Structure design and performance analysis of self-driving articulated arm coordinate measuring machine

To solve the problem that the traditional articulated arm coordinate measuring machine cannot measure automatically, a self-driven articulated arm coordinate measuring machine (AACMM) is proposed. The length of the connecting rods of the AACMM was allocated according to the design indicators. The AACMM virtual prototype was assembled based on the joint module selection and joint component design, and its measurement space range was also verified. The AACMM ideal measurement model was established based on MDH methodology. The static deformation of the structure and the influence of the dynamic flexible deformation on the positioning error of the probe of the measuring machine was analyzed, respectively. The results show that the measurement space range of the AACMM designed in this paper can meet the design index of the measuring radius. The probe position error caused by static deformation of the measuring machine after structural optimization was reduced by an order of magnitude. The positioning error of the probe caused by the dynamic deformation of the AACMM structure meets the positioning accuracy index. In the constant-speed touch measurement stage, the instantaneous position error of the probe changes linearly with time, and the optimal touch speed (6.6 mm/s, 6.4 mm/s) exists to minimize the probe positioning error. During the variable-speed approach stage, the influence of angular acceleration and velocity of each joint on the positioning error of the probe can be negligible when AACMM in the typical posture. In the extreme posture, , the inertial force of the measuring machine structure and the instantaneous position error of the probe are the smallest with the optimal joint angular acceleration ( ) and angular velocity ( ). The structural design and positioning error performance analysis of self-driving AACMM can provide a theoretical research foundation for subsequent trajectory planning and error compensation modeling.

Simulation of Constant-Volume Removal Rate Machining of Middle-Convex and Varying Ellipse Piston

One kind of constant-volume removal rate machining method of the middle-convex and varying ellipse piston is proposed in this paper. By analyzing the structure and movement relationship of the middle-convex and varying ellipse piston machine, the NC machining model is built. And, the constant-volume removal rate machining model is also built by superposing the variable rotation satisfying the dynamic performance constraints on the uniform rotation of the spindle of the CNC piston lathe. Then, the instantaneous position parameters of each axis of the CNC piston lathe are obtained and turned into NC code. The functional feasibility of the method finally is verified by simulation machining.

Drag on Janus Sphere in a Channel: Effect of Particle Position

Potential use of Janus spheres in novel engineering applications is being explored actively in recent years. Hydrodynamics around Janus spheres is different from that around homogeneous sticky or slippery spheres. Instantaneous motion of a sphere in channel flow is governed by hydrodynamic force experienced by the sphere, which in turn depends on the particle to channel size ratio, its instantaneous position, hydrophobicity of its surface and the particle Reynolds number. We investigate numerically the drag experienced by a Janus sphere located at different off-centre positions in a square channel. Two orientations of Janus sphere consisting of a sticky and a slippery hemisphere with the boundary between them parallel to the channel mid-plane are studied: (1) slippery hemisphere facing the channel centreline and (2) sticky hemisphere facing the channel centreline. The flow field around Janus sphere is found to be steady (for Re ≤ 50 investigated in this work) and asymmetric. Based on the data obtained, a correlation for drag coefficient as a function of particle Reynolds number and dimensionless particle position is also proposed.

On the ‘Rigidity’ of the Force Field of a Moving Source

In the present paper, we propose a heuristic and intuitive approach to visualize how force fields “move” when their source moves at a constant velocity [Formula: see text] or accelerates with acceleration [Formula: see text] relative to a stationary observer. Our approach is based on the application of the principle of relativity and the principle of equivalence and holds regardless of the nature of the force field. The results presented here have been derived in the nonrelativistic approximation ([Formula: see text] and [Formula: see text], [Formula: see text] being the interval of time within which we observe the field). We shall show that in both cases of uniform and accelerated motion of the source, the field moves rigidly with the source. Namely, for every observer, however distant from the source, the field is always directed away from (or points towards) the present, instantaneous position of the source. We also show that these results are in agreement with what we know from experimental evidence and full-fledged physical theories (of electromagnetism and gravitation) beyond the nonrelativistic approximation. The proposed approach may be considered as a tool to facilitate students in graduate and undergraduate courses to familiarize themselves with (and self convince of) such a counter-intuitive feature of the force fields.

Continuous Monitoring of the Wheel-Rail Contact Vertical Forces by Using a Variable Measurement Scale

This paper presents a new technology of continuous measurement and recording of forces in wheel/rail contact by measuring strains in two rail cross-sections, which allows increasing the measurement accuracy. The method for processing the measurement data is proposed with a variable scale between strains and force, depending on the instantaneous position of the wheel with respect to a span between sleepers. The gage characteristics obtained by rolling a wheel over the rail between two sleepers are approximated by using Fourier series abilities and used for the assessment of wheel/rail forces. By using the suggested technology, the amount of information obtained increased 2 times.

Estimation of the Balance-Keeping Control Law Applied by a Human Being Upon a Sudden Sagittal Tilt Perturbation

This study aims to estimate the control law employed by the central nervous system (CNS) to keep a person in balance after a sudden disturbance. For this aim, several experiments were carried out, in which the subjects were perturbed sagittally by using a single-axis tilt-platform and their motions were recorded with appropriate sensors. The analysis of the experimental results leads to the contribution of this paper as a conjecture that the CNS commands the muscular actuators of the joints according to an adaptive proportional-derivative (PD) control law such that its gains and set points are updated continuously. This conjecture is accompanied with an assumption that the CNS is able to acquire perfect and almost instantaneous position and velocity feedback by means of a fusion of the signals coming from the proprioceptive, somatosensory, and vestibular systems. In order to verify the conjectured control law, an approximate biomechanical model was developed and several simulations were carried out to imitate the experimentally observed motions. The time variations of the set points and the control gains were estimated out of the experimental data. The simulated motions were observed to be considerably close to the experimental motions. Thus, the conjectured control law is validated. However, the experiments also indicate that the mentioned adaptation scheme is quite variable even for the same subject tested repeatedly with the same perturbation. In other words, this experimental study also leads to the implication that the way the CNS updates the control parameters is not quite predictable.

History-dependent perturbation response in limb muscle

1AbstractMuscle mediates movement but movement is typically unsteady and perturbed. Muscle is known to behave non-linearly and with history dependent properties during steady locomotion, but the importance of history dependence in mediating muscles function during perturbations remains less clear. To explore muscle’s capacity to mitigate perturbations, we constructed a series of perturbations that varied only in kinematic history, keeping instantaneous position, velocity and time from stimulation constant. We discovered that muscle’s perturbation response is profoundly history dependent, varying by four fold as baseline frequency changes, and dissipating energy equivalent to ~ 6 times the kinetic energy of all the limbs (nearly 2400 W Kg−1). Muscle’s energy dissipation during a perturbation is predicted primarily by the force at the onset of the perturbation. This relationship holds across different frequencies and timings of stimulation. This history dependence behaves like a viscoelastic memory producing perturbation responses that vary with the frequency of the underlying movement.Summary StatementThe response of muscles to rapid, identical strain perturbations is history dependent, but is captured by a viscoelastic model with memory. Muscle function during perturbations therefore depends on locomotor frequency.