scholarly journals An Autotuning Cable-Driven Device for Home Rehabilitation

2021 ◽  
Vol 2021 ◽  
pp. 1-15
Author(s):  
Jhon F. Rodríguez-León ◽  
Betsy D. M. Chaparro-Rico ◽  
Matteo Russo ◽  
Daniele Cafolla
Keyword(s):  
Finite Element Analysis ◽  
Control Strategy ◽  
Daily Life ◽  
Preliminary Test ◽  
Access To Health Services ◽  
Home Position ◽  
Element Analysis ◽  
End Effector ◽  
Access To Health ◽  
Limb Rehabilitation

Out of all the changes to our daily life brought by the COVID-19 pandemic, one of the most significant ones has been the limited access to health services that we used to take for granted. Thus, in order to prevent temporary injuries from having lingering or permanent effects, the need for home rehabilitation device is urgent. For this reason, this paper proposes a cable-driven device for limb rehabilitation, CUBE2, with a novel end-effector (EE) design and autotuning capabilities to enable autonomous use. The proposed design is presented as an evolution of the previous CUBE design. In this paper, the proposed device is modelled and analyzed with finite element analysis. Then, a novel vision-based control strategy is described. Furthermore, a prototype has been manufactured and validated experimentally. Preliminary test to estimate home position repeatability has been carried out.

Design and Test of a Mechanical Device for the Manipulator of the Watermelon Picking Machine

2013 ◽  
Vol 442 ◽  
pp. 291-297
Author(s):  
Jun Hua Yu ◽  
Li Jia Xu ◽  
Ke Fan Ren ◽  
Wei Peng Zhang ◽  
Zhi Gang Lu ◽  
...  
Keyword(s):  
Finite Element Analysis ◽  
Process Design ◽  
3D Model ◽  
Simulation Analysis ◽  
Model Design ◽  
Mechanical Device ◽  
Element Analysis ◽  
End Effector ◽  
Auto Cad ◽  
Test Result

This Paper designs a mechanical device for the manipulator of the watermelon picking machine against the low mechanical degree of watermelon picking machine. The mechanical device utilizes a mechanical arm to drive the end effector to run and the end effector is responsible for clamping and shearing watermelon vines, which avoids vine disturbance and sorts out vines to be easily cut down through the process design of clamping, promoting, and re-shearing. In addition, this Paper applies Pro/E modeling, finite element analysis, and simulation analysis to complete the 3D model design of the mechanical device and transforms the 3D model into 2D drawings in Auto CAD to complete the manufacturing and assembly of the manipulator, and the test result verifies the mechanical device may realize the reliable picking of watermelons.

scholarly journals Impact Safety Control Strategy for the Battery System of an Example Electric Bus

2015 ◽  
Vol 2015 ◽  
pp. 1-12 ◽  
Author(s):  
Zhen-po Wang ◽  
Jia Liu ◽  
Hai-tao Li ◽  
Lei Zhang
Keyword(s):  
Finite Element Analysis ◽  
Control Strategy ◽  
Side Impact ◽  
Robust Performance ◽  
Element Analysis ◽  
Battery System ◽  
Safety Control ◽  
Power Battery ◽  
Electric Bus ◽  
The Impact

This paper proposes a side impact safety control strategy for the battery system, aiming at defusing the hazards of unacceptable behaviors of the battery system such as high-voltage hazards. Based on some collision identification metrics, a side impact discrimination algorithm and a side impact severity algorithm are developed for electric buses. Based on the study on the time to break for power battery, the side impact discrimination algorithm response time is about 20 ms posing a great challenge to the side impact discrimination algorithm. At the same time, the reliability of the impact safety control strategy developed in this paper is evaluated for other plausible side impact signals generated by finite element analysis. The results verify that the impact safety control strategy exhibits robust performance and is able to trigger a breaking signal for power battery system promptly and accurately.

An Actively Controlled Shape-Morphing Compliant Microarchitectured Material

2015 ◽  
Vol 8 (2) ◽  
Author(s):  
Lucas A. Shaw ◽  
Jonathan B. Hopkins
Keyword(s):  
Finite Element Analysis ◽  
Finite Element ◽  
Control Strategy ◽  
Mathematical Theory ◽  
Fuel Efficiency ◽  
Surface Profile ◽  
Element Analysis ◽  
Shape Morphing ◽  
Bulk Surface ◽  
Analytical Tools

The purpose of this paper is to introduce a new kind of microarchitectured material that utilizes active control to alter its bulk shape through the deformation of its compliant elements. This new kind of microarchitectured material achieves its reconfigurable shape capabilities through a new control strategy that utilizes linearity and closed-form analytical tools to rapidly calculate the optimal internal actuation effort necessary to achieve a desired bulk surface profile. The kind of microarchitectured materials introduced in this paper is best suited for high-precision applications that would benefit from materials that can be programed to rapidly alter their surface or shape by small repeatable amounts in a controlled manner. Examples include distortion-correcting surfaces on which precision optics are mounted, airplane wings that deform to increase maneuverability and fuel efficiency, and surfaces that rapidly reconfigure to alter their texture. In this paper, the principles are provided for optimally designing 2D or 3D versions of the new kind of microarchitectured material such that they exhibit desired material property directionality. The mathematical theory is provided for modeling and calculating the actuation effort necessary to drive these materials such that their lattice shape comes closest to achieving a desired profile. Case studies are provided to demonstrate the utility of this theory and finite-element analysis (FEA) is used to verify the results.

A Compliant End-Effector to Passively Limit the Force in Tele-Operated Tissue-Cutting

2012 ◽  
Vol 6 (4) ◽  
Author(s):  
Santosh D. B. Bhargav ◽  
Shanthanu Chakravarthy ◽  
G. K. Ananthasuresh
Keyword(s):  
Finite Element Analysis ◽  
Cutting Forces ◽  
Soft Tissues ◽  
Force Feedback ◽  
Nonlinear Finite Element ◽  
Element Analysis ◽  
End Effector ◽  
Tissue Cutting ◽  
Phantom Tissue ◽  
Cutting System

This paper presents a compliant end-effector that cuts soft tissues and senses the cutting forces. The end-effector is designed to have an upper threshold on cutting forces to facilitate safe handling of tissue during automated cutting. This is demonstrated with nonlinear finite element analysis and experimental results obtained by cutting inhomogeneous phantom tissue. The cutting forces are estimated using a vision-based technique that uses amplified elastic deformation of the compliant end-effector. We also demonstrate an immersive tele-operated tissue-cutting system together with a haptic device that gives real-time force feedback to the user.

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