scholarly journals A Redundantly Actuated Chewing Robot Based on Human Musculoskeletal Biomechanics: Differential Kinematics, Stiffness Analysis, Driving Force Optimization and Experiment

Machines ◽  
2021 ◽  
Vol 9 (8) ◽  
pp. 171
Author(s):  
Haiying Wen ◽  
Ming Cong ◽  
Zhisheng Zhang ◽  
Guifei Wang ◽  
Yan Zhuang
Keyword(s):  
Driving Force ◽  
Driving Forces ◽  
Point Contact ◽  
Optimization Method ◽  
Parallel Robot ◽  
Robot Dynamics ◽  
Force Transmission ◽  
Prismatic Joints ◽  
Redundantly Actuated ◽  
Masticatory System

Human masticatory system exhibits optimal stiffness, energy efficiency and chewing forces needed for the food breakdown due to its unique musculoskeletal actuation redundancy. We have proposed a 6PUS-2HKP (6 prismatic-universal-spherical chains, 2 higher kinematic pairs) redundantly actuated parallel robot (RAPR) based on its musculoskeletal biomechanics. This paper studies the stiffness and optimization of driving force of the bio-inspired redundantly actuated chewing robot. To understand the effect of the point-contact HKP acting on the RAPR performance, the stiffness of the RAPR is estimated based on the derived dimensionally homogeneous Jacobian matrix. In analyzing the influence of the HKP on robot dynamics, the driving forces of six prismatic joints are optimized by adopting the pseudo-inverse optimization method. Numerical results show that the 6PUS-2HKP RAPR has better stiffness performance and more homogenous driving power than its non-redundant 6-PUS counterpart, verifying the benefits that the point-contact HKP brings to the RAPR. Experiments are carried out to measure the temporomandibular joint (TMJ) force and the occlusal force that the robot can generate. The relationship between these two forces in a typical chewing movement is studied. The simulation and experimental results reveal that the existence of TMJs in human masticatory system can provide more homogenous and more efficient chewing force transmission.

Force optimization of planar 2-DOF parallel manipulators with actuation redundancy considering deformation

2012 ◽  
Vol 227 (6) ◽  
pp. 1371-1377 ◽  
Author(s):  
Jun Wu ◽  
Tiemin Li ◽  
Boqiang Xu
Keyword(s):  
Parallel Manipulator ◽  
Driving Forces ◽  
Parallel Manipulators ◽  
Optimization Method ◽  
Internal Force ◽  
Actuation Redundancy ◽  
Force Optimization ◽  
Redundantly Actuated ◽  
Internal Forces ◽  
Novel Method

Internal force distribution is one of the most important issues for redundantly actuated parallel manipulators. This article presents a novel method for optimizing internal force to minimize the deformation of key components in a parallel manipulator. The dynamic model is first derived, and then an objective function is proposed by giving different weights on internal forces of different components based on its flexibility. The deformation of the component with big flexibility is minimized. A planar 2-DOF parallel manipulator with actuation redundancy is taken as an example to validate the force optimization method. The simulation results show that the deformation of the manipulator with the force optimization method proposed in this article is smaller than that with the traditional method to minimize the norm of driving forces. Thus, the manipulator precision can be improved.

Mobility, Kinematic Analysis, and Dimensional Optimization of New Three-Degrees-of-Freedom Parallel Manipulator With Actuation Redundancy

2017 ◽  
Vol 9 (4) ◽  
Author(s):  
Lingmin Xu ◽  
Qinchuan Li ◽  
Ningbin Zhang ◽  
Qiaohong Chen
Keyword(s):  
Parallel Manipulator ◽  
Degrees Of Freedom ◽  
Parallel Manipulators ◽  
Force Transmission ◽  
Transmission Index ◽  
Prismatic Joints ◽  
Redundantly Actuated ◽  
Force Transmissibility ◽  
Solution Velocity ◽  
Three Degrees Of Freedom

Parallel manipulators (PMs) with redundant actuation are attracting increasing research interest because they have demonstrated improved stiffness and fewer singularities. This paper proposes a new redundantly actuated parallel manipulator that has three degrees-of-freedom (DOFs) and four limbs. The proposed manipulator is a 2UPR-2PRU parallel manipulator (where P represents an actuated prismatic joint, R represents a revolute joint, and U represents a universal joint) that is actuated using four prismatic joints; two of these joints are mounted on the base to reduce the movable mass. Mobility analysis shows that the moving platform has two rotational DOFs and one translational DOF. First, the inverse displacement solution, velocity, and singularity analyses are discussed. Next, the local transmission index (LTI) and the good transmission workspace are used to evaluate the motion/force transmissibility of the 2UPR-2PRU parallel manipulator. Finally, the parameter-finiteness normalization method (PFNM) is used to produce an optimal design that considers the good transmission workspace. It is thus shown that the motion/force transmission of the proposed manipulator is improved by optimizing the link parameters.

scholarly journals Driving forces on dislocations: finite element analysis in the context of the non-singular dislocation theory

2021 ◽  
Author(s):  
Xiandong Zhou ◽  
Christoph Reimuth ◽  
Peter Stein ◽  
Bai-Xiang Xu
Keyword(s):  
Finite Element ◽  
Dislocation Loop ◽  
Driving Force ◽  
Complex Geometry ◽  
Driving Forces ◽  
Singular Solutions ◽  
Dislocation Model ◽  
Configurational Force ◽  
Element Analysis ◽  
Dislocation Configuration

AbstractThis work presents a regularized eigenstrain formulation around the slip plane of dislocations and the resultant non-singular solutions for various dislocation configurations. Moreover, we derive the generalized Eshelby stress tensor of the configurational force theory in the context of the proposed dislocation model. Based on the non-singular finite element solutions and the generalized configurational force formulation, we calculate the driving force on dislocations of various configurations, including single edge/screw dislocation, dislocation loop, interaction between a vacancy dislocation loop and an edge dislocation, as well as a dislocation cluster. The non-singular solutions and the driving force results are well benchmarked for different cases. The proposed formulation and the numerical scheme can be applied to any general dislocation configuration with complex geometry and loading conditions.

Driving forces and structural changes of China as a market provider for Korea

2018 ◽  
Vol 22 (3) ◽  
pp. 194-211 ◽  
Author(s):  
Yongqi Feng ◽  
Tianshu Zhang
Keyword(s):  
Steady State ◽  
Driving Force ◽  
Design Methodology ◽  
Structural Changes ◽  
Driving Forces ◽  
Consumption Expenditure ◽  
Input Output ◽  
Content Type ◽  
Fixed Capital Formation ◽  
The Impact

Purpose The purpose of this paper is to provide a better understanding of the driving forces and structural changes of China as a market provider for Korea. This paper gives the answers for the following questions: How do China’s final demands trigger the growth of its imports from Korea? And what’s the impact of China’s final demands on the import in different industries? Design/methodology/approach Based on the Multi-Regional Input-Output model and World Input-Output Table database, this paper constructs the non-competitive imports input-output (IO) table of China to Korea. According to this table, we can calculate the induced imports coefficient and comprehensive induced import coefficients of China’s four final demands for imports from Korea in the 56 industries in China. Findings Among the four driving forces, the strongest one is changes in inventories and valuables. The impact of final consumption expenditure and fixed capital formation is much lower than that of changes in inventories and valuables, but they have a broader impact for the 56 industries. This paper finds out the China’s import induction of the final demands to Korea peaked in 2005 and 2010 and decreased greatly in 2014, so the position of China as market provider for Korea will no longer rise substantially, contrarily it will be in a steady state. Originality/value First, this paper constructs the non-competitive IO table to analyze the market provider issues between two countries and provides practical ways and methods for studies on the issues of imports and market provider. Second, this paper investigates the different roles of four final demands on driving force of China as market provider for Korea and the structural changes of China as a market provider for Korea among 56 industries from 2000 to 2014.

Study on the Steering Performance of Dual-Motor Drive Track Bulldozer

2013 ◽  
Vol 427-429 ◽  
pp. 133-136
Author(s):  
Qiang Song ◽  
Pu Zeng
Keyword(s):  
Simulation Model ◽  
Dynamic Characteristics ◽  
Driving Force ◽  
Driving Forces ◽  
Small Radius ◽  
Motor Drive ◽  
Matlab Simulink ◽  
Simulation Results ◽  
Two Sides

The driving theory and the dynamic characteristics of small radius steering, medium radius steering and big radius steering is analyzed, and the simulation model is established under Matlab/Simulink. Then the track bulldozers steering performance of the three sheerings is simulated. The results show that, at different steering modes, the running states of the two sides driving motors are not the same, and the track driving forces of the two sides vary widely. The track driving force is great in the small radius steering model, while small in the medium and big radius steering models. The simulation results lay the foundation for dual-motor drive track bulldozers steering performance matching.

Static Analysis for a Novel 6-(P-2P-S) Parallel Robot

2009 ◽  
Vol 69-70 ◽  
pp. 580-584 ◽  
Author(s):  
D.F. Zhang ◽  
Feng Gao
Keyword(s):  
Carrying Capacity ◽  
Simple Structure ◽  
Jacobian Matrix ◽  
Parallel Robot ◽  
Singular Value ◽  
Force Transmission ◽  
Practical Application ◽  
Positioning Device ◽  
Orientation Parameters ◽  
Orientation Workspace

A novel 6-(P-2P-S) parallel robot is put forward. With the characters of some movement decoupling on the orthogonal pose, the robot can be used as the macro manipulator of the macro/micro dual driven robots. The macro manipulator as a high-precision positioning device, it is significant for the practical application and drive train design to research statics. First, the force Jacobian matrix is deduced, which is related to the orientation parameters. Then based on the Jacobian matrix singular value decomposed characteristic, the static force transmission evaluation indicators Kf and Km are defined. Finally, considering structure constraints and parameters, the distribution of evaluation indicators in the orientation workspace is drawn, which provide the theoretical base for the design and applications of the robot. Because of the characters of simple structure, high carrying capacity, less motion inertia, good manufacturability, the 6-(P-2P-S) parallel macro manipulator has been designed.

scholarly journals The Formation of Deposits on the Walls of the Pores in the Filtering Process

2019 ◽  
Vol 14 (2) ◽  
pp. 15-22
Author(s):  
Yu. A. Taran ◽  
A. V. Kozlov ◽  
A. L. Taran
Keyword(s):  
Experimental Data ◽  
Pressure Drop ◽  
Driving Force ◽  
Nonequilibrium Thermodynamics ◽  
Driving Forces ◽  
Solid Particles ◽  
Original Structure ◽  
Small Particles ◽  
Filtration Process ◽  
Filter Unit

The aim of the work is to consider the mechanism of clogging the pores of the filter unit by small particles from the flow of filtrate inside them. Theoretical ideas about the process of filtering with the deposition of small particles from the filtrate on the pore walls and attribution of its fundamentals to restructuring from the original structure to the final structure allow to describe the process of clogging the pores using well studied concepts of known processes with phase transformations (in particular, crystallization). Based on this analogy and the approach to the description of the transformation of the "old" structure into a "new" one in time, using experimental data and their processing we calculated the rate of nucleation of the sediment centers (ωnucl), the linear (υlin) and volumetric rates of sediment plaques growth in the pores of the filter unit at different values of the process driving force, at different pressure difference in the system, and at different concentrations of solid particles in the suspension. Interpolation and extrapolation dependences were obtained for analyzing the mechanisms of sediments formation and growth for determining and calculating these (ωnucl, υlin) rates. Using the concepts of nonequilibrium thermodynamics to assess the influence of the driving forces we studied their influence (changes in the concentration of solid particles in the filtrate suspension and pressure drop across the filtering layer) on the dynamics of the filtration process. Using the data obtained it is possible to find the degree of clogging of through pores, which determines the filtration conditions, the filter septum type, and the filter overall dimensions.

scholarly journals Trajectory Generation for Mobile Robots in a Dynamic Environment using Nonlinear Model Predictive Control

2021 ◽  
Author(s):  
Jonas Berlin ◽  
Georg Hess ◽  
Anton Karlsson ◽  
William Ljungbergh ◽  
Ze Zhang ◽  
...  
Keyword(s):  
Model Predictive Control ◽  
Long Range ◽  
Predictive Control ◽  
Nonlinear Model ◽  
Trajectory Generation ◽  
Dynamic Environment ◽  
Optimization Method ◽  
Time Frame ◽  
Nonlinear Model Predictive Control ◽  
Robot Dynamics

This paper presents an approach to collision-free, long-range trajectory generation for a mobile robot in an industrial environment with static and dynamic obstacles. For the long range planning a visibility graph together with A* is used to find a collision-free path with respect to the static obstacles. This path is used as a reference path to the trajectory planning algorithm that in addition handles dynamic obstacles while complying with the robot dynamics and constraints. A Nonlinear Model Predictive Control (NMPC) solver generates a collision-free trajectory by staying close the initial path but at the same time obeying all constraints. The NMPC problem is solved efficiently by leveraging the new numerical optimization method Proximal Averaged Newton for Optimal Control (PANOC). The algorithm was evaluated by simulation in various environments and successfully generated feasible trajectories spanning hundreds of meters in a tractable time frame.

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