scholarly journals Coupled tribo-dynamic modelling of linear guideways for high precision machining application

2020 ◽  
pp. 135065012091988
Author(s):  
Parivash Soleimanian ◽  
Mahdi Mohammadpour ◽  
Hamid Ahmadian
Keyword(s):  
Machine Tools ◽  
Degrees Of Freedom ◽  
Thickness Distribution ◽  
Dynamic Modelling ◽  
Degree Of Freedom ◽  
Precision Machining ◽  
Lubricated Contacts ◽  
Loading Direction ◽  
And Performance ◽  
Coupled Solution

Linear guideways play a crucial role in determining precision of machine tools. Understanding their dynamic response is essential for objectively controlling their behavior and performance in operation. Due to highly loaded lubricated contacts, mixed-elastohydrodynamic regime is dominant. The mixed-elastohydrodynamic film maintains the coupling between horizontal degree of freedom (feed velocity) and vertical degree of freedom (loading direction). This paper presents a novel tribo-dynamic solution for linear guideways, taking in to account the lubricant effects and coupling between horizontal and vertical degrees of freedom. An analytical tribology model is used implicitly within the dynamic model. For in-depth tribological quantities including pressure and film thickness distribution, an explicit full numerical solution for mixed-elastohydrodynamic is utilized. Results show that the coupled solution of vertical and horizontal degrees of freedom taking in to account lubricated contacts is essential. It is shown that at moderate and light loads, the effect of this coupling and presence of lubricant is more pronounced.

Human Extenders

1993 ◽  
Vol 115 (2B) ◽  
pp. 281-290 ◽  
Author(s):  
H. Kazerooni ◽  
Jenhwa Guo
Keyword(s):  
Degrees Of Freedom ◽  
Experimental Studies ◽  
Mathematical Expression ◽  
Contact Forces ◽  
Degree Of Freedom ◽  
Direct Drive ◽  
Physical Strength ◽  
Dynamics And Control ◽  
And Performance ◽  
And Control

A human’s ability to perform physical tasks is limited by physical strength, not by intelligence. We coined the word “extenders” as a class of robot manipulators worn by humans to augment human mechanical strength, while the wearer’s intellect remains the central control system for manipulating the extender. Our research objective is to determine the ground rules for the control of robotic systems worn by humans through the design, construction, and control of several prototype experimental direct-drive/non-direct-drive multi-degree-of-freedom hydraulic/electric extenders. The design of extenders is different from the design of conventional robots because the extender interfaces with the human on a physical level. The work discussed in this article involves the dynamics and control of a prototype hydraulic six-degree-of-freedom extender. This extender’s architecture is a direct drive system with all revolue joints. Its linkage consists of two identical subsystems, the arm and the hand, each having three degrees of freedom. Two sets of force sensors measure the forces imposed on the extender by the human and by the environment (i.e., the load). The extender’s compliances in response to such contact forces were designed by selecting appropriate force compensators. The stability of the system of human, extender, and object being manipulated was analyzed. A mathematical expression for the extender performance was determined to quantify the force augmentation. Experimental studies on the control and performance of the experimental extender were conducted to verify the theoretical predictions.

scholarly journals Degree-of-Freedom Analysis and Structural Synthesis of a Class of Host–Parasite Multi-Loop Mechanisms

2021 ◽  
Author(s):  
Wei Wei ◽  
Geyu Dong
Keyword(s):  
Machine Tools ◽  
Degrees Of Freedom ◽  
Distribution Patterns ◽  
Degree Of Freedom ◽  
Numerical Control ◽  
Serial Connection ◽  
In Series ◽  
P Type ◽  
S Model ◽  
Host Parasite

Abstract The method of analyzing the mechanism in series, parallel and hybrid modes can no longer meet the requirements of analyzing multi-loop mechanisms (MLMs), especially multi-loop mechanisms with passive degrees of freedom(P-DOFs).This study presents an approach to analyzing sub-degree-of-freedom (sub-DOF) relations in a class of MLMs with P-DOFs (P-DOFs) as well as structurally synthesizing these mechanisms. First,the DOFs of mechanisms with P-DOFs are decomposed and combined,and two methods—multi-loop serial connection and multi-loop stacking—are formulated to establish MLMs with P-DOFs.Second, a DOF space (DOF-S) model is generated.Host–parasite (H–P) MLMs are proposed, and various types of parasitism are analyzed. Finally, various DOF distribution patterns in H–P MLMs are analyzed based on real-world examples. The results show the following. H–P mechanisms are a class of MLMs with P-DOFs. For an H–P mechanism, its DOFs can be longitudinally and centrally, transversely and centrally, or comprehensively optimally distributed in the DOF-S by selecting a suitable type of parasitism. The H–P-type palletizing robot prototype developed in this study is able to self-balance. This demonstrates that the comprehensive optimization of DOF distribution is effective. This study enriches the theoretical knowledge on MLMs, which are extensively applied in fields such as aerospace, industrial robotics, and numerical-control machine tools.

Paper 5: Design Considerations Relating to Tractor Cabin Suspensions

1969 ◽  
Vol 184 (17) ◽  
pp. 37-49
Author(s):  
D. J. Hilton
Keyword(s):  
Experimental Work ◽  
Degrees Of Freedom ◽  
Degree Of Freedom ◽  
Single Degree Of Freedom ◽  
Agricultural Engineering ◽  
Single Degree ◽  
Design Considerations ◽  
Future Developments ◽  
Safety Aspects ◽  
And Performance

This paper describes work being carried out at the National Institute of Agricultural Engineering to determine the suitability and performance of various suspension designs and types for the improvement of tractor operator ride. Analytical and experimental work described relates mostly to suspension designs which are in principle of the single-degree-of-freedom type, though the feasibility of suspensions involving two or more degrees of freedom is considered. The advantage of employing a suspension frequency below that normally obtainable with seat suspensions is clearly shown. Some of the resulting design implications (including economic and safety aspects) are discussed both in relation to existing tractor configurations and to possible future developments in tractor evolution.

scholarly journals A 4-DOF Upper Limb Exoskeleton for Physical Assistance: Design, Modeling, Control and Performance Evaluation

2021 ◽  
Vol 11 (13) ◽  
pp. 5865
Author(s):  
Muhammad Ahsan Gull ◽  
Mikkel Thoegersen ◽  
Stefan Hein Bengtson ◽  
Mostafa Mohammadi ◽  
Lotte N. S. Andreasen Struijk ◽  
...  
Keyword(s):  
Upper Limb ◽  
Tracking Control ◽  
Degrees Of Freedom ◽  
Control Method ◽  
Mechanical Design ◽  
Trajectory Tracking Control ◽  
Upper Limb Exoskeleton ◽  
And Performance ◽  
Physically Disabled People ◽  
Human Upper Limb

Wheelchair mounted upper limb exoskeletons offer an alternative way to support disabled individuals in their activities of daily living (ADL). Key challenges in exoskeleton technology include innovative mechanical design and implementation of a control method that can assure a safe and comfortable interaction between the human upper limb and exoskeleton. In this article, we present a mechanical design of a four degrees of freedom (DOF) wheelchair mounted upper limb exoskeleton. The design takes advantage of non-backdrivable mechanism that can hold the output position without energy consumption and provide assistance to the completely paralyzed users. Moreover, a PD-based trajectory tracking control is implemented to enhance the performance of human exoskeleton system for two different tasks. Preliminary results are provided to show the effectiveness and reliability of using the proposed design for physically disabled people.

scholarly journals Design and Calibration of a Hall Effect System for Measurement of Six-Degree-of-Freedom Motion within a Stacked Column

Sensors ◽  
2021 ◽  
Vol 21 (11) ◽  
pp. 3740
Author(s):  
Olafur Oddbjornsson ◽  
Panos Kloukinas ◽  
Tansu Gokce ◽  
Kate Bourne ◽  
Tony Horseman ◽  
...  
Keyword(s):  
Hall Effect ◽  
Degrees Of Freedom ◽  
Reactor Core ◽  
Degree Of Freedom ◽  
Life Extension ◽  
Scale Model ◽  
Design Development ◽  
Seismic Safety ◽  
Six Degrees Of Freedom ◽  
Six Degree Of Freedom

This paper presents the design, development and evaluation of a unique non-contact instrumentation system that can accurately measure the interface displacement between two rigid components in six degrees of freedom. The system was developed to allow measurement of the relative displacements between interfaces within a stacked column of brick-like components, with an accuracy of 0.05 mm and 0.1 degrees. The columns comprised up to 14 components, with each component being a scale model of a graphite brick within an Advanced Gas-cooled Reactor core. A set of 585 of these columns makes up the Multi Layer Array, which was designed to investigate the response of the reactor core to seismic inputs, with excitation levels up to 1 g from 0 to 100 Hz. The nature of the application required a compact and robust design capable of accurately recording fully coupled motion in all six degrees of freedom during dynamic testing. The novel design implemented 12 Hall effect sensors with a calibration procedure based on system identification techniques. The measurement uncertainty was ±0.050 mm for displacement and ±0.052 degrees for rotation, and the system can tolerate loss of data from two sensors with the uncertainly increasing to only 0.061 mm in translation and 0.088 degrees in rotation. The system has been deployed in a research programme that has enabled EDF to present seismic safety cases to the Office for Nuclear Regulation, resulting in life extension approvals for several reactors. The measurement system developed could be readily applied to other situations where the imposed level of stress at the interface causes negligible material strain, and accurate non-contact six-degree-of-freedom interface measurement is required.

scholarly journals Observer-based robust integral of the sign of the error control of class I of underactuated mechanical systems: Theory and real-time experiments

2021 ◽  
pp. 014233122110313
Author(s):  
Afef Hfaiedh ◽  
Ahmed Chemori ◽  
Afef Abdelkrim
Keyword(s):  
Real Time ◽  
Error Control ◽  
Degrees Of Freedom ◽  
Sliding Mode ◽  
Mechanical Systems ◽  
Class I ◽  
Control Input ◽  
Underactuated Mechanical Systems ◽  
Control Scheme ◽  
And Performance

In this paper, the control problem of a class I of underactuated mechanical systems (UMSs) is addressed. The considered class includes nonlinear UMSs with two degrees of freedom and one control input. Firstly, we propose the design of a robust integral of the sign of the error (RISE) control law, adequate for this special class. Based on a change of coordinates, the dynamics is transformed into a strict-feedback (SF) form. A Lyapunov-based technique is then employed to prove the asymptotic stability of the resulting closed-loop system. Numerical simulation results show the robustness and performance of the original RISE toward parametric uncertainties and disturbance rejection. A comparative study with a conventional sliding mode control reveals a significant robustness improvement with the proposed original RISE controller. However, in real-time experiments, the amplification of the measurement noise is a major problem. It has an impact on the behaviour of the motor and reduces the performance of the system. To deal with this issue, we propose to estimate the velocity using the robust Levant differentiator instead of the numerical derivative. Real-time experiments were performed on the testbed of the inertia wheel inverted pendulum to demonstrate the relevance of the proposed observer-based RISE control scheme. The obtained real-time experimental results and the obtained evaluation indices show clearly a better performance of the proposed observer-based RISE approach compared to the sliding mode and the original RISE controllers.

The thermodynamics of intracrystalline sorption I. Models of the sorbed state

1956 ◽  
Vol 234 (1196) ◽  
pp. 24-34 ◽  
Keyword(s):  
Mobile Phase ◽  
Degrees Of Freedom ◽  
Degree Of Freedom ◽  
Translational Degree ◽  
Sorbate Concentration ◽  
The Ideal

Three basic models of the intracrystalline sorbed state are discussed: a localized phase, a mobile phase possessing two translational degrees of freedom, and a mobile phase with one translational degree of freedom. The isotherm and entropy of each of these models have been investigated for the ideal phase, and where possible the influence of sorbate-sorbate interactions has been considered. Expressions for the molal and differential entropies of each model are given as a function of sorbate concentration. The method of comparing theoretical isotherms and entropies with experimental observations is outlined.

scholarly journals Soft Spherical Tensegrity Robot Design Using Rod-Centered Actuation and Control

2016 ◽  
Author(s):  
Lee-Huang Chen ◽  
Kyunam Kim ◽  
Ellande Tang ◽  
Kevin Li ◽  
Richard House ◽  
...  
Keyword(s):  
Degrees Of Freedom ◽  
Low Cost ◽  
Space Exploration ◽  
Robot Design ◽  
The Novel ◽  
Flexible Design ◽  
Spherical Robot ◽  
Potential Benefits ◽  
And Performance ◽  
And Control

This paper presents the design, analysis and testing of a fully actuated modular spherical tensegrity robot for co-robotic and space exploration applications. Robots built from tensegrity structures (composed of pure tensile and compression elements) have many potential benefits including high robustness through redundancy, many degrees of freedom in movement and flexible design. However to fully take advantage of these properties a significant fraction of the tensile elements should be active, leading to a potential increase in complexity, messy cable and power routing systems and increased design difficulty. Here we describe an elegant solution to a fully actuated tensegrity robot: The TT-3 (version 3) tensegrity robot, developed at UC Berkeley, in collaboration with NASA Ames, is a lightweight, low cost, modular, and rapidly prototyped spherical tensegrity robot. This robot is based on a ball-shaped six-bar tensegrity structure and features a unique modular rod-centered distributed actuation and control architecture. This paper presents the novel mechanism design, architecture and simulations of TT-3, the first untethered, fully actuated cable-driven six-bar tensegrity spherical robot ever built and tested for mobility. Furthermore, this paper discusses the controls and preliminary testing performed to observe the system’s behavior and performance.

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