, the oxygenator, and cannulas in such systems. Emphasis is placed upon the selection of pertinent equipment for the goals of a particular perfusion experiment, based upon the criteria of adequacy of the perfusion. Common problems in organ perfusion are summarized, and potential solutions to the perfusion problem, involving either biologic or mechanical extracorporeal systems, are suggested.

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