A Vision-Based Method For Estimating Contact Forces In Intracardiac Catheters

2021 ◽  
Author(s):  
Hamidreza Khodashenas ◽  
Pedram Fekri ◽  
Mehrdad Zadeh ◽  
Javad Dargahi
Keyword(s):  
Contact Forces ◽  
Intracardiac Catheters

Modeling of Tread Block Contact Mechanics Using Linear Viscoelastic Theory3

2008 ◽  
Vol 36 (3) ◽  
pp. 211-226 ◽  
Author(s):  
F. Liu ◽  
M. P. F. Sutcliffe ◽  
W. R. Graham
Keyword(s):  
High Speed ◽  
Slip Rate ◽  
Material Model ◽  
Contact Forces ◽  
Block Modeling ◽  
Rate Dependent ◽  
Linear Viscoelastic Material ◽  
Linear Viscoelastic ◽  
The Impact ◽  
Good Agreement

Abstract In an effort to understand the dynamic hub forces on road vehicles, an advanced free-rolling tire-model is being developed in which the tread blocks and tire belt are modeled separately. This paper presents the interim results for the tread block modeling. The finite element code ABAQUS/Explicit is used to predict the contact forces on the tread blocks based on a linear viscoelastic material model. Special attention is paid to investigating the forces on the tread blocks during the impact and release motions. A pressure and slip-rate-dependent frictional law is applied in the analysis. A simplified numerical model is also proposed where the tread blocks are discretized into linear viscoelastic spring elements. The results from both models are validated via experiments in a high-speed rolling test rig and found to be in good agreement.

Modeling Vibration-Induced Tire-Pavement Interaction Noise in the Mid-frequency Range

2020 ◽  
Author(s):  
Sterling McBride ◽  
Ricardo Burdisso ◽  
Corina Sandu
Keyword(s):  
Sound Intensity ◽  
Element Model ◽  
Dominant Frequency ◽  
Contact Forces ◽  
Surface Velocity ◽  
New Wave ◽  
Normal Surface ◽  
Radiated Noise ◽  
Physical Effects ◽  
Effects Of Rotation

ABSTRACT Tire-pavement interaction noise (TPIN) is one of the main sources of exterior noise produced by vehicles traveling at greater than 50 kph. The dominant frequency content is typically within 500–1500 Hz. Structural tire vibrations are among the principal TPIN mechanisms. In this work, the structure of the tire is modeled and a new wave propagation solution to find its response is proposed. Multiple physical effects are accounted for in the formulation. In an effort to analyze the effects of curvature, a flat plate and a cylindrical shell model are presented. Orthotropic and nonuniform structural properties along the tire's transversal direction are included to account for differences between its sidewalls and belt. Finally, the effects of rotation and inflation pressure are also included in the formulation. Modeled frequency response functions are analyzed and validated. In addition, a new frequency-domain formulation is presented for the computation of input tread pattern contact forces. Finally, the rolling tire's normal surface velocity response is coupled with a boundary element model to demonstrate the radiated noise at the leading and trailing edge locations. These results are then compared with experimental data measured with an on-board sound intensity system.

OLIN C197

Alloy Digest ◽  
1999 ◽  
Vol 48 (1) ◽  
Keyword(s):  
Thermal Conductivity ◽  
Wear Resistance ◽  
Physical Properties ◽  
Tensile Properties ◽  
High Performance ◽  
Corrosion And Wear ◽  
Contact Forces ◽  
High Current ◽  
Lower Strength ◽  
Current Carrying Capability

Abstract Olin C197 is a second-generation high performance alloy developed by Olin Brass. It has a strength and bend formability similar to C194 (see Alloy Digest Cu-360, September 1978), but with 25% higher electrical and thermal conductivity. High conductivity allows C197 to replace brasses and bronzes in applications where high current-carrying capability is required. Also, the strength of C197 provides higher contact forces when substituted for many lower strength coppers. This datasheet provides information on composition, physical properties, hardness, elasticity, and tensile properties. It also includes information on corrosion and wear resistance as well as forming and joining. Filing Code: CU-627. Producer or source: Olin Brass.

scholarly journals Design and Calibration of a Force/Tactile Sensor for Dexterous Manipulation

Sensors ◽  
2019 ◽  
Vol 19 (4) ◽  
pp. 966 ◽  
Author(s):  
Marco Costanzo ◽  
Giuseppe De Maria ◽  
Ciro Natale ◽  
Salvatore Pirozzi
Keyword(s):  
Experimental Validation ◽  
Sensory System ◽  
Tactile Sensor ◽  
Contact Forces ◽  
Dexterous Manipulation ◽  
Soft Contact ◽  
Grasping Force ◽  
Sense Of Touch ◽  
Human Sense ◽  
Robotic Applications

This paper presents the design and calibration of a new force/tactile sensor for robotic applications. The sensor is suitably designed to provide the robotic grasping device with a sensory system mimicking the human sense of touch, namely, a device sensitive to contact forces, object slip and object geometry. This type of perception information is of paramount importance not only in dexterous manipulation but even in simple grasping tasks, especially when objects are fragile, such that only a minimum amount of grasping force can be applied to hold the object without damaging it. Moreover, sensing only forces and not moments can be very limiting to securely grasp an object when it is grasped far from its center of gravity. Therefore, the perception of torsional moments is a key requirement of the designed sensor. Furthermore, the sensor is also the mechanical interface between the gripper and the manipulated object, therefore its design should consider also the requirements for a correct holding of the object. The most relevant of such requirements is the necessity to hold a torsional moment, therefore a soft distributed contact is necessary. The presence of a soft contact poses a number of challenges in the calibration of the sensor, and that is another contribution of this work. Experimental validation is provided in real grasping tasks with two sensors mounted on an industrial gripper.

scholarly journals Slipping–rolling transitions of a body with two contact points

2021 ◽  
Author(s):  
Mate Antali ◽  
Gabor Stepan
Keyword(s):  
Rigid Body ◽  
Contact Point ◽  
Static Friction ◽  
Rigid Body Dynamics ◽  
Contact Forces ◽  
Friction Forces ◽  
Contact Points ◽  
Body Dynamics ◽  
Coulomb Model ◽  
Rigid Surfaces

AbstractIn this paper, the general kinematics and dynamics of a rigid body is analysed, which is in contact with two rigid surfaces in the presence of dry friction. Due to the rolling or slipping state at each contact point, four kinematic scenarios occur. In the two-point rolling case, the contact forces are undetermined; consequently, the condition of the static friction forces cannot be checked from the Coulomb model to decide whether two-point rolling is possible. However, this issue can be resolved within the scope of rigid body dynamics by analysing the nonsmooth vector field of the system at the possible transitions between slipping and rolling. Based on the concept of limit directions of codimension-2 discontinuities, a method is presented to determine the conditions when the two-point rolling is realizable without slipping.

scholarly journals Compliance, mass distribution and contact forces in cursorial and scansorial locomotion with biorobotic physical models

2021 ◽  
Vol 35 (7) ◽  
pp. 437-449
Author(s):  
Robert Siddall ◽  
Toshihiko Fukushima ◽  
Drilon Bardhi ◽  
Buna Perteshoni ◽  
Albulena Morina ◽  
...  
Keyword(s):  
Mass Distribution ◽  
Contact Forces ◽  
Physical Models

scholarly journals Simulation Verification of the Contact Parameter Influence on the Forces’ Course of Cereal Grain Impact against a Stiff Surface

2021 ◽  
Vol 11 (2) ◽  
pp. 466
Author(s):  
Włodzimierz Kęska ◽  
Jacek Marcinkiewicz ◽  
Łukasz Gierz ◽  
Żaneta Staszak ◽  
Jarosław Selech ◽  
...  
Keyword(s):  
Dynamic Properties ◽  
Decisive Role ◽  
Force Sensor ◽  
Contact Forces ◽  
Correct Selection ◽  
Contact Parameter ◽  
Cereal Grain ◽  
Wide Range ◽  
The Impact ◽  
Selection Of

The continuous development of computer technology has made it applicable in many scientific fields, including research into a wide range of processes in agricultural machines. It allows the simulation of very complex physical phenomena, including grain motion. A recently discovered discrete element method (DEM) is used for this purpose. It involves direct integration of equations of grain system motion under the action of various forces, the most important of which are contact forces. The method’s accuracy depends mainly on precisely developed mathematical models of contacts. The creation of such models requires empirical validation, an experiment that investigates the course of contact forces at the moment of the impact of the grains. To achieve this, specialised test stations equipped with force and speed sensors were developed. The correct selection of testing equipment and interpretation of results play a decisive role in this type of research. This paper focuses on the evaluation of the force sensor dynamic properties’ influence on the measurement accuracy of the course of the plant grain impact forces against a stiff surface. The issue was examined using the computer simulation method. A proprietary computer software with the main calculation module and data input procedures, which presents results in a graphic form, was used for calculations. From the simulation, graphs of the contact force and force signal from the sensor were obtained. This helped to clearly indicate the essence of the correct selection of parameters used in the tests of sensors, which should be characterised by high resonance frequency.

scholarly journals Design and Calibration of Robot Base Force/Torque Sensors and Their Application to Non-Collocated Admittance Control for Automated Tool Changing

Sensors ◽  
2021 ◽  
Vol 21 (9) ◽  
pp. 2895
Author(s):  
Hubert Gattringer ◽  
Andreas Müller ◽  
Philip Hoermandinger
Keyword(s):  
Steel Plate ◽  
Robotic Manipulators ◽  
Indirect Measurement ◽  
Local Deformation ◽  
Contact Forces ◽  
The Novel ◽  
Admittance Control ◽  
Load Cells ◽  
Series Elastic Actuators ◽  
Automated Tool

Robotic manipulators physically interacting with their environment must be able to measure contact forces/torques. The standard approach to this end is attaching force/torque sensors directly at the end-effector (EE). This provides accurate measurements, but at a significant cost. Indirect measurement of the EE-loads by means of torque sensors at the actuated joint of a robot is an alternative, in particular for series-elastic actuators, but requires dedicated robot designs and significantly increases costs. In this paper, two alternative sensor concept for indirect measurement of EE-loads are presented. Both sensors are located at the robot base. The first sensor design involves three load cells on which the robot is mounted. The second concept consists of a steel plate with four spokes, at which it is suspended. At each spoke, strain gauges are attached to measure the local deformation, which is related to the load at the sensor plate (resembling the main principle of a force/torque sensor). Inferring the EE-load from the so determined base wrench necessitates a dynamic model of the robot, which accounts for the static as well as dynamic loads. A prototype implementation of both concepts is reported. Special attention is given to the model-based calibration, which is crucial for these indirect measurement concepts. Experimental results are shown when the novel sensors are employed for a tool changing task, which to some extend resembles the well-known peg-in-the-hole problem.

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