Design and implementation of Arduino based robotic arm

<p><span>This study presents the model, design, and construction of the Arduino based robotic arm, which functions across a distance as it is controlled through a mobile application. A six degree of freedom robotic arm has been designed and implemented for the purpose of this research. The design controlled by the Arduino platform receives orders from the user’s mobile application through wireless controlling signals, that is Bluetooth. The arm is made up of five rotary joints and an end effector, where rotary motion is provided by the servomotor. Each link has been first designed using solid works and then printed by 3D printer. The assembly of the parts of the robot and the motor’s mechanical shapes produce the final prototype of the arm. The Arduino has been programmed to provide rotation to each corresponding servo motor to the sliders in the designed mobile application for usage from distance.</span></p>

Hydrodynamic Performance of Open-frame Deep Sea Remotely Operated Vehicles Based on Computational Fluid Dynamics Method

The resistance performance and motion stability of deep sea remotely operated vehicles (ROVs) subjected to underwater motion conditions are studied on the basis of the unsteady Reynolds-averaged Navier-Stokes method combined with the six-degree-of-freedom equation of motion to quickly and accurately predict them. In the modeling process, we consider the complexity of ROV geometry and thus reduce the model to a series of regular geometries to maximize the position and weight of the original components. The grid and value slots of an ROV are divided, and the surface is reconstructed. The forward, backward, transverse, floating, and submerged resistance of ROVs are simulated and compared with existing experimental forces to determine the accuracy of the calculation method. Then, the oblique navigation of the ROV on the horizontal and vertical planes is studied. Furthermore, the motion response of the ROV to direct horizontal motion, heave, pitch, and yaw are studied. The force, moment, and motion time curves are obtained. The stability of ROV motion is analyzed to provide technical support for the safety of ROVs.

Analytical Investigation of Roller Skew and Tilt in a Spherical Roller Bearing

The objective of this investigation was to analytically investigate the performance of a spherical roller bearing operating under various loading and speed combinations. In order to achieve the objective, a full six degree of freedom spherical roller bearing dynamic model was developed. The model was corroborated with results in open literature. An adaptive slicing method was developed to optimize the accuracy and computational effort of the roller force, skew, and tilt calculations. A comprehensive roller-race contact analysis in terms of slip velocity and contact area was then carried out to identify how bearing load and inner race speed variations change slip velocity and skew at the roller-race contact. The results from this investigation demonstrate that roller skew increases with inner race speed, while the roller tilt remains relatively constant. The inner race speed and roller slip velocity correlate well, which causes the traction force to increase and therefore produce greater skew. Skew and tilt angles also increase with applied axial load. However, at a certain load the skew angle begins to decrease.

Reaction Forces and Flexion-Extension Moments Imposed On Functional Spinal Units with Constrained and Unconstrained in Vitro Testing Systems

A mechanical goal of in vitro testing systems is to minimize differences between applied and actual forces and moments experienced by spinal units. This study quantified the joint reaction forces and reaction flexion-extension moments during dynamic compression loading imposed throughout the physiological flexion-extension range-of-motion. Constrained (fixed base) and unconstrained (floating base) testing systems were compared. Sixteen porcine spinal units were assigned to both testing groups. Following conditioning tests, specimens were dynamically loaded for 1 cycle with a 1 Hz compression waveform to a peak load of 1 kN and 2 kN while positioned in five different postures (neutral, 100% and 300% of the flexion and extension neutral zone), totalling ten trials per FSU. A six degree-of-freedom force and torque sensor was used to measure peak reaction forces and moments for each trial. Shear reaction forces were significantly greater (25.5 N - 85.7 N) when the testing system was constrained compared to unconstrained (p &lt; 0.029). The reaction moment was influenced by posture (p = 0.037), particularly in C5C6 spinal units. In 300% extension (C5C6), the reaction moment was, on average, 9.9 Nm greater than the applied moment in both testing systems and differed from all other postures (p &lt; 0.001). The reaction moment error was, on average, 0.45 Nm at all other postures. In conclusion, these findings demonstrate that comparable reaction moments can be achieved with unconstrained systems, but without inducing appreciable shear reaction forces.