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Development of Impact Loading Equipment for Testing of FRP Strips as Reinforcement of Masonry Bricks 5

引用

5th European Conference on Mechanism science (EUCOMES)

作者： Correia, P. Peixinho, N. Univ Minho Minho Portugal

ISBN: (纸本)9783319094106

The preservation of a cultural heritage has been, in nowadays, one important research topic. Some new techniques and materials have been studied. The use of Fibre Reinforced Polymer (FRP) is one of them. The static material properties of these materials when used in brick masonry are regularly studied. The dynamic studies are, however, almost non-existent. The development of a device capable to test dynamically the specimens already used in static tests is presented in this paper. It is described the construction of a drop weight tower to test FRP strips glued to brick masonry.

关键词： Impact loading machine FRP Pull-out Drop tower development

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Adaptive Control of KNTU Planar Cable-Driven Parallel Robot with Uncertainties in Dynamic and Kinematic Parameters 2

Adaptive Control of KNTU Planar Cable-Driven Parallel Robot ...

引用

2nd International Conference on Cable-Driven Parallel Robots

作者： Babaghasabha, Reza Khosravi, Mohammad A. Taghirad, Hamid D. KN Toosi Univ Technol ICCE Fac Elect Engn ARAS Tehran Iran

ISBN: (纸本)9783319094892;9783319094885

This paper addresses the design and implementation of adaptive control on a planar cable-driven parallel robot with uncertainties in dynamic and kinematic parameters. To develop the idea, firstly, adaptation is performed on dynamic parameters and it is shown that the controller is stable despite the kinematic uncertainties. Then, internal force term is linearly separated into a regressor matrix in addition to a kinematic parameter vector that contains estimation error. In the next step to improve the controller performance, adaptation is performed on both the dynamic and kinematic parameters. It is shown that the performance of the proposed controller is improved by correction in the internal forces. The proposed controller not only keeps all cables in tension for the whole workspace of the robot, it is computationally simple and it does not require measurement of the end-effector acceleration as well. Finally, the effectiveness of the proposed control algorithm is examined through some experiments on KNTU planar cable-driven parallel robot and it is shown that the proposed control algorithm is able to provide suitable performance in practice.

关键词： Controllers

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Effects of Monograde and Multigrade Oils on the Friction Force in Four-Stroke Motor Engine: An Experimental and Analytical Approach 10

Effects of Monograde and Multigrade Oils on the Friction For...

引用

10th International Conference on Vibration Engineering and Technology of machinery (VETOMAC)

作者： Zavos, Anastasios Nikolakopoulos, Pantelis G. Univ Patras Machine Design Lab Patras 26500 Greece

ISBN: (纸本)9783319099170

In this work computational models with measured friction on a motor of four stroke engine are compared. Fluid Structure Interaction analysis is performed using the Navier Stokes equations in order to calculate the hydrodynamic friction for several engine operational conditions. The piston ring friction was experimentally measured under different conditions on a single-cylinder gasoline engine, using strain gauges along to the cylinder liner. The Hilbert-Huang Transform (HHT) is applied in the experimental signals. A differential deformation fluctuation signal of piston-piston rings and cylinder is adaptively decomposed into Intrinsic Mode Functions (IMFs) through the use of Empirical Mode Decomposition (EMD) methods. Further, the de noised deformation from strain gauges signal is obtained and the friction force can be determined. This method doesn't require any great engine modification, so the piston ring-cylinder friction reflects the reality. The experimental results for different grade type of oils (SAE 30, SAE 10w40), were compared with the numerical predictions, and presented.

关键词： Piston rings Fluid structure interaction Hilbert Huang transform Friction Hydrodynamic lubrication Motor engine

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A Method for Vibro-Acoustic FE Model Updating of Cavities Using Frequency Response 10

A Method for Vibro-Acoustic FE Model Updating of Cavities Us...

引用

10th International Conference on Vibration Engineering and Technology of machinery (VETOMAC)

作者： Nehete, D. V. Modak, S. V. Gupta, K. Indian Inst Technol Dept Mech Engn New Delhi 110016 India

ISBN: (纸本)9783319099170

Interior noise due to structure-borne sources has always been a cause of concern in the cavities encountered in aerospace, automotive and other applications. In the design of such cavities, the coupled vibro-acoustic model is the key to evaluate its structural and acoustic design. It can also be used as a diagnostic tool to identify the potential noise sources and to assess the effectiveness of the proposed design modifications. However effectiveness of this model greatly depends on the accuracy of predictions made by these models. It is however seen that often there are inaccuracies in the modeling of structural and acoustic domain of a cavity. Methods to deal with structural and acoustic modeling inaccuracies have been developed in the past through FE model updating for uncoupled FE model, while the same have not been addressed in the context of a coupled vibro-acoustic FE model. This issue forms the topic of this paper. This paper proposes a method for updating vibro-acoustic FE model using frequency response function with the aim of identifying the material property of flexible surface of cavity. The updating problem is formed as constrained optimization. The method requires measured vibro-acoustic frequency responses of the system. Updating parameters related to the material property and the stiffness of joint between the plate and rectangular cavity are used. The effectiveness of the proposed method is validated through numerical studies on a 3D rectangular box cavity. The robustness of the method under presence of noise is also investigated. The proposed method is found to work satisfactorily to correctly estimate the updating parameters and yield an updated model that correlates well with the measured frequency response.

关键词： Model updating Vibro-acoustic Interior noise Vibro-acoustic finite element model updating Constrained optimization

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Detection of Arbitrary Number of New Cracks Appearing in a Beam with Pre-existing Cracks 10

Detection of Arbitrary Number of New Cracks Appearing in a B...

引用

10th International Conference on Vibration Engineering and Technology of machinery (VETOMAC)

作者： Mahto, Dhanjee K. Maiti, Surjya K. Indian Inst Technol Dept Mech Engn Bombay Maharashtra India

ISBN: (纸本)9783319099170

This paper is concerned with development of a scheme to detect fresh crack(s) in a beam with pre-existing crack(s). The cracks have been modeled by rotational springs. Relationship has been derived through energy method involving natural frequency, mode shape of uncracked beam, crack location(s) and size(s). Natural frequencies of the beam in the two states, before and after development of fresh crack(s), are the basis for the detection. Case studies have been done with uniform and stepped long beam(s). For the case studies, frequencies data have been generated through finite element method. Cantilever beams are examined with crack sizes in the range 15-50 % of section depth. Crack locations are varied within 92 % of the span from the fixed end. In the case of two pre-existing cracks and one fresh crack, the maximum errors in predicting location and size are 1.98 and 4 % respectively. In the case of one pre-existing crack and two fresh cracks the same errors are 6.99 and 8.33 % respectively. In the case of two-stepped cantilever beam with one initial crack and one fresh crack, the errors are 15 and 5.26 % respectively. The accuracy of prediction is thus very encouraging. One advantage of the proposed method is that it gives directly the location and size of the new crack(s).

关键词： Structural health monitoring Cracked Euler Bernoulli beam Crack detection in beam with initial crack

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Dynamic Modeling of Planetary Gear Train for Vibration Characteristic Analysis 1

引用

3rd Conference of the mechanisms Transmissions and Applications

作者： Dong, Huimin Zhang, Kai Wang, Delun Wu, Yangyang Bai, Shaoping Dalian Univ Technol Dalian Peoples R China Aalborg Univ Aalborg Denmark

ISBN: (数字)9783319170671

ISBN: (纸本)9783319170671;9783319170664

In this paper, a torsional-translational coupled nonlinear dynamic model for planetary gear train with three planet gears is developed to investigate its vibration characteristic. In this lumped-parameter model, gears and carrier all have three degrees of freedom: two translations and one rotation. The equations of motion of the dynamic model are built in consideration of gear elastic deformation and time-varying mesh stiffness. Gear elastic compatibility equations are developed to describe the relationship between displacements, elastic deformations and transmission errors. Thus, dynamic equations of the planetary gear train consist of equations of motion and gear elastic compatibility equations can be found and the effects of support stiffness and flexible planet pin on vibration characteristic have been addressed. The results show floating central gear and flexible planet pin can avoid critical operating conditions, which provides a theoretical guideline for the design of planetary gear train.

关键词： Planetary gear train Dynamic model Vibration characteristic Equivalent mesh error

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Modular System with Varying Contact Elements for a Reconfigurable Parallel Robot 3rd

Modular System with Varying Contact Elements for a Reconfigu...

引用

3rd IFToMM Symposium on Mechanism Design for Robotics (MEDER)

作者： Kurtenbach, S. Huesing, M. Corves, B. Rhein Westfal TH Aachen Aachen Germany

ISBN: (纸本)9783319181264;9783319181257

This paper introduces a modular system consisting of a 3 DOF robotic local structure with revolute joints. Several wrist joints are presented where the contact element, the end-effector, is systematically varied. The range of objects to be handled is analysed with the aim to identify a minimum of contact principles. Realizing these principles with one gripper each and defining general interfaces leads to a modular system, which warrants the versatility, flexibility and reconfigurability required for the introduced parallel handling system.

关键词： Modular system Robotic local structure Contact principle for end-effectors Reconfigurable parallel robot

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Shift Strategy for Railway Vehicle Transmissions 3rd

Shift Strategy for Railway Vehicle Transmissions

引用

3rd IFToMM Symposium on Mechanism Design for Robotics (MEDER)

作者： Tan, Xiaodong Bo, Siyu Lei, Yanlei Dalian Jiaotong Univ Sch Mech Engn Dalian Peoples R China

ISBN: (纸本)9783319181264;9783319181257

Nowadays, with the construction of the railway has been more and more consummate and the environment requirements of the place where locomotive drives are also increasing, so the demand for a series of rail engineering vehicles have increased. In order to adapt for the various working condition of the rail engineering vehicles, so the rail engineering vehicles must have a good dynamic performance, and there need a hydraulic transmission device which used the hydraulic torque converter and the hydraulic coupler to control speed. In the transmission system, the hydraulic coupler and the hydraulic torque converter can switch flexibly. And this makes the rail engineering vehicles can deal with all kinds of different working conditions, and thus it improve the efficiency of the vehicle. This paper introduces the characteristics of the hydraulic torque converter and the hydraulic coupler, the selection of the shift gear parameters, strategy formulation of shift, and the principle of the shift strategy with optimal traction, thus we formed the final shift strategy.

关键词： Hydraulic coupler Hydraulic torque converter Rail engineering vehicles Shift strategy

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A Kinematic Vision-Based Position Control of a 6-DoF Cable-Driven Parallel Robot 2

A Kinematic Vision-Based Position Control of a 6-DoF Cable-D...

引用

2nd International Conference on Cable-Driven Parallel Robots

作者： Chellal, Ryad Cuvillon, Loic Laroche, Edouard Univ Strasbourg ICube Lab Engn Comp & Image Sci F-67412 Illkirch Graffenstaden France CNRS F-67412 Illkirch Graffenstaden France

ISBN: (纸本)9783319094892;9783319094885

This paper introduced an original setup for the validation of vision-based position control methodologies dedicated to 6-DoF Cable-Driven Parallel Robots. The cable robot is an INCA 6D with eight cables initially developed by Haption as a haptic interface, equipped with a motion-capture system Bonita developed by Vicon to measure the end-effector pose. In addition to the description of this setup, this paper reports simulation and experiment results obtained with an original control scheme based on a cascaded control architecture in two parts. First is the position control to ensure an accurate end-effector positioning, which includes two nested closed-loops: an external vision-loop based on the pose measurement that drives the motors, equipped of inner speed-loop previously designed in order to control each speed in a decoupled fashion when rejecting the inherent non-linear behaviour of the cables. Second is the tension distribution to maintain the cables under feasible tensions, the paper makes an extensive review of the available methods and presents an algorithm inspired from one of them extended to the dynamic control.

关键词： Position control

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A Computational Benchmark for 2D Gait Analysis Problems 5

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5th European Conference on Mechanism science (EUCOMES)

作者： Pamies-Vila, R. Font-Llagunes, J. M. Lugris, U. Alonso, F. J. Cuadrado, J. Univ Politecn Cataluna Barcelona Spain Univ A Coruna La Coruna Spain Univ Extremadura Badajoz Spain

ISBN: (纸本)9783319094106

The aim of this paper is to present a computational benchmark for gait analysis that has been developed in order to share real data captured in a biomechanics laboratory and the results of the inverse dynamic analysis. This work belongs to the library of computational multibody benchmark problems that the Technical Committee for Multibody Dynamics of the International Federation for the Promotion of Mechanism and machine science (IFToMM) is developing. The work presents the kinematic and dynamic study of human motion by means of multibody system dynamics techniques. The subject selected to perform the experiments walks on a walkway that encloses two force plates. The motion is captured by 12 optical cameras that acquire the position of 37 passive markers. The inverse dynamic analysis (IDA) is carried out using a 12-segment 2D model with 14 degrees of freedom. Displacement signals are filtered using an algorithm based on Singular Spectrum Analysis (SSA) and the natural coordinates of the model are calculated using algebraic relations among the marker positions. Afterwards, a procedure ensures the kinematic consistency and the data processing continues with the approximation of the position histories using B-spline curves. The velocity and acceleration values are then obtained by analytical derivation. The double support indeterminacy is solved using the Corrected Force Plate (CFP) sharing method. The IDA provides the joint drive torques that the musculoskeletal system generates during human locomotion from acquired kinematic data, foot-ground contact forces and estimated body segment parameters (BSP). All this information is available online in http://***/benchmark. Therefore, it can be viewed by other researchers, which can submit their own results using the same input data and proposing new solutions.

关键词： Gait analysis Inverse dynamics Benchmark Biomechanics

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