scholarly journals Optimal Design of a Bio-Inspired Anthropocentric Shoulder Rehabilitator

2006 ◽  
Vol 3 (3) ◽  
pp. 199-208 ◽  
Author(s):  
S. K. Mustafa ◽  
G. Yang ◽  
S. H. Yeo ◽  
W. Lin

This paper presents the design of a bio-inspired anthropocentric 7-DOF wearable robotic arm for the purpose of stroke rehabilitation. The proposed arm rehabilitator synergistically utilizes the human arm structure with non-invasive kinematically under-deterministic cable-driven mechanisms to form a completely deterministic structure. It offers the advantages of being lightweight and having high dexterity. Adopting an anthropocentric design concept also allows it to conform to the human anatomical structure. The focus of this paper is on the analysis and design of the 3-DOF-shoulder module, called the shoulder rehabilitator. The design methodology is divided into three main steps: (1) performance evaluation of the cable-driven shoulder rehabilitator, (2) performance requirements of the shoulder joint based on its physiological characteristics and (3) design optimization of the shoulder rehabilitator based on shoulder joint physiological limitations. The aim is to determine a suitable configuration for the development of a shoulder rehabilitator prototype.

2013 ◽  
Vol 646 ◽  
pp. 139-143
Author(s):  
Bing Yan Cui ◽  
Zhen Lin Jin

Kinematics research of mechanism is very important, the dynamic analysis and the design are based on kinematical analysis. In this paper, a novel robot shoulder joint based on 3-RRR orthogonal spherical parallel mechanism is proposed, and the kinematics transmission equation of shoulder joint is derived by using the kinematics inverse solution, and Jacobin matrix is established. Then Jacobin matrix is introduced into the global performance index, and the velocity of global performance evaluation index is defined. Furthermore, the shoulder joint dimensions are changed, and the global performance index is analyzed, then a performance atlas is given at the work spaces of shoulder joint with different dimension. It is found that the Jacobin matrix has more important influence on the kinematics performance of the shoulder joint. Having a good kinematics performance, structure dimensions ranges of shoulder joint are gained, thus the evaluation of kinematics of shoulder joint is more comprehensive. Finally, a novel robot shoulder joint is designed with the kinematics performance evaluation index.


2011 ◽  
Vol 66-68 ◽  
pp. 654-658
Author(s):  
Huai Lin Zhao ◽  
Jian Ling Bian ◽  
Jian Jiang ◽  
Wei Ming Ji

A humanoid robot arm with both shoulder joint and elbow joint is built. It is actuated by pieces of Mckibben muscles. Its skeleton-muscle formation is similar to the anatomical structure of the human arm. A pneumatic experiment system is established for supporting and testing the robot arm. The relationship between the robot arm actions and the Mckibben muscles is studied. Some main actions of the robot arm including the elbow bending, the whole arm arising and the rotating around the arm axis are realized.


2017 ◽  
Vol 2 (11) ◽  
pp. 1-7
Author(s):  
Izay A. ◽  
Onyejegbu L. N.

Agriculture is the backbone of human sustenance in this world. With growing population, there is need for increased productivity in agriculture to be able to meet the demands. Diseases can occur on any part of a plant, but in this paper only the symptoms in the fruits of a plant is considered using segmentation algorithm and edge/ sizing detectors. We also looked at image processing using fuzzy logic controller. The system was designed using object oriented analysis and design methodology. It was implemented using MySQL for the database, and PHP programming language. This system will be of great benefit to farmers and will encourage them in investing their resources since crop diseases can be detected and eliminated early.


Author(s):  
DU Hui ◽  
GAO Feng ◽  
PAN Yang

A novel 3-UP3R parallel mechanism with six degree of freedoms is proposed in this paper. One most important advantage of this mechanism is that the three translational and three rotational motions are partially decoupled: the end-effector position is only determined by three inputs, while the rotational angles are relative to all six inputs. The design methodology via GF set theory is brought out, using which the limb type can be determined. The mobility of the end-effector is analyzed. After that, the kinematic and velocity models are formulated. Then, workspace is studied, and since the robot is partially decoupled, the reachable workspace is also the dexterous workspace. In the end, both local and global performances are discussed using conditioning indexes. The experiment of real prototype shows that this mechanism works well and may be applied in many fields.


2021 ◽  
Author(s):  
Asif Arefeen ◽  
Yujiang Xiang

Abstract In this paper, an optimization-based dynamic modeling method is used for human-robot lifting motion prediction. The three-dimensional (3D) human arm model has 13 degrees of freedom (DOFs) and the 3D robotic arm (Sawyer robotic arm) has 10 DOFs. The human arm and robotic arm are built in Denavit-Hartenberg (DH) representation. In addition, the 3D box is modeled as a floating-base rigid body with 6 global DOFs. The interactions between human arm and box, and robot and box are modeled as a set of grasping forces which are treated as unknowns (design variables) in the optimization formulation. The inverse dynamic optimization is used to simulate the lifting motion where the summation of joint torque squares of human arm is minimized subjected to physical and task constraints. The design variables are control points of cubic B-splines of joint angle profiles of the human arm, robotic arm, and box, and the box grasping forces at each time point. A numerical example is simulated for huma-robot lifting with a 10 Kg box. The human and robotic arms’ joint angle, joint torque, and grasping force profiles are reported. These optimal outputs can be used as references to control the human-robot collaborative lifting task.


2021 ◽  
Author(s):  
Thiago Ebel ◽  
Mark Anderson ◽  
Parth Pandya ◽  
Mat Perchanok ◽  
Nick Tiney ◽  
...  

Abstract When developing a turbocharged internal combustion engine, the choice of turbocharger is usually based on designer experience and existing hardware. However, proper turbocharger design relies on matching the compressor and turbine performance to the engine requirements so that parameters such as boost and back pressure, compressor pressure ratio, and turbine inlet temperatures meet the needs of the engine without exceeding its allowable operating envelope. Therefore, the ultimate measure of a successful turbocharger design is how well it is matched to an engine across various operating conditions. This, in turn, determines whether a new turbocharger is required, or an existing solution can be used. When existing turbocharger solutions are not viable, the engine designer is at a loss on how to define a new turbocharger that meets the desired performance requirements. A common approach in industry has been to scale the performance of an existing turbocharger (compressor and turbine maps) and take these requirements for Original Equipment Manufacturers to possibly match it with a real machine. However, the assumptions made in a basic scaling process are quite simplistic and generally not satisfactory in this situation. A better approach would be to use a validated meanline model for a compressor and turbine instead, allowing to perform an actual preliminary design of such components. Such approach allows to link the engine performance requirements in a very early stage of te component design project and it guides the designer for the design decisions, such as rotor size, variable geometry nozzles, diameter, or shroud trims and others. Therefore, a feasible solution is more likely with design less iterations. This paper describes a methodology for an integrated approach to design and analyze a turbocharged internal combustion engine using commercially available state-of-the-art 1D gas dynamics simulation tool linked to two powerful turbomachinery meanline programs. The outputs of this analysis are detailed performance data of the engine and turbocharger at different engine operating conditions. Two case studies are then presented for a 10-liter diesel truck engine. The first study demonstrates how the programs are used to evaluate an existing engine and reverse engineer an existing turbocharger based only on the available performance maps. Then a second study is done using a similar approach but redesigning a new turbocharger (based on the reverse engineered one) for an increased torque output of the same engine.


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