scholarly journals Dynamic Analysis of a Spherical Parallel Robot Used for Brachial Monoparesis Rehabilitation

2021 ◽  
Vol 11 (24) ◽  
pp. 11849
Author(s):  
Ionut Daniel Geonea ◽  
Daniela Tarnita ◽  
Doina Pisla ◽  
Giuseppe Carbone ◽  
Alexandru Bolcu ◽  
...  
Keyword(s):  
Dynamic Analysis ◽  
Parallel Robot ◽  
Element Analysis ◽  
Flexible Bodies ◽  
Deformable Solids ◽  
Flexion Extension ◽  
Variation Curve ◽  
Physical Prototype ◽  
The Difference ◽  
The Moment

This paper presents studies on the dynamic analysis of the ASPIRE robot, which was designed for the medical recovery of brachial monoparesis. It starts from the virtual model of the existing version of the ASPIRE robot, which is analysed kinematically and dynamically by numerical simulations using the MSC.ADAMS software. For this purpose, this paper presents theoretical aspects regarding the kinematics and dynamics of the markers attached to the flexible bodies built in a specifically developed MSC.ADAMS model. Three simulation hypotheses are considered: (a) rigid kinematic elements without friction in couplings, (b) rigid kinematic elements with friction in couplings, and (c) kinematic elements as deformable solids with friction in couplings. Experimental results obtained by using the physical prototype of ASPIRE are presented. Results such as the connecting forces in the kinematic joints and the torques necessary to operate the ASPIRE robot modules have been obtained by dynamic simulation in MSC.ADAMS and compared with those determined experimentally. The comparison shows that the allure of the variation curve of the moment obtained by simulation is similar to that obtained experimentally. The difference between the maximum experimental value and that obtained by simulation is less than 1%. A finite element analysis (FEA) of the structurally optimized flexion/extension robot module is performed. The results demonstrate the operational safety of the ASPIRE robot, which is structurally capable of supporting the stresses to which it is subjected.

scholarly journals The Multi-Breakage Phenomenon in Air Bending Process

2014 ◽  
Vol 611-612 ◽  
pp. 1047-1053 ◽  
Author(s):  
Vitalii Vorkov ◽  
Richard Aerens ◽  
Dirk Vandepitte ◽  
Joost R. Duflou
Keyword(s):  
Finite Element ◽  
High Strength ◽  
Large Radius ◽  
Element Analysis ◽  
Bending Force ◽  
Bending Process ◽  
The Difference ◽  
The Moment ◽  
Force Calculation ◽  
Three Phases

In this work, the multi-breakage effect has been studied by means of an experimental campaign and finite element analysis. We suggest that large radius bending (XL-bending) consists of three phases that are distinguishable according to the type of contact of the plate with the tool: 1-point, surface and 2-points. In the experimental investigation the high-strength steel Weldox 1300 and a 40 mm radius punch were used. The authors created a camera setup to film the multi-breakage effect. Additionally, finite-element calculations were performed to confirm the hypothesis of the three phases of the bending process. For the springback and the bending force evaluation, the difference in the moment distribution for each phase has been calculated in the case of a beam. It shows that the multi-breakage effect must be taken into account to obtain a good accuracy for the springback and the bending force calculation.

Dynamic Analysis of Lifting Mechanism Based on Rigid-Flexible Coupling

2013 ◽  
Vol 849 ◽  
pp. 411-416
Author(s):  
Xu Kun Ge ◽  
Da Wei Liu ◽  
Bin Tian
Keyword(s):  
Finite Element Analysis ◽  
Dynamic Analysis ◽  
Coupling Model ◽  
Rigid Bodies ◽  
Element Analysis ◽  
Flexible Coupling ◽  
Flexible Bodies ◽  
Flexible System ◽  
Lift Mechanism ◽  
Hinge Points

To obtain realistic dynamic characteristics of the lifting mechanism, the liftarm and drawbar were regarded as flexible bodies. The modal neutral file (MNF) of liftarm and drawbar were obtained from modal analysis conducted by finite element analysis (FEA) software MSC.Patran/Nastran . Then the MNF were translated into ADAMS, a rigid-flexible coupling model of the lift mechanism was built by replacing the rigid bodies with MNF. The forces of each hinge points in the rigid-flexible system, which were obtained from dynamic analysis, were compared with the rigid ones. The results showed that forces obtained from the rigid-flexible system were smaller than the rigid ones, which provided a reference for the design and improvement of the lifting mechanism.

scholarly journals The biomechanical effect on the adjacent L4/L5 segment of S1 superior facet arthroplasty: a finite element analysis for the male spine

2021 ◽  
Vol 16 (1) ◽  
Author(s):  
Zewen Shi ◽  
Lin Shi ◽  
Xianjun Chen ◽  
Jiangtao Liu ◽  
Haihao Wu ◽  
...  
Keyword(s):  
Finite Element ◽  
Range Of Motion ◽  
Facet Joint ◽  
Adjacent Segment ◽  
Finite Element Models ◽  
Level Of Evidence ◽  
Element Analysis ◽  
Flexion Extension ◽  
Biomechanical Effect ◽  
Lumbar Range Of Motion

Abstract Background The superior facet arthroplasty is important for intervertebral foramen microscopy. To our knowledge, there is no study about the postoperative biomechanics of adjacent L4/L5 segments after different methods of S1 superior facet arthroplasty. To evaluate the effect of S1 superior facet arthroplasty on lumbar range of motion and disc stress of adjacent segment (L4/L5) under the intervertebral foraminoplasty. Methods Eight finite element models (FEMs) of lumbosacral vertebrae (L4/S) had been established and validated. The S1 superior facet arthroplasty was simulated with different methods. Then, the models were imported into Nastran software after optimization; 500 N preload was imposed on the L4 superior endplate, and 10 N⋅m was given to simulate flexion, extension, lateral flexion and rotation. The range of motion (ROM) and intervertebral disc stress of the L4-L5 spine were recorded. Results The ROM and disc stress of L4/L5 increased with the increasing of the proportions of S1 superior facet arthroplasty. Compared with the normal model, the ROM of L4/L5 significantly increased in most directions of motion when S1 superior facet formed greater than 3/5 from the ventral to the dorsal or 2/5 from the apex to the base. The disc stress of L4/L5 significantly increased in most directions of motion when S1 superior facet formed greater than 3/5 from the ventral to the dorsal or 1/5 from the apex to the base. Conclusion In this study, the ROM and disc stress of L4/L5 were affected by the unilateral S1 superior facet arthroplasty. It is suggested that the forming range from the ventral to the dorsal should be less than 3/5 of the S1 upper facet joint. It is not recommended to form from apex to base. Level of evidence Level IV

scholarly journals Elastic Simulation of Joints with Particle-Based Fluid

2021 ◽  
Vol 11 (15) ◽  
pp. 6900
Author(s):  
Su-Kyung Sung ◽  
Sang-Won Han ◽  
Byeong-Seok Shin
Keyword(s):  
Principal Stress ◽  
Human Body ◽  
Yield Condition ◽  
Maximum Principal Stress ◽  
Human Motion ◽  
The Difference ◽  
The Moment ◽  
External Forces ◽  
Physical Changes ◽  
Elastic Simulation

Skinning, which is used in skeletal simulations to express the human body, has been weighted between bones to enable muscle-like motions. Weighting is not a form of calculating the pressure and density of muscle fibers in the human body. Therefore, it is not possible to express physical changes when external forces are applied. To express a similar behavior, an animator arbitrarily customizes the weight values. In this study, we apply the kernel and pressure-dependent density variations used in particle-based fluid simulations to skinning simulations. As a result, surface tension and elasticity between particles are applied to muscles, indicating realistic human motion. We also propose a tension yield condition that reflects Tresca’s yield condition, which can be easily approximated using the difference between the maximum and minimum values of the principal stress to simulate the tension limit of the muscle fiber. The density received by particles in the kernel is assumed to be the principal stress. The difference is calculated by approximating the moment of greatest force to the maximum principal stress and the moment of least force to the minimum principal stress. When the density of a particle increases beyond the yield condition, the object is no longer subjected to force. As a result, one can express realistic muscles.

scholarly journals Use of Dynamic Analysis to Investigate the Behaviour of Short Neutral Sections in the Overhead Line Electrification

2021 ◽  
Vol 6 (5) ◽  
pp. 62
Author(s):  
John Morris ◽  
Mark Robinson ◽  
Roberto Palacin
Keyword(s):  
Dynamic Analysis ◽  
Dynamic Simulation ◽  
Model Simulation ◽  
Analysis Tool ◽  
Overhead Line ◽  
Element Analysis ◽  
Novel Approach ◽  
Section Model ◽  
The Uk ◽  
Neutral Section

The ‘short’ neutral section is a feature of alternating current (AC) railway overhead line electrification that is often unreliable and a source of train delays. However hardly any dynamic analysis of its behaviour has been undertaken. This paper briefly describes the work undertaken investigating the possibility of modelling the behaviour using a novel approach. The potential for thus improving the performance of short neutral sections is evaluated, with particular reference to the UK situation. The analysis fundamentally used dynamic simulation of the pantograph and overhead contact line (OCL) interface, implemented using a proprietary finite element analysis tool. The neutral section model was constructed using physical characteristics and laboratory tests data, and was included in a validated pantograph/OCL simulation model. Simulation output of the neutral section behaviour has been validated satisfactorily against real line test data. Using this method the sensitivity of the neutral section performance in relation to particular parameters of its construction was examined. A limited number of parameter adjustments were studied, seeking potential improvements. One such improvement identified involved the additional inclusion of a lever arm at the trailing end of the neutral section. A novel application of pantograph/OCL dynamic simulation to modelling neutral section behaviour has been shown to be useful in assessing the modification of neutral section parameters.

scholarly journals Loading Effect of Prosthetic Feet’s Anthropomorphicity on Transtibial Osseointegrated Implant

2021 ◽  
Vol 186 (Supplement_1) ◽  
pp. 681-687
Author(s):  
Mark Pitkin ◽  
Laurent Frossard
Keyword(s):  
Free Flow ◽  
Convex Shape ◽  
Bone Implant ◽  
Concave Shape ◽  
Early Loosening ◽  
Osseointegrated Implants ◽  
Osseointegrated Implant ◽  
Quantitative Characteristics ◽  
The Difference ◽  
The Moment

ABSTRACT Introduction Osseointegrated implants for direct skeletal attachment of transtibial prosthesis carry risks that are yet to be fully resolved, such as early loosening, mechanical failure of percutaneous and medullar parts of implant, periprosthetic issues, and infections. Underloading could lead to early loosening and infection. Overloading might compromise the bone–implant interface. Therefore, Goldilocks loading regimen applied by transtibial bone-anchored prostheses is critical for safe and efficient development of osseointegration around the implant during rehabilitation and beyond. We hypothesized that Goldilocks loading could be achieved when ambulating with a so-called anthropomorphic prosthetic ankle showing moment–angle relationship similar to a sound ankle. Materials and Methods Quantitative characteristics of the moment–angle curve of the sound ankle during dorsiflexion phase of a free-pace walking were extracted for 4 able-bodied participants (experiment 1). A slope of the moment–angle curve (stiffness) was calculated twice: for the first half and for the second half of the moment–angle curve. The difference of stiffnesses (those at the second half minus at the first half) was called the index of anthropomorphicity (IA). By definition, positive IA is associated with concave shape of the moment–angle curve, and the negative IA is associated with convex shape. In experiment 2, the same recordings and calculations were performed for 3 participants fitted with transtibial osseointegrated fixation during walking with their usual feet and the Free-Flow Foot (Ohio Willow Wood). The Free-Flow Foot was selected for its anthropomorphicity demonstrated in the previous studies with amputees using traditional socket attachment. Results The IA was 5.88 ± 0.93 for the able-bodied participants, indicating that the stiffness during the first part of the dorsiflexion phase was substantially fewer than during the second parts, as the calf muscles resisted to angulation in ankle substantially less than during the second part of dorsiflexion phase. For amputees fitted with Free-Flow Foot, IA was 2.68 ± 1.09 and −2.97 ± 2.37 for the same amputees fitted with their usual feet. Conclusions Indexes of anthropomorphicity, while of different magnitude, were positive in control able-bodied group and in the amputee group wearing Free-Flow Foot, which was qualitatively associated with concave shape of their moment–angle curves. The 3 usual feet worn by the participants were classified as nonanthropomorphic as their individual moment–angle curves were convex and the corresponding IAs were negative. Furthermore, this study showed that a foot with anthropomorphic characteristics tends to decrease maximal loads at the bone–implant interface as compared to the nonanthropomorphic feet and possibly may minimize the risks to compromise the integrity of this interface.

Finite Element Analysis of Creep Damage Behavior Near the Cavity on Bimaterial Interface

2006 ◽  
Vol 324-325 ◽  
pp. 951-954 ◽  
Author(s):  
Qing Min Yu ◽  
Zhu Feng Yue ◽  
Yong Shou Liu
Keyword(s):  
Finite Element ◽  
Elastic Moduli ◽  
Elastic Stress ◽  
Creep Damage ◽  
Ductile Material ◽  
Bimaterial Interface ◽  
Modulus Ratio ◽  
Element Analysis ◽  
Damage Law ◽  
The Difference

Fracture along an interface between materials plays a major role in failure of material. In this investigation, finite element calculations with Kachanov–Rabotnov damage law were carried out to study the creep damage distribution near the interface cavity in bimaterial specimens. The specimens with central hole were divided into three types. The material parameters of K-R law used in this paper were chosen for a brittle material and ductile material. All calculations were performed under four load cases. Due to the difference between elastic moduli of the bounded materials, the elastic stress field as a function of the Young’s modulus ratio (R=E1/E2) was determined. At the same time, the influence of model type on elastic stress distribution near the cavity was considered. Under the same conditions, the material with larger modulus is subjected to larger stress. The creep damage calculations show that the location of the maximum damage is different for each model. The distributions of creep damage for all three models are dependent on the material properties and load cases.

Is intervertebral disc degeneration related to segmental instability? An evaluation with two different grading systems based on clinical imaging

2017 ◽  
Vol 59 (3) ◽  
pp. 327-335 ◽  
Author(s):  
David Volkheimer ◽  
Fabio Galbusera ◽  
Christian Liebsch ◽  
Sabine Schlegel ◽  
Friederike Rohlmann ◽  
...  
Keyword(s):  
Intervertebral Disc Degeneration ◽  
Statistical Significance ◽  
Axial Rotation ◽  
Spinal Motion ◽  
X Ray ◽  
Grading Systems ◽  
Flexion Extension ◽  
The Difference ◽  
Magnetic Resonance Imaging Mri

Background Several in vitro studies investigated how degeneration affects spinal motion. However, no consensus has emerged from these studies. Purpose To investigate how degeneration grading systems influence the kinematic output of spinal specimens. Material and Methods Flexibility testing was performed with ten human T12-S1 specimens. Degeneration was graded using two different classifications, one based on X-ray and the other one on magnetic resonance imaging (MRI). Intersegmental rotation (expressed by range of motion [ROM] and neutral zone [NZ]) was determined in all principal motion directions. Further, shear translation was measured during flexion/extension motion. Results The X-ray grading system yielded systematically lesser degeneration. In flexion/extension, only small differences in ROM and NZ were found between moderately degenerated motion segments, with only NZ for the MRI grading reaching statistical significance. In axial rotation, a significant increase in NZ for moderately degenerated segments was found for both grading systems, whereas the difference in ROM was significant only for the MRI scheme. Generally, the relative increases were more pronounced for the MRI classification compared to the X-ray grading scheme. In lateral bending, only relatively small differences between the degeneration groups were found. When evaluating shear translations, a non-significant increase was found for moderately degenerated segments. Motion segment segments tended to regain stability as degeneration progressed without reaching the level of statistical significance. Conclusion We found a fair agreement between the grading schemes which, nonetheless, yielded similar degeneration-related effects on intersegmental kinematics. However, as the trends were more pronounced using the Pfirrmann classification, this grading scheme appears superior for degeneration assessment.

NUMERICAL SOLUTION OF TWO-DIMENSIONAL PROBLEMS OF THERMOVISCOELASTICITY

2021 ◽  
Vol 335 (1) ◽  
pp. 60-64
Author(s):  
M. Bukenov ◽  
Ye. Mukhametov
Keyword(s):  
A Priori ◽  
Elastic Collision ◽  
Qualitative Behavior ◽  
Stress Profile ◽  
Two Dimensional ◽  
A Priori Information ◽  
Deformable Solids ◽  
Methods Of Calculation ◽  
The Difference ◽  
Priori Information

This paper considers the numerical implementation of two-dimensional thermoviscoelastic waves. The elastic collision of an aluminum cylinder with a two-layer plate of aluminum and iron is considered. In work [1] the difference schemes and algorithm of their realization are given. The most complete reviews of the main methods of calculation of transients in deformable solids can be found in [2, 3, 4], which also indicates the need and importance of generalized studies on the comparative evaluation of different methods and identification of the areas of their most rational application. In the analysis and physical interpretation of numerical results in this work it is also useful to use a priori information about the qualitative behavior of the solution and all kinds of information about the physics of the phenomena under study. Here is the stage of evolution of contact resistance of collision – plate, stress profile.

Sign in / Sign up

Export Citation Format

Share Document