Maneuver Based Design of Passive-Assist Devices: A Comparison of Parallel and Serial Systems

2013 ◽  
Author(s):  
W. Robert Brown ◽  
A. Galip Ulsoy
Keyword(s):  
Selection Procedure ◽  
Displacement Curve ◽  
Robot Arm ◽  
Dual Systems ◽  
Assist Devices ◽  
Curve Fit ◽  
Manipulator Arm ◽  
Reduce Energy Consumption ◽  
Force Displacement ◽  
Insight Into

A comparison of serial, parallel, and dual Passive Assist Devices (PADs) designed using energy minimization based on a known maneuver is presented. Implementation of a PAD can result in an improvement in system performance with respect to efficiency, reliability, and/or safety. In previous work we demonstrated this concept experimentally on a single link robot arm augmented with a torsional spring in parallel. Here we show that the concept can extended to serial and dual systems as well. To make the optimization converge more quickly we introduce a new initial design using a weighted force displacement curve fit. We provide engineering insight into why different types of PADs perform differently depending on the maneuver and offer guidelines on how to select a specific type based on the application. Finally, we demonstrate this design process and selection procedure on a 3-link manipulator arm and show that a combination of parallel and dual PADs could reduce energy consumption by up to 78%.

Robust design of Passive Assist Devices for multi-DOF robotic manipulator arms

Robotica ◽  
2017 ◽  
Vol 35 (11) ◽  
pp. 2238-2255 ◽  
Author(s):  
W. Robert Brown ◽  
A. Galip Ulsoy
Keyword(s):  
Energy Consumption ◽  
Robust Design ◽  
Energy Minimization ◽  
System Performance ◽  
Displacement Curve ◽  
Assist Devices ◽  
Curve Fit ◽  
Manipulator Arm ◽  
Reduce Energy Consumption ◽  
Force Displacement

SUMMARYA comparison of series, parallel, and dual Passive Assist Devices(PADs) designed using energy minimization based on a known maneuver is presented. Implementation of a PAD can result in an improvement in system performance with respect to efficiency, reliability, and/or utility. We introduce a new initial design using a weighted force displacement curve fit. A robust design approach for a family of maneuvers is developed and presented. Applications to a 3-link manipulator arm show that PADs could reduce energy consumption between 60% and 80%.

scholarly journals Study on improvement of prefolded energy absorption device to constant resistance and its mechanical properties

2021 ◽  
Vol 104 (3) ◽  
pp. 003685042110368
Author(s):  
Dong An ◽  
Jiaqi Song ◽  
Hailiang Xu ◽  
Jingzong Zhang ◽  
Yimin Song ◽  
...  
Keyword(s):  
Mechanical Properties ◽  
Energy Absorption ◽  
Compression Test ◽  
Side Wall ◽  
Concave Side ◽  
Displacement Curve ◽  
Static Compression ◽  
Constant Resistance ◽  
The Impact ◽  
Force Displacement

When the rock burst occurs, energy absorption support is an important method to solve the impact failure. To achieve constant resistance performance of energy absorption device, as an important component of the support, the mechanical properties of one kind of prefolded tube is analyzed by quasi-static compression test. The deformation process of compression test is simulated by ABAQUS and plastic strain nephogram of the numerical model are studied. It is found that the main factors affecting the fluctuation of force-displacement curve is the stiffness of concave side wall. The original tube is improved to constant resistance by changing the side wall. The friction coefficient affects the folding order and form of the energy absorbing device. Lifting the concave side wall stiffness can improve the overall stiffness of energy absorption device and slow down the falling section of force-displacement curve. It is always squeezed by adjacent convex side wall in the process of folding, with large plastic deformation. Compared with the original one, the improved prefolded tube designed in this paper can keep the maximum bearing capacity ( Pmax), increase the total energy absorption ( E), improve the specific energy absorption (SEA), and decrease the variance ( S2) of force-displacement curve.

scholarly journals Young’s Modulus of Polycrystalline Titania Microspheres Determined by In Situ Nanoindentation and Finite Element Modeling

2014 ◽  
Vol 2014 ◽  
pp. 1-5 ◽  
Author(s):  
Peida Hao ◽  
Yanping Liu ◽  
Yuanming Du ◽  
Yuefei Zhang
Keyword(s):  
Finite Element ◽  
Finite Element Simulation ◽  
Young’S Modulus ◽  
Young's Modulus ◽  
Deformation Mechanisms ◽  
Displacement Curve ◽  
Element Simulation ◽  
Nanoindentation Experiment ◽  
Force Displacement

In situ nanoindentation was employed to probe the mechanical properties of individual polycrystalline titania (TiO2) microspheres. The force-displacement curves captured by a hybrid scanning electron microscope/scanning probe microscope (SEM/SPM) system were analyzed based on Hertz’s theory of contact mechanics. However, the deformation mechanisms of the nano/microspheres in the nanoindentation tests are not very clear. Finite element simulation was employed to investigate the deformation of spheres at the nanoscale under the pressure of an AFM tip. Then a revised method for the calculation of Young’s modulus of the microspheres was presented based on the deformation mechanisms of the spheres and Hertz’s theory. Meanwhile, a new force-displacement curve was reproduced by finite element simulation with the new calculation, and it was compared with the curve obtained by the nanoindentation experiment. The results of the comparison show that utilization of this revised model produces more accurate results. The calculated results showed that Young’s modulus of a polycrystalline TiO2microsphere was approximately 30% larger than that of the bulk counterpart.

Can indentation technique measure unique elastoplastic properties?

2009 ◽  
Vol 24 (3) ◽  
pp. 784-800 ◽  
Author(s):  
Ling Liu ◽  
Nagahisa Ogasawara ◽  
Norimasa Chiba ◽  
Xi Chen
Keyword(s):  
Critical Strain ◽  
Indentation Test ◽  
Strain Curve ◽  
Spherical Indentation ◽  
Plastic Behavior ◽  
Displacement Curve ◽  
Application Range ◽  
Indentation Technique ◽  
Elastoplastic Properties ◽  
Force Displacement

Indentation is widely used to extract material elastoplastic properties from measured force-displacement curves. Many previous studies argued or implied that such a measurement is unique and the whole material stress-strain curve can be measured. Here we show that first, for a given indenter geometry, the indentation test cannot effectively probe material plastic behavior beyond a critical strain, and thus the solution of the reverse analysis of the indentation force-displacement curve is nonunique beyond such a critical strain. Secondly, even within the critical strain, pairs of mystical materials can exist that have essentially identical indentation responses (with differences below the resolution of published indentation techniques) even when the indenter angle is varied over a large range. Thus, fundamental elastoplastic behaviors, such as the yield stress and work hardening properties (functions), cannot be uniquely determined from the force-displacement curves of indentation analyses (including both plural sharp indentation and deep spherical indentation). Explicit algorithms of deriving the mystical materials are established, and we qualitatively correlate the sharp and spherical indentation analyses through the use of critical strain. The theoretical study in this paper addresses important questions of the application range, limitations, and uniqueness of the indentation test, as well as providing useful guidelines to properly use the indentation technique to measure material constitutive properties.

Crack Propagation Experiments on Flip Chip Solder Joints

1998 ◽  
Vol 515 ◽  
Author(s):  
S. Wiese ◽  
F. Feustel ◽  
S. Rzepka ◽  
E. Meusel
Keyword(s):  
Crack Propagation ◽  
Flip Chip ◽  
Solder Joints ◽  
Shear Loading ◽  
Displacement Curve ◽  
In Situ Experiments ◽  
Propagation Experiment ◽  
Crack Propagation Experiment ◽  
Number Of Cycles ◽  
Force Displacement

ABSTRACTThe paper presents crack propagation experiments on real flip chip specimens applied to reversible shear loading. Two specially designed micro testers will be introduced. The first tester provides very precise measurements of the force displacement hysteresis. The achieved resolutions have been I mN for force and 20 nm for displacement. The second micro tester works similar to the first one, but is designed for in-situ experiments inside the SEM. Since it needs to be very small in size it reaches only resolutions of 10 mN and 100nm, which is sufficient to achieve equivalence to the first tester. A cyclic triangular strain wave is used as load profile for the crack propagation experiment. The experiment was done with both machines applying equivalent specimens and load. The force displacement curve was recorded using the first micro mechanical tester. From those hysteresis, the force amplitude has been determined for every cycle. All force amplitudes are plotted versus the number of cycles in order to quantify the crack length. With the second tester, images were taken at every 10th … 100th cycle in order to locate the crack propagation. Finally both results have been linked together for a combined quatitive and spatial description of the crack propagation in flip chip solder joints.

scholarly journals Comparison of waveform-derived corneal stiffness and stress-strain extensometry-derived corneal stiffness using different cross-linking irradiances: an experimental study with air-puff applanation of ex vivo porcine eyes

2020 ◽  
Vol 258 (10) ◽  
pp. 2173-2184 ◽  
Author(s):  
Robert Herber ◽  
Mathew Francis ◽  
Eberhard Spoerl ◽  
Lutz E. Pillunat ◽  
Frederik Raiskup ◽  
...  
Keyword(s):  
Experimental Study ◽  
Ex Vivo ◽  
Cross Linking ◽  
Displacement Curve ◽  
Stress Strain ◽  
Strain Measurements ◽  
Deflection Amplitude ◽  
Force Displacement ◽  
Stiffening Effect ◽  
Porcine Eyes

Abstract Purpose To assess corneal stiffening of standard (S-CXL) and accelerated (A-CXL) cross-linking protocols by dynamic corneal response parameters and corneal bending stiffness (Kc[mean/linear]) derived from Corvis (CVS) Scheimpflug-based tonometry. These investigations were validated by corneal tensile stiffness (K[ts]), derived from stress-strain extensometry in ex vivo porcine eyes. Methods Seventy-two fresh-enucleated and de-epithelized porcine eyes were soaked in 0.1% riboflavin solution including 10% dextran for 10 min. The eyes were separated into four groups: controls (n = 18), S-CXL (intensity in mW/cm2*time in min; 3*30) (n = 18), A-CXL (9*10) (n = 18), and A-CXL (18*5) (n = 18), respectively. CXL was performed using CCL Vario. CVS measurements were performed on all eyes. Subsequently, corneal strips were extracted by a double-bladed scalpel and used for stress-strain measurements. K[ts] was calculated from a force-displacement curve. Mean corneal stiffness (Kc[mean]) and constant corneal stiffness (Kc[linear]) were calculated from raw CVS data. Results In CVS, biomechanical effects of cross-linking were shown to have a significantly decreased deflection amplitude as well as integrated radius, an increased IOP, and SP A1 (P < 0.05). Kc[mean]/Kc[linear] were significantly increased after CXL (P < 0.05). In the range from 2 to 6% strain, K[ts] was significantly higher in S-CXL (3*30) compared to A-CXL (9*10), A-CXL (18*5), and controls (P < 0.05). At 8% to 10% strain, all protocols induced a higher stiffness than controls (P < 0.05). Conclusion Several CVS parameters and Kc[mean] as well as Kc[linear] verify corneal stiffening effect after CXL on porcine eyes. S-CXL seems to have a higher tendency of stiffening than A-CXL protocols have, which was demonstrated by Scheimpflug-based tonometry and stress-strain extensometry.

scholarly journals Dislocation–grain boundary interactions: recent advances on the underlying mechanisms studied via nanoindentation testing

2021 ◽  
Author(s):  
Farhan Javaid ◽  
Habib Pouriayevali ◽  
Karsten Durst
Keyword(s):  
Grain Boundary ◽  
Mechanical Response ◽  
Displacement Curve ◽  
Ambient Conditions ◽  
Recent Advances ◽  
Slip Transfer ◽  
Depth Analysis ◽  
Dislocation Interactions ◽  
Underlying Mechanisms ◽  
Insight Into

Abstract To comprehend the mechanical behavior of a polycrystalline material, an in-depth analysis of individual grain boundary (GB) and dislocation interactions is of prime importance. In the past decade, nanoindentation emerged as a powerful tool to study the local mechanical response in the vicinity of the GB. The improved instrumentation and test protocols allow to capture various GB–dislocation interactions during the nanoindentation in the form of strain bursts on the load–displacement curve. Moreover, the interaction of the plastic zone with the GB provides important insight into the dislocation transmission effects of distinct grain boundaries. Of great importance for the analysis and interpretation of the observed effects are microstructural investigations and computational approaches. This review paper focused on recent advances in the dislocation–GB interactions and underlying mechanisms studied via nanoindentation, which includes GB pop-in phenomenon, localized grain movement under ambient conditions, and an analysis of the slip transfer mechanism using theoretical treatments and simulations. Graphical abstract

A Robotic Arm for Electric Scooters

2011 ◽  
pp. 94-109
Author(s):  
Samuel N. Cubero
Keyword(s):  
Frail Elderly ◽  
Mechanical Design ◽  
People With Disabilities ◽  
Robotic Arm ◽  
Robot Arm ◽  
Self Sufficiency ◽  
Electric Scooter ◽  
Manipulator Arm ◽  
And Performance ◽  
Three Degree Of Freedom

This chapter describes the mechanical design, manufacture and performance of a three-degree-of-freedom manipulator arm and gripper that can be attached to a mobile vehicle or electric scooter. Known by the acronym “ESRA”, or “Electric Scooter Robot Arm”, this device can be remotely or automatically controlled to pick up and retrieve heavy objects, such as books or grocery products, from high shelves or difficult-to-reach locations. Such tasks are often considered to be arduous or even impossible for the frail elderly and people with disabilities. This chapter describes one example of how the combination of mechanical and electronic engineering technology can be used to perform physically strenuous tasks and enable the frail elderly and people with disabilities to enjoy a greater degree of self-sufficiency, independence and physical productivity. It includes the design process for robotic arm manipulators and actuators. It also provides a brief overview of existing “state of the art” robotic and machine vision technologies, and how these can be used to perform many everyday domestic or household chores.

The Effect of 5 Mechanical Gaming Keyboard Key Switch Profiles on Typing and Gaming Muscle Activity, Performance and Preferences

2018 ◽  
Vol 62 (1) ◽  
pp. 1552-1556
Author(s):  
Charles Miller ◽  
Alan Barr ◽  
Raziel Riemer ◽  
Carisa Harris
Keyword(s):  
Task Performance ◽  
Muscle Activity ◽  
Word Processing ◽  
Tactile Feedback ◽  
User Preference ◽  
Displacement Curve ◽  
Study Task ◽  
Activity Performance ◽  
Linear Force ◽  
Force Displacement

Introduction:Single force-displacement characteristics of mechanical key switches have been shown to affect performance, fatigue and discomfort during keyboard use. This study compared the effects of mechanical key switches with differing force-displacement characteristics on forearm muscle activity, typing performance, Fitts Study task performance, subjective fatigue and user preference. Methods: Using a within subjects intervention study of crossover design, 64 subjects completed modified Fitts and typing tasks on five different mechanical key switches to mimic dual word processing and gaming keyboard use. Bilateral muscle activity was recorded using surface electromyography (EMG); typing and Fitts task performance measures were tracked. Results: The key switch with a linear force displacement curve had higher net strokes and lower net typing speed than two key switches with tactile feedback (p<0.05). The key switch with the longest tactile travel, operating travel and highest bottom force required slightly higher peak muscle activity compared to 2 other key switches with lower values (p<0.05). Key switches with shorter tactile and operating travel and lower bottom forces were preferred over other key switches.Conclusions: Among mechanical key switches, a linear force displacement curve had the worst outcomes; key switches with shorter tactile (1.2mm) and operating travel (2.0mm) and a lower bottom force (35-40g) had best outcomes overall.

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