scholarly journals A mathematical model of the fractional differential method for structural design dynamics simulation of lower limb force movement step structure based on Sanda movement

2021 ◽  
Vol 0 (0) ◽  
Author(s):  
Chenguang Li ◽  
Dimah Alahmadi ◽  
Mohammed Yousuf Abo Keir
Keyword(s):  
Mathematical Model ◽  
Lower Limb ◽  
Virtual Prototype ◽  
Differential Method ◽  
Lower Limbs ◽  
Dynamics Simulation ◽  
Experimental Simulation ◽  
Prototype Model ◽  
Mechanical Structure ◽  
Fractional Differential

Abstract In order to promote the development of sports training robots and improve the training of lower limbs in Sanda, a new mechanical structure of Sanda training robots is designed. The thesis combines the mathematical method of fractional differential equations to design a new type of omnidirectional moving platform mechanism, which realises the movement in any direction in the plane and can turn at any radius during the movement. From the perspective of kinematics, the mathematical relationship between wheel speed and robot trajectory is analysed, and a virtual prototype technology combined with Pro/E and Adams joint modelling and simulation method is used to establish an accurate and reliable virtual prototype model. The experimental simulation results show that the designed virtual prototype model is consistent with the mathematical model, which verifies the practical feasibility of the mechanical structure of the lower limb power generation robot for Sanda movement, and provides a reliable basis for the establishment of the physical prototype.

Design and Simulation of Fully Mechanized Hydraulic Support

2014 ◽  
Vol 644-650 ◽  
pp. 199-202
Author(s):  
Pei Qin Wang ◽  
Zeng Shun Xu ◽  
Zuo Feng Sun ◽  
Hui Yuan Jiang
Keyword(s):  
Mechanical Properties ◽  
Mathematical Model ◽  
Mechanical Model ◽  
Simulation Analysis ◽  
Virtual Prototype ◽  
Dynamics Simulation ◽  
Prototype Model ◽  
Design Calculation ◽  
Hydraulic Support ◽  
Element Analysis

Based on theoretical calculation, virtual prototype technology and the method of finite element analysis, the fully mechanized hydraulic support is designed and simulated. Firstly, the four-link mechanism of hydraulic support mechanical model and mathematical model are established, the demission is confirmed by design calculation of structure. Secondly, through the establishment of rigid parameterized virtual prototype model of the system, dynamics simulation analysis and research is finished based on ADAMS on the mechanical properties. Finally, based on FEA, the modal calculation of key components is completed by using ANSYS.

Dynamics Analysis and Simulation of Drum Washing Machine Vibration Isolation System

2013 ◽  
Vol 441 ◽  
pp. 439-442
Author(s):  
Rui Ying Shao ◽  
Hong Jun Wang ◽  
Juan Song ◽  
Hai Yan Wang
Keyword(s):  
Vibration Isolation ◽  
Simulation Analysis ◽  
Virtual Prototype ◽  
Dynamics Simulation ◽  
Prototype Model ◽  
Washing Machine ◽  
Isolation System ◽  
Vibration Isolation System ◽  
Machine Vibration ◽  
Theory Research

Based on the theory research and virtual prototype technology, the dynamics characteristics of drum washing machine vibration isolation system is studied and analyzed. According to the Lagrange method, the dynamics equations and motion differential equations of drum washing machine vibration isolation system is established. Through the establishment of rigid parameterized virtual prototype model of the vibration system, dynamics simulation analysis is accomplished based on ADAMS, the kinematics characteristics and mechanical characteristics are obtained.

Twin-Tracked Robot Obstacle Three-Dimensional Modeling and Simulation

2012 ◽  
Vol 479-481 ◽  
pp. 2351-2354 ◽  
Author(s):  
Bing Wu ◽  
Zen Ju Wei
Keyword(s):  
Process Development ◽  
Three Dimensional ◽  
Performance Testing ◽  
Virtual Prototype ◽  
Simulation Software ◽  
Dynamics Simulation ◽  
Prototype Model ◽  
Three Dimensional Modeling ◽  
Development Costs ◽  
Mechanical Products

Obstacle robot crawler is a very complex mechanical products. Crawler robot obstacle for traditional development pattern of the development cycle there is a long, complicated process, development costs are too high, difficult issues such as performance testing, this twin-tracked to the more impaired actual robot context of the study, the application of simulation technology robot design and development research. Use of 3D modeling software Pro / E and two-body dynamics simulation software to create more obstacles the robot tracked the virtual prototype model, the virtual prototype model based on a variety of simulation experiments, and the test results analysis.

Optimal Control for Wheeled Inverted Pendulum Based on Collaborative Simulation

2014 ◽  
Vol 556-562 ◽  
pp. 2444-2447
Author(s):  
Xiang Shi ◽  
Zhe Xu ◽  
Ka Tian ◽  
Qing Yi He
Keyword(s):  
Mathematical Model ◽  
Optimal Control ◽  
Nonlinear System ◽  
Inverted Pendulum ◽  
Virtual Prototype ◽  
Prototype Model ◽  
Control Law ◽  
Collaborative Simulation ◽  
Wheeled Inverted Pendulum ◽  
The Mathematical Model

To control wheeled inverted pendulum is a good way to test all kinds of theories of control. The optimal control based on MATLAB is used to control wheeled inverted pendulum, and the control law is designed, and its feasibility is verified. However the mathematical model of the wheeled inverted pendulum is linearized and inverted pendulum is a high-order nonlinear system, both of them exist errors. Then the collaborative simulation of MATLAB and ADAMS is also used to control wheeled inverted pendulum, in which wheeled inverted pendulum is built up to virtual prototype model in ADAMS based on virtual prototype technology, and the control law designed from simulation of MATLAB is consulted. At last the results of simulation demonstrate the correctness of optimal control of wheeled inverted pendulum, and it also indicates the way is worth advocating in the study.

Simulation and Optimization Design of Inversion Six-Bar Linkage on Loader

2013 ◽  
Vol 416-417 ◽  
pp. 1822-1825
Author(s):  
Ying Li Zu ◽  
Jin Wei
Keyword(s):  
Optimization Design ◽  
Simulation Analysis ◽  
Virtual Prototype ◽  
Dynamics Simulation ◽  
Prototype Model ◽  
Constraint Condition ◽  
Operation Performance ◽  
Simulation And Optimization ◽  
Design Variables ◽  
Parameterized Model

Based on the combination of the virtual prototype technology and dynamics simulation analysis software ADAMS of mechanical system, parameterized model ZL50 wheel loader equipment is established. According to the characteristics of the loading operation of equipment, with 18 parameters of the hinge point of inversion six-bar linkage as design variables, with loading operation performance index as the objective function, considering the structure and avoiding movement interference for constraint condition, multi-objective optimization design for the virtual prototype model of articulated point position is calculated.

scholarly journals The Effectiveness of Functional Electrical Stimulation (FES) in On-Off Mode for Enhancing the Cycling Performance of Team Phoenix at 2016 Cybathlon

2017 ◽  
Vol 27 (4) ◽  
Author(s):  
Kenry W.C. Leung ◽  
Raymond K.Y. Tong ◽  
Xiaojun Wang ◽  
Ginny T.Y. Lee ◽  
Peter M.K. Pang ◽  
...  
Keyword(s):  
Electrical Stimulation ◽  
Functional Electrical Stimulation ◽  
Lower Limb ◽  
Cycling Performance ◽  
Lower Limbs ◽  
Female Participant ◽  
Training Procedure ◽  
Mechanical Structure ◽  
Cord Injury ◽  
The Subject

In this study we designed a Functional Electrical Stimulation (FES) trike for a female subject with spinal cord injury to exercise her lower limbs and improve her lower limb muscle condition for attending the 2016 Cybathlon FES bike competition. Our FES pilot was the only female participant, in the FES cycling competition and she rode for Team Phoenix from the Chinese University of Hong Kong. Due to the weakness of muscles in the lower limb of the subject, and due to scoliosis over her thoracolumbar aéra, the mechanical structure of the trike had to be tailor-made to ensure she sat on the bike in a safe and secure position. A six-phase angle-driven stimulation pattern was developed to stimulate quadriceps and hamstrings without gluteus muscles for contraction through four surface electrodes, thereby creating a cycling movement. To improve the cycling endurance and reduce the muscle fatigue, an on-off mode was developed for controlling the stimulation time that allowed the subject to cycle for 20s, then pause while the trike advanced without stimulation for 5s, followed by a subsequent 20 sec stimulation, to continue cycling. The pilot participated in the training procedure including training exercise at home, trike fitting in the trike by modifying the mechanical structure, and conducting the cycling exercise for six months. We observed significant improvements in the pilot’s lower limb condition. The on-off mode enabled our pilot to extend her cycling endurance effectively, from 1 min to 2.5 mins and the distance from 62m to 100m. Over the eight minutes time limit, our team successfully finished 100 m in the Cybathlon FES.

Intermittent Crank Rocker Mechanism Design and Analysis of Motion Characteristics

2014 ◽  
Vol 951 ◽  
pp. 62-66
Author(s):  
Si Qi Deng ◽  
Ming Zhang ◽  
Deng Yun Ma ◽  
Tao Tao Li
Keyword(s):  
Mechanism Design ◽  
Data Exchange ◽  
Optimization Design ◽  
Structural Parameters ◽  
Virtual Prototype ◽  
Parameters Optimization ◽  
Dynamics Simulation ◽  
Prototype Model ◽  
Dynamics Analysis ◽  
Motion Characteristics

This paper presents an automatic separating and lifting mechanism with intermittent motion and the incomplete gear mechanism parameter design, and at same time the paper conducts the dynamics analysis by using vector closed equation analysis method. And its structural parameters optimization design is also done based on MATLAB. a parametric model is builded using SolidWorks and the virtual prototype model of four-bar mechanism is established in RecurDyn. Then the data exchange is done in dynamics analysis software RecurDyn, and the dynamics simulation of virtual prototype model is conducted and verified, which will get a better trajectory and achieve the design target. Through the mechanism design the automatic separation and upgrading process will be stable and reliable ,which has some promotional value.

Design of a Human Knee Reeducation Mechanism

2019 ◽  
Vol 11 (1) ◽  
pp. 42-53
Author(s):  
Allaoua Brahmia ◽  
Ridha Kelaiaia
Keyword(s):  
Lower Limb ◽  
Mechanical Design ◽  
Kinematic Chain ◽  
Lower Limbs ◽  
Kinematic Structure ◽  
Robotic Device ◽  
Human Knee ◽  
Kinematic Study ◽  
Rehabilitation Exercise ◽  
New Machine

Abstract To establish an exercise in open muscular chain rehabilitation (OMC), it is necessary to choose the type of kinematic chain of the mechanical / biomechanical system that constitutes the lower limbs in interaction with the robotic device. Indeed, it’s accepted in biomechanics that a rehabilitation exercise in OMC of the lower limb is performed with a fixed hip and a free foot. Based on these findings, a kinematic structure of a new machine, named Reeduc-Knee, is proposed, and a mechanical design is carried out. The contribution of this work is not limited to the mechanical design of the Reeduc-Knee system. Indeed, to define the minimum parameterizing defining the configuration of the device relative to an absolute reference, a geometric and kinematic study is presented.

Development of the mechanical structure of an active monoarticular orthosis for lower limb

2017 ◽  
Author(s):  
Eduardo Caetano ◽  
Douglas Ruy S S Araujo ◽  
Lorenna Lucia Bastos Bandeira ◽  
Antônio Carlos Barbosa Zancanella
Keyword(s):  
Lower Limb ◽  
Mechanical Structure
Sign in / Sign up

Export Citation Format

Share Document