Development of Hydraulic Drive Drilling Robot with 4-DOF Tool for In-Pipe Repair – Mechanical Design of New Tool –

2012 ◽  
Vol 6 (2) ◽  
pp. 221-227 ◽  
Author(s):  
Hiroaki Seki ◽  
◽  
Hodaka Amakata ◽  
Yoshitsugu Kamiya ◽  
Masatoshi Hikizu
Keyword(s):  
Degrees Of Freedom ◽  
Mechanical Design ◽  
Hydraulic Drive ◽  
Developed Countries ◽  
Hydraulic Power ◽  
Sewer Pipes ◽  
Parallel Links ◽  
Hydraulic Cylinders ◽  
New Type ◽  
Parallel Link

Lately,many developed countries see their sewer pipes getting increasingly aged. They try to extend the life of aging pipes by using teleoperated sewer robots to repair them as buried in the ground rather than replacing them by largescale digging work. Currently available robots, however, have tools with small DOF (Degrees Of Freedom) to do complex work such as drilling, cutting, and grinding. They also have too heavy oilostatic cables to be self-propelling. To cope with these problems, we intend to develop a new type of sewer robots that can be self-propelling by built-in cylinder-type hydraulic power source and are equipped with multiple-DOF tool driven by hydraulic cylinders in parallel links. In this paper, we propose a 4-DOF parallel link type mechanism for the tool that have wide reachable areas and no singular points. The proposed mechanism is so designed as to be able to retain high stiffness in the predetermined reachable areas as required for work inside pipes.

A Novel Hydraulic Spherical Joint and Motion Analysis

2014 ◽  
Vol 971-973 ◽  
pp. 314-317
Author(s):  
Shou Long Fang ◽  
Liang Wang ◽  
Shuai Ding
Keyword(s):  
Inverse Kinematics ◽  
Degrees Of Freedom ◽  
Hydraulic Drive ◽  
Spherical Joint ◽  
Compact Structure ◽  
New Type ◽  
Forward And Inverse Kinematics ◽  
Joint Mechanism ◽  
Singular Configuration ◽  
Mechanism Theory

Proposing a new type of hydraulic drive spherical joint with two degrees of freedom.The joint mechanism has the advantages of hydraulic and also can rotate with multi-degrees of freedom. Based on the mechanism theory, the forward and inverse kinematics equations are derivated and the singular configuration and workspace of the mechanism are found. The spherical joint mechanism has these characteristics: a compact structure, low coupling, large load, and the joint can complete the omni-directional output.

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 Using Wearable Sensors and a Convolutional Neural Network for Catch Detection in American Football

Sensors ◽  
2020 ◽  
Vol 20 (23) ◽  
pp. 6722
Author(s):  
Bernhard Hollaus ◽  
Sebastian Stabinger ◽  
Andreas Mehrle ◽  
Christian Raschner
Keyword(s):  
Neural Network ◽  
Degrees Of Freedom ◽  
Wearable Sensors ◽  
Professional Sports ◽  
American Football ◽  
Data Logging ◽  
Sensor Platform ◽  
Magnetometer Data ◽  
Audio Data ◽  
New Type

Highly efficient training is a must in professional sports. Presently, this means doing exercises in high number and quality with some sort of data logging. In American football many things are logged, but there is no wearable sensor that logs a catch or a drop. Therefore, the goal of this paper was to develop and verify a sensor that is able to do exactly that. In a first step a sensor platform was used to gather nine degrees of freedom motion and audio data of both hands in 759 attempts to catch a pass. After preprocessing, the gathered data was used to train a neural network to classify all attempts, resulting in a classification accuracy of 93%. Additionally, the significance of each sensor signal was analysed. It turned out that the network relies most on acceleration and magnetometer data, neglecting most of the audio and gyroscope data. Besides the results, the paper introduces a new type of dataset and the possibility of autonomous training in American football to the research community.

scholarly journals Dark Photon Searches at BESIII

2018 ◽  
Vol 46 ◽  
pp. 1860046 ◽  
Author(s):  
Dayong Wang
Keyword(s):  
Degrees Of Freedom ◽  
New Physics ◽  
Beyond The Standard Model ◽  
Gauge Bosons ◽  
Data Set ◽  
Decay Modes ◽  
Dark Photon ◽  
The Standard Model ◽  
New Type ◽  
Low Mass

Many models beyond the Standard Model, motivated by the recent astrophysical anomalies, predict a new type of weak-interacting degrees of freedom. Typical models include the possibility of the low-mass dark gauge bosons of a few GeV and thus making them accessible at the BESIII experiment running at the tau-charm region. The BESIII has recently searched such dark bosons in several decay modes using the high statistics data set collected at charmonium resonaces. This talk will summarize the recent BESIII results of these dark photon searches and related new physics studies.

scholarly journals The Performance of a Mechanical Design ‘Compiler’

1993 ◽  
Vol 115 (3) ◽  
pp. 341-345 ◽  
Author(s):  
A. C. Ward ◽  
W. P. Seering
Keyword(s):  
Utility Function ◽  
Power Transmission ◽  
Mechanical Design ◽  
Temperature Sensing ◽  
Hydraulic Power ◽  
Optimal Implementation

A mechanical design “compiler” has been developed which, given an appropriate schematic, specifications, and utility function for a mechanical design, returns catalog numbers for an optimal implementation. The compiler has been successfully tested on a variety of mechanical and hydraulic power transmission designs, and a few temperature sensing designs. Times required have been at worst proportional to the logarithm of the number of possible combinations of catalog numbers.

Study on International References of High-End Equipment Manufacture Industry

2013 ◽  
Vol 584 ◽  
pp. 293-297
Author(s):  
En Hua Gong
Keyword(s):  
Developed Countries ◽  
Economic Security ◽  
Tax Revenue ◽  
Tax Policies ◽  
Talented People ◽  
National Economic ◽  
Manufacture Industry ◽  
New Type ◽  
Equipment Manufacture ◽  
Economic Developments

Strategic emerging industry development has important relations with national economic security and strategic changing. One of the most important national economic developments is training and developing strategic emerging industry. Tax revenue is very important to developing emerging industry, which cant be replaced by other measures. But, the emerging industry is obstructed by the national current tax policies. And some tax policies which used to encourage emerging industry also have shortages. In this paper, we have summarized developed countries tax policies which used to encourage strategic new-type industry efficiently. On the basis of analysis, we have concluded some proposals about constructing our countrys strategic new-type industry tax policies. And all the proposals are focused on such aspects as homegrown innovation, training market and absorbing talented people.

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