scholarly journals Model study of the influence of multi-joint muscles on the frequency characteristics of the human body

2020 ◽  
Vol 16 (3) ◽  
pp. 267-276
Author(s):  
Vladimir P. Tregubov ◽  
◽  
Nadezhda K. Egorova ◽  
Keyword(s):  
Lumbar Spine ◽  
Degrees Of Freedom ◽  
Experimental Studies ◽  
Biological Tissues ◽  
Chain Structure ◽  
Vertical Vibration ◽  
Damping Coefficient ◽  
Force Characteristic ◽  
Integer Number ◽  
Mass System

It is noted that the Kelvin—Voigt model is unsuitable for describing some polymers and biological tissues. In these cases, a three-component combination of elements, which consists of a spring and damper, connected in parallel and a spring sequentially attached to them, is used. The force characteristic of such a combination includes not only the strain, strain rate, and force, but also the rate of force change. Examples of such systems are the blood vessel wall and the intervertebral disc, which have been given special attention. Since the motion of such systems is described by an ordinary third-order differential equation, they are classified as systems with a non-integer number of degrees of freedom. For a single-mass oscillating system with one and a half degrees of freedom, a transfer function was constructed using the Laplace transform. In addition, the amplitude-frequency response (AFR) was also constructed. Analysis of this characteristic showed that increasing the damping coefficient from zero to infinity first leads to a decrease in its maximum to a certain non-zero value, and then to an increase and reaching infinity with an infinite value of the damping coefficient. The same feature is demonstrated on a two-mass system of chain structure, each link of which has one and a half degrees of freedom. A sequential combination of seven such links was used to model the lumbar spine in the structure of a General body model of a sitting person subject to vertical vibration. Multi-link elastic-viscous joints were used to model the multi-articular muscles of the lumbar spine. Additional experimental studies are needed to determine the numerical values of the parameters of the proposed model.

Functional and Constructive Optimization of a Serial-Modular Industrial Robot Implemented within a Single Purpose Flexible Manufacturing Cell

2012 ◽  
Vol 186 ◽  
pp. 239-246
Author(s):  
Silviu Mihai Petrişor ◽  
Ghiţă Bârsan
Keyword(s):  
Flexible Manufacturing ◽  
Degrees Of Freedom ◽  
Industrial Robot ◽  
Kinematic Chain ◽  
Chain Structure ◽  
Calculation Algorithm ◽  
Flexible Manufacturing Cell ◽  
Manufacturing Cell ◽  
Lagrangian Equations ◽  
Selection Of

The authors of this paper aim to highlight the basic design of a flexible manufacturing cell destined for the final processing of water radiators used for AAVs, cell serviced by a serial modular industrial robot possessing in its kinematic chain structure three degrees of freedom, RRT SIL type. The paper outlines the concept, calculation and design of the (MRB) rotation module at the studied industrial robot’s base and of the (MT) translation module of the prehension device attached to the robotic arm. Depending on the organological elements that are part of the MRB rotation module and based on a rigorous dynamic study performed on robotic modules, modeling conducted with the help of Lagrangian equations of the second kind, a dynamic-organological calculation algorithm was obtained for the selection of the appropriate driving servomotor necessary to putting the rotation movable system into service. The last part of the paper deals with the flexible manufacturing cell, together with the calculations related to profitability, economy and investment return duration, following the implementation of the RRT SIL-type industrial robot.

scholarly journals Model Calibration for a Rigid Hexapod-Based End-Effector with Integrated Force Sensors

Sensors ◽  
2021 ◽  
Vol 21 (10) ◽  
pp. 3537
Author(s):  
Christian Friedrich ◽  
Steffen Ihlenfeldt
Keyword(s):  
Parameter Identification ◽  
Degrees Of Freedom ◽  
Force Measurement ◽  
Experimental Studies ◽  
Measurement Model ◽  
Calibration Procedure ◽  
Force Sensors ◽  
End Effector ◽  
Measurement Models ◽  
Fast Procedure

Integrated single-axis force sensors allow an accurate and cost-efficient force measurement in 6 degrees of freedom for hexapod structures and kinematics. Depending on the sensor placement, the measurement is affected by internal forces that need to be compensated for by a measurement model. Since the parameters of the model can change during machine usage, a fast and easy calibration procedure is requested. This work studies parameter identification procedures for force measurement models on the example of a rigid hexapod-based end-effector. First, measurement and identification models are presented and parameter sensitivities are analysed. Next, two excitation strategies are applied and discussed: identification from quasi-static poses and identification from accelerated continuous trajectories. Both poses and trajectories are optimized by different criteria and evaluated in comparison. Finally, the procedures are validated by experimental studies with reference payloads. In conclusion, both strategies allow accurate parameter identification within a fast procedure in an operational machine state.

scholarly journals A new approach to assess the influence of road roughness on driver speed behavior based on driving simulator tests

2016 ◽  
Vol 11 (2) ◽  
pp. 144-152 ◽  
Author(s):  
Mariano Pernetti ◽  
Mauro D’Apuzzo Mauro D’Apuzzo ◽  
Francesco Galante
Keyword(s):  
Driving Simulator ◽  
Experimental Studies ◽  
Vertical Vibration ◽  
The Other ◽  
Added Value ◽  
Published Data ◽  
Vehicle Speed ◽  
Safety Level ◽  
The Road ◽  
Road Roughness

Vehicle speed is one of main parameters describing driver behavior and it is of paramount importance as it affects the travel safety level. Speed is, in turn, affected by several factors among which in-vehicle vibration may play a significant role. Most of speed reducing traffic calming countermeasures adopted nowadays rely on vertical vibration level perceived by drivers that is based on the dynamic interaction between the vehicle and the road roughness. On the other hand, this latter has to be carefully monitored and controlled as it is a key parameter in pavement managements systems since it influences riding comfort, pavement damage and Vehicle Operating Costs. There is therefore the need to analyse the trade-off between safety requirements and maintenance issues related to road roughness level. In this connection, experimental studies aimed at evaluating the potential of using road roughness in mitigating drivers’ speed in a controlled environment may provide added value in dealing with this issue. In this paper a new research methodology making use of a dynamic driver simulator operating at the TEST Laboratory in Naples is presented in order to investigate the relationship between the driver speed behavior on one hand, and the road roughness level, road alignment and environment, vehicle characteristics on the other. Following an initial calibration phase, preliminary results seem fairly promising since they comply with the published data derived from scientific literature.

Balancing Control of a Mobile Manipulator with Two Wheels by an Acceleration-Based Disturbance Observer

2018 ◽  
Vol 15 (03) ◽  
pp. 1850005 ◽  
Author(s):  
Yeong-Geol Bae ◽  
Seul Jung
Keyword(s):  
Disturbance Observer ◽  
Degrees Of Freedom ◽  
Control Method ◽  
Experimental Studies ◽  
Service Robot ◽  
Mobile Manipulator ◽  
Control Performance ◽  
Six Degrees Of Freedom ◽  
Inertia Model ◽  
Balancing Control

This paper presents the balancing control performance of a mobile manipulator built in the laboratory as a service robot called Korean robot worker (KOBOKER). The robot is designed and implemented with two wheels as a mobile base and two arms with six degrees-of-freedom each. Kinematics and dynamics of the robot are analyzed. For the balancing control performance, two wheels are controlled independently by the time-delayed control method based on the inertia model of the robot. The acceleration information obtained directly from the sensor is used for the modified disturbance observer structure called an acceleration-based disturbance observer (AbDOB). Experimental studies of the balancing control of the robot are conducted to compare the control performances by both a PID control method and an AbDOB.

A Biomechanical Model of Lumbar Spine

2000 ◽  
Author(s):  
Subramanya Uppala ◽  
Robert X. Gao ◽  
Scott Cowan ◽  
K. Francis Lee
Keyword(s):  
Finite Element ◽  
Lumbar Spine ◽  
Experimental Studies ◽  
Three Dimensional ◽  
Biomechanical Model ◽  
Element Model ◽  
Fe Model ◽  
Flexion Extension ◽  
Cortical Shell ◽  
Three Dimensional Finite Element

Abstract The strength and stability of the lumbar spine are determined not only by the bone and muscles, but also by the visco-elastic structures and the interplay between the different components of the spine, such as ligaments, capsules, annulus fibrosis, and articular cartilage. In this paper we present a non-linear three-dimensional Finite Element model of the lumbar spine. Specifically, a three-dimensional FE model of the L4-5 one-motion segment/2 vertebrae was developed. The cortical shell and the cancellous bone of the vertebral body were modeled as 3D isoparametric eight-nodal elements. Finite element models of spinal injuries with fixation devices are also developed. The deformations across the different sections of the spine are observed under the application of axial compression, flexion/extension, and lateral bending. The developed FE models provided input to both the fixture design and experimental studies.

Vertical vibration modelling and vibration response analysis of Chinese high-speed train passengers at different locations of a high-speed train

2020 ◽  
Vol 235 (1) ◽  
pp. 35-46 ◽  
Author(s):  
Chun-jun Chen ◽  
Chao Fang ◽  
Guo-qing Qu ◽  
Zhi-ying He
Keyword(s):  
High Speed ◽  
Degrees Of Freedom ◽  
Vibration Signal ◽  
Vertical Vibration ◽  
Response Analysis ◽  
High Speed Train ◽  
Vehicle Model ◽  
Internal Organs ◽  
Damping Coefficients ◽  
Track Irregularity

To study the vibration of a passenger's head and internal organs at different locations of a high-speed train, a 9-degrees-of-freedom (DOF) model of seated passengers is proposed in this paper, and its parameters of the damping coefficients and stiffnesses are identified. Next, the response of the head and internal organs is simulated by applying the vibrational stimulation generated by a 27-DOF vehicle model under track irregularity. Moreover, by applying the measured vibration signal, the following conclusions can be drawn: (1) the weakest response is detected at the centre of the compartment of the wagon, and a stronger response is detected at the centre of the bogie, with the rolling motion having a greater effect 1 m away from the centre of the bogie; (2) the response of the human internal organs is stronger than that of the head under stimulation with a lower frequency of less than 3 Hz, and a similar conclusion can be drawn in the range of 5 to 8 Hz. However, if the frequency is in the range between 8 and 15 Hz, the situation is entirely different. The responses of both the head and internal organs are reduced at frequencies over 20 Hz; (3) from the real application, it can be inferred that the greatest response can be detected at approximately 3 Hz for internal organs and at 8 Hz or higher for the head.

scholarly journals 3DOF Ultrasonic Motor with Two Piezoelectric Rings

Sensors ◽  
2020 ◽  
Vol 20 (3) ◽  
pp. 834 ◽  
Author(s):  
Vytautas Jūrėnas ◽  
Gražvydas Kazokaitis ◽  
Dalius Mažeika
Keyword(s):  
Numerical Simulation ◽  
Magnetic Dipole ◽  
Attitude Control ◽  
Degrees Of Freedom ◽  
High Reliability ◽  
Experimental Studies ◽  
Main Idea ◽  
Ultrasonic Motor ◽  
Response Analysis ◽  
Magnetic Sphere

A novel design of a multiple degrees of freedom (multi-DOF) piezoelectric ultrasonic motor (USM) is presented in the paper. The main idea of the motor design is to combine the magnetic sphere type rotor and two oppositely placed ring-shaped piezoelectric actuators into one mechanism. Such a structure increases impact force and allows rotation of the sphere with higher torque. The main purpose of USM development was to design a motor for attitude control systems used in small satellites. A permanent magnetic sphere with a magnetic dipole is used for orientation and positioning when the sphere is rotated to the desired position and the magnetic field synchronizes with the Earth’s magnetic dipole. Also, the proposed motor can be installed and used for robotic systems, laser beam manipulation, etc. The system has a minimal number of components, small weight, and high reliability. Numerical simulation and experimental studies were used to verify the operating principles of the USM. Numerical simulation of a piezoelectric actuator was used to perform modal frequency and harmonic response analysis. Experimental studies were performed to measure both mechanical and electrical characteristics of the piezoelectric motor.

Viscous Damping Modelling of Floating Bridge Pontoons With Heaving Skirt and its Impact on Bridge Girder Bending Moments

2017 ◽  
Author(s):  
Xu Xiang ◽  
Erik Svangstu ◽  
Øyvind Nedrebø ◽  
Bernt Jakobsen ◽  
Mathias Egeland Eidem ◽  
...  
Keyword(s):  
Relevant Literature ◽  
Experimental Studies ◽  
Iteration Process ◽  
Damping Coefficient ◽  
Accurate Estimation ◽  
Bending Moments ◽  
Bottom Part ◽  
Floating Bridge ◽  
Damping Effects ◽  
Offshore Industry

The current floating bridge concepts of Norwegian Public Roads Administration (Statens vegvesen, NPRA) use a flange shape part at the bottom part of the pontoons. The flange is in principle similar to the damping plates used in the offshore industry for SPAR type of structures. The project group initiated the flange part based on the requirement of extra added mass for tuning the bridge system Eigen-modes. Thus, the important modes can be shifted out of the main wave energy zone. The current study will focus on the damping effects of such structure. The damping effects on weak axis bending moment prediction is studied. The modelling of such damping is first proposed according to relevant literature based on both numerical and experimental studies. Since the reference studies were mainly focused on cylindrical structures, it is difficult to obtain an accurate estimation of the damping coefficient for the current bridge pontoon design, which contains a rectangular part between two half-cylindrical parts. In addition, the estimation of pontoon motions needs the input of damping coefficient, which means that the evaluation of damping coefficient is an iteration process. In order to include the uncertainties, a conservative value was adopted to represent the damping effect. The comparison of accounting for the damping effects or not has been given for all the bridge pontoons. The results show that the damping effects are important at the peaks of the responses; in addition, the reduction of the predicted maximum bending moments can be expected around 10–15 percent along different positions of the bridge. However, a further investigation also shows that viscous excitation would increase the bending moments slightly. The comparison also indicates the value of further investigating the effects by CFD or model test methods.

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