Analysis of Constraint Configurations in Mechanical Assembly via Screw Theory

2012 ◽  
Vol 134 (2) ◽  
Author(s):  
Leonard Rusli ◽  
Anthony Luscher ◽  
James Schmiedeler
Keyword(s):  
Degrees Of Freedom ◽  
Screw Theory ◽  
Analysis Tool ◽  
Mechanical Assembly ◽  
Third Order ◽  
Analysis Methodology ◽  
Assembly Features ◽  
Reaction Forces ◽  
Attachment Level

The essential function of a mechanical assembly is the removal of degrees of freedom (DOF) to enable the transfer of load between two bodies. Assembly constraint features serve to provide this DOF removal, so their locations and orientations greatly affect the quality of an assembly as measured by its ability to resist relative motion between the parts. This paper addresses attachment-level design in which design decisions are made to establish the types, locations, and orientations of assembly features. The analysis methodology in this paper models assembly features such as point, pin, line, and plane constraints with equivalent first, second, and third order wrench systems. The set of relative motions to be evaluated is generated by composing from among these constraints a five-system pivot wrench combination to which a freedom screw motion is reciprocal. The effectiveness of each constraint to resist these motions is calculated as the ratio of the reaction forces at each resisting constraint to the input wrench magnitude. Based on these resistance values, multiple rating metrics are calculated to rate the overall assembly’s performance in resisting the motion. This work represents the first tool available to analyze a constraint configuration’s effectiveness to resist motion with a quantitative metric. Case studies are presented to demonstrate the utility of the analysis tool.

Passive Alignment Structures in Modular, Polymer Microfluidic Devices

2006 ◽  
Author(s):  
Byoung Hee You ◽  
Pin-Chuan Chen ◽  
Jason Guy ◽  
Proyga Datta ◽  
Dimitris E. Nikitopoulos ◽  
...  
Keyword(s):  
Degrees Of Freedom ◽  
Screw Theory ◽  
Mold Insert ◽  
Microfluidic Devices ◽  
Hot Embossing ◽  
Alignment Accuracy ◽  
Assembly Features ◽  
Dimensional Variation ◽  
Passive Alignment ◽  
Alignment Marks

For connecting polymeric, modular microfluidic devices, precise, passive alignment structures can prevent infinitesimal motions between the devices and minimize misalignment of the devices. The motion and constraint of passive alignment structures were analyzed for the design of assembly features using screw theory. A combination of three v-groove and sphere joints constrained all degrees of freedom of the two mating plates without over-constraint. To validate the designed passive alignment scheme, hot embossing experiments were conducted using a micromilled brass mold insert, containing alignment features. Prototype alignment structures have dimensional variation. The alignment accuracy of the stacked polymeric plates was estimated by the mismatches between alignment marks of two plates. The mismatches ranged from 28 μm to 70 μm.

Driving Torsion Scans with Wavefront Propagation

2020 ◽  
Author(s):  
Yudong Qiu ◽  
Daniel Smith ◽  
Chaya Stern ◽  
mudong feng ◽  
Lee-Ping Wang
Keyword(s):  
Potential Energy ◽  
Force Field ◽  
Degrees Of Freedom ◽  
Computational Cost ◽  
Initial Guess ◽  
Field Development ◽  
Force Field Development ◽  
Wavefront Propagation ◽  
Open Source Software Package

<div>The parameterization of torsional / dihedral angle potential energy terms is a crucial part of developing molecular mechanics force fields.</div><div>Quantum mechanical (QM) methods are often used to provide samples of the potential energy surface (PES) for fitting the empirical parameters in these force field terms.</div><div>To ensure that the sampled molecular configurations are thermodynamically feasible, constrained QM geometry optimizations are typically carried out, which relax the orthogonal degrees of freedom while fixing the target torsion angle(s) on a grid of values.</div><div>However, the quality of results and computational cost are affected by various factors on a non-trivial PES, such as dependence on the chosen scan direction and the lack of efficient approaches to integrate results started from multiple initial guesses.</div><div>In this paper we propose a systematic and versatile workflow called \textit{TorsionDrive} to generate energy-minimized structures on a grid of torsion constraints by means of a recursive wavefront propagation algorithm, which resolves the deficiencies of conventional scanning approaches and generates higher quality QM data for force field development.</div><div>The capabilities of our method are presented for multi-dimensional scans and multiple initial guess structures, and an integration with the MolSSI QCArchive distributed computing ecosystem is described.</div><div>The method is implemented in an open-source software package that is compatible with many QM software packages and energy minimization codes.</div>

The Development of a Myoelectric Training Tool for Above-Elbow Amputees

2012 ◽  
Vol 6 (1) ◽  
pp. 5-15 ◽  
Author(s):  
Michael R Dawson ◽  
Farbod Fahimi ◽  
Jason P Carey
Keyword(s):  
Degrees Of Freedom ◽  
Learning Task ◽  
Robotic Arm ◽  
Signal Acquisition ◽  
Myoelectric Prosthesis ◽  
Training Tool ◽  
Myoelectric Prostheses ◽  
Training Systems ◽  
Targeted Muscle Reinnervation

The objective of above-elbow myoelectric prostheses is to reestablish the functionality of missing limbs and increase the quality of life of amputees. By using electromyography (EMG) electrodes attached to the surface of the skin, amputees are able to control motors in myoelectric prostheses by voluntarily contracting the muscles of their residual limb. This work describes the development of an inexpensive myoelectric training tool (MTT) designed to help upper limb amputees learn how to use myoelectric technology in advance of receiving their actual myoelectric prosthesis. The training tool consists of a physical and simulated robotic arm, signal acquisition hardware, controller software, and a graphical user interface. The MTT improves over earlier training systems by allowing a targeted muscle reinnervation (TMR) patient to control up to two degrees of freedom simultaneously. The training tool has also been designed to function as a research prototype for novel myoelectric controllers. A preliminary experiment was performed in order to evaluate the effectiveness of the MTT as a learning tool and to identify any issues with the system. Five able-bodied participants performed a motor-learning task using the EMG controlled robotic arm with the goal of moving five balls from one box to another as quickly as possible. The results indicate that the subjects improved their skill in myoelectric control over the course of the trials. A usability survey was administered to the subjects after their trials. Results from the survey showed that the shoulder degree of freedom was the most difficult to control.

scholarly journals Development and assessment of a telesonography system for musculoskeletal imaging

2021 ◽  
Vol 5 (1) ◽  
Author(s):  
Mohammed Obaid ◽  
Qianwei Zhang ◽  
Scott J. Adams ◽  
Reza Fotouhi ◽  
Haron Obaid
Keyword(s):  
Degrees Of Freedom ◽  
Ultrasound Images ◽  
Ultrasound Probe ◽  
Rural And Remote ◽  
Significant Delay ◽  
Remote Communities ◽  
Internet Connection ◽  
Good For ◽  
4 Degrees Of Freedom

Abstract Background Telesonography systems have been developed to overcome barriers to accessing diagnostic ultrasound for patients in rural and remote communities. However, most previous telesonography systems have been designed for performing only abdominal and obstetrical exams. In this paper, we describe the development and assessment of a musculoskeletal (MSK) telesonography system. Methods We developed a 4-degrees-of-freedom (DOF) robot to manipulate an ultrasound probe. The robot was remotely controlled by a radiologist operating a joystick at the master site. The telesonography system was used to scan participants’ forearms, and all participants were conventionally scanned for comparison. Participants and radiologists were surveyed regarding their experience. Images from both scanning methods were independently assessed by an MSK radiologist. Results All ten ultrasound exams were successfully performed using our developed MSK telesonography system, with no significant delay in movement. The duration (mean ± standard deviation) of telerobotic and conventional exams was 4.6 ± 0.9 and 1.4 ± 0.5 min, respectively (p = 0.039). An MSK radiologist rated quality of real-time ultrasound images transmitted over an internet connection as “very good” for all telesonography exams, and participants rated communication with the radiologist as “very good” or “good” for all exams. Visualisation of anatomic structures was similar between telerobotic and conventional methods, with no statistically significant differences. Conclusions The MSK telesonography system developed in this study is feasible for performing soft tissue ultrasound exams. The advancement of this system may allow MSK ultrasound exams to be performed over long distances, increasing access to ultrasound for patients in rural and remote communities.

Workspace, dexterity and dimensional optimization of microhexapod

2015 ◽  
Vol 35 (4) ◽  
pp. 341-347 ◽  
Author(s):  
E. Rouhani ◽  
M. J. Nategh
Keyword(s):  
Degrees Of Freedom ◽  
Optimization Problem ◽  
Screw Theory ◽  
Design Parameters ◽  
Dimensional Synthesis ◽  
Content Type ◽  
Workspace Analysis ◽  
The Difference ◽  
Flexure Joints ◽  
6 Degrees Of Freedom

Purpose – The purpose of this paper is to study the workspace and dexterity of a microhexapod which is a 6-degrees of freedom (DOF) parallel compliant manipulator, and also to investigate its dimensional synthesis to maximize the workspace and the global dexterity index at the same time. Microassembly is so essential in the current industry for manufacturing complicated structures. Most of the micromanipulators suffer from their restricted workspace because of using flexure joints compared to the conventional ones. In addition, the controllability of micromanipulators inside the whole workspace is very vital. Thus, it is very important to select the design parameters in a way that not only maximize the workspace but also its global dexterity index. Design/methodology/approach – Microassembly is so essential in the current industry for manufacturing complicated structures. Most of the micromanipulators suffer from their restricted workspace because of using flexure joints compared to the conventional ones. In addition, the controllability of micromanipulators inside the whole workspace is very vital. Thus, it is very important to select the design parameters in a way that not only maximize the workspace but also its global dexterity index. Findings – It has been shown that the proposed procedure for the workspace calculation can considerably speed the required calculations. The optimization results show that a converged-diverged configuration of pods and an increase in the difference between the moving and the stationary platforms’ radii cause the global dexterity index to increase and the workspace to decrease. Originality/value – The proposed algorithm for the workspace analysis is very important, especially when it is an objective function of an optimization problem based on the search method. In addition, using screw theory can simply construct the homogeneous Jacobian matrix. The proposed methodology can be used for any other micromanipulator.

scholarly journals Detection Line Spectrum of Ship Radiated Noise Based on a New 3D Chaotic System

Sensors ◽  
2021 ◽  
Vol 21 (5) ◽  
pp. 1610
Author(s):  
Gang Hu ◽  
Kejun Wang ◽  
Liangliang Liu
Keyword(s):  
Chaotic System ◽  
Analysis Tool ◽  
Weak Signal ◽  
Acoustic Detection ◽  
Third Order ◽  
Radiated Noise ◽  
Detection Model ◽  
The Time Domain ◽  
C0 Complexity ◽  
Complexity Algorithm

This paper proposes a new detection model of a weak signal based on a third-order chaotic system. Using a dynamic analysis tool, such as the Lyapunov exponent and the bifurcation diagram, variations of dynamic behavior can be observed, and the weak signal underwater can be picked up. In order to improve the observability of detection signals in the time domain and frequency domain, the spectral entropy complexity algorithm (SE) and C0 complexity algorithms are used to analyze and extract the weak signal. The experimental results show that the spectrum extraction based on the complexity algorithm can accurately reflect the dynamic characteristics of the detected signal. It provides the theoretical direction and experimental data support for the application of the chaotic system in the field of acoustic detection.

Analysis of Five-Degree-of-Freedom Robot Arms

1983 ◽  
Vol 105 (1) ◽  
pp. 23-27 ◽  
Author(s):  
K. Sugimoto ◽  
J. Duffy
Keyword(s):  
Arc Welding ◽  
Degrees Of Freedom ◽  
Screw Theory ◽  
Industrial Robot ◽  
Degree Of Freedom ◽  
Numerical Example ◽  
Robot Arms ◽  
Special Cases ◽  
Computer Controlled ◽  
Five Axes

Many kinds of robot arms with five degrees of freedom are widely used in industry for arc welding, spray painting, assembling etc. It is necessary to be able to compute joint displacements when such devices are computer controlled. A solution to this problem is presented and the analysis is illustrated by a numerical example using the most common industrial robot with five axes. Further, special cases are discussed using screw theory.

scholarly journals Implementation of dimensional management methodology and optimisation algorithms for pre-drilled hinge line interfaces of critical aero assemblies – A case study

2020 ◽  
pp. 095440542097810
Author(s):  
Konstantinos C Bacharoudis ◽  
David Bainbridge ◽  
Alison Turner ◽  
Atanas A Popov ◽  
Svetan M Ratchev
Keyword(s):  
Degrees Of Freedom ◽  
Engineering Problem ◽  
Hole Diameter ◽  
Design Stage ◽  
Assembly Process ◽  
Mechanical Assembly ◽  
Hinge Line ◽  
Management Procedure ◽  
Dimensional Management ◽  
Optimisation Algorithms

A dimensional management procedure is developed and implemented in this work to deal with the identification of the optimum hole diameter that needs to be pre-drilled in order to successfully join two subassemblies in a common hinge line interface when most of the degrees of freedom of each subassembly have already been constrained. Therefore, an appropriate measure is suggested that considers the assembly process and permits the application of optimisation algorithms for the identification of the optimum hole diameter. The complexity of the mechanical subassemblies requires advanced 3D tolerance analysis techniques to be implemented and the matrix method was adopted. The methodology was demonstrated for an industrial, aerospace engineering problem, that is, the assembly of the joined wing configuration of the RACER compound rotorcraft of AIRBUS Helicopter and the necessary tooling needed to build the assembly. The results indicated that hinge line interfaces can be pre-opened at a sufficiently large size and thus, accelerate the assembly process whilst the suggested methodology can be used as a decision-making tool at the design stage of this type of mechanical assembly.

TSDT theory for free vibration of functionally graded plates with various material properties

2021 ◽  
Vol 8 (4) ◽  
pp. 691-704
Author(s):  
M. Janane Allah ◽  
◽  
Y. Belaasilia ◽  
A. Timesli ◽  
A. El Haouzi ◽  
...  
Keyword(s):  
Degrees Of Freedom ◽  
Volume Fraction ◽  
Equations Of Motion ◽  
Shear Deformation Theory ◽  
Functionally Graded ◽  
Third Order ◽  
Implicit Algorithm ◽  
Proposed Model ◽  
Graded Material ◽  
Composite Modeling

In this work, an implicit algorithm is used for analyzing the free dynamic behavior of Functionally Graded Material (FGM) plates. The Third order Shear Deformation Theory (TSDT) is used to develop the proposed model. In this contribution, the formulation is written without any homogenization technique as the rule of mixture. The Hamilton principle is used to establish the resulting equations of motion. For spatial discretization based on Finite Element Method (FEM), a quadratic element with four and eight nodes is adopted using seven degrees of freedom per node. An implicit algorithm is used for solving the obtained problem. To study the accuracy and the performance of the proposed approach, we present comparisons with literature and laminate composite modeling results for vibration natural frequencies. Otherwise, we examine the influence of the exponent of the volume fraction which reacts the plates "P-FGM" and "S-FGM". In addition, we study the influence of the thickness on "E-FGM" plates.

Unified Rotational and Translational Stiffness Characterization of Compliant Shell Mechanisms

2018 ◽  
Author(s):  
Joost R. Leemans ◽  
Charles J. Kim ◽  
Werner W. P. J. van de Sande ◽  
Just L. Herder
Keyword(s):  
Degrees Of Freedom ◽  
Compliant Mechanisms ◽  
Screw Theory ◽  
Characterization Methods ◽  
Six Degrees Of Freedom ◽  
Thin Walled Structures ◽  
Spatial Mechanisms ◽  
Eigen Decomposition ◽  
Comprehensive Characterization

Compliant shell mechanisms utilize spatially curved thin-walled structures to transfer or transmit force, motion or energy through elastic deformation. To design with spatial mechanisms designers need comprehensive characterization methods, while existing methods fall short of meaningful comparisons between rotational and translational degrees of freedom. This paper presents two approaches, both of which are based on the principle of virtual loads and potential energy, utilizing properties of screw theory, Plücker coordinates and an eigen-decomposition, leading to two unification lengths that can be used to compare and visualize all six degrees of freedom directions and magnitudes of compliant mechanisms in a non-arbitrary physically meaningful manner.

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