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检索条件"丛书名=Mechanisms and Machine Science"

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Robustness Study of an Exoskeleton-Upper Limb System Controlled by a Model Free Adaptive Terminal Sliding Mode with Gravity Compensation 8th

Robustness Study of an Exoskeleton-Upper Limb System Control...

引用

8th IFToMM International Symposium on Robotics and Mechatronics (ISRM)

作者： Bembli, Sana Haddad, Nahla Khraief Belghith, Safya Univ Tunis El Manar Natl Engn Sch Tunis RISC Lab Tunis Tunisia

ISBN: (纸本)9783031598906;9783031598883;9783031598876

This research deals with the robustness analysis of a two-degree-of-freedom (2-DoF) exoskeleton-upper system controlled by a model-free adaptive terminal sliding mode with a gravity-compensation. The purpose of this research is to model and monitor flexion/extension movements of the shoulder and elbow. First, the dynamic modelling of the studied system is presented. Then, a model-free adaptive terminal sliding mode with gravity compensation method (MFATSMGC) was established to control the exoskeleton-upper limb system. Next, robustness study of the proposed controller in existence of uncertainties and disturbances was given. Finally, the performance and robustness of the proposed controller are presented based on simulation results.

关键词： Robustness analysis Monte Carlo Modeling Control Exoskeleton-upper limb system Model Free Adaptive Terminal Sliding Mode with gravity compensation controller (MFATSMGC)

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Effect of Hydrogen Doping for ta-C on Friction of ta-C:H Sliding Against Bearing Steel in High Temperature and High Vacuum 5th

Effect of Hydrogen Doping for ta-C on Friction of ta-C:H Sli...

引用

5th International Tribology Symposium of IFToMM (ITS-IFToMM)

作者： Zhang, Ruixi Yasuda, Daiki Umehara, Noritsugu Tokoroyama, Takayuki Nagoya Univ Grad Sch Engn Dept Micronano Mech Sci & Engn Nagoya Aichi 4648603 Japan

ISBN: (纸本)9783031626180;9783031626166;9783031626159

The ta-C coating, characterized by a high fraction of sp3 hybridized structure, was considered as low friction and high wear resistant coatings in oil with friction modifier as lubricant additives. However ta-C showed high friction in high vacuum. Therefore hydrogen contained DLC with CVD was developed and evaluated for low friction in high vacuum. Normally the hardness of CVD hydrogen contained DLC is about 10 GPa. So higher hardness hydrogenated ta-C than 10 GPa can be expected for low friction and high wear resistant in vacuum. Also such new materials should be used at high temperature up to 200 degrees C in high vacuum. In this research, ta-C:H coated bearing steel plates were prepared with Filtered CathodicArc Method (FCVA) with Hydrogen ion irradiationwith various Hydrogen atomic concentration. Their ta-C:H coatings were used for friction tests in atmospheric pressure and high vacuum from 23 to 200 degrees C. After friction results, it can be found that the enough amount of Hydrogen concentration is important for low friction at high vacuum and high temperature as 200 degrees C. Also the transfer films on Steel balls can affect to reduce friction.

关键词： ta-C:H coating friction high temperature high vacuum

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Design of an Under-Actuated Mechanism for Collecting and Cutting Crop Samples in Precision Agriculture 33rd

Design of an Under-Actuated Mechanism for Collecting and Cut...

引用

33rd International Conference on Robotics in Alpe-Adria-Danube Region (RAAD)

作者： Quaglia, Giuseppe Samperi, Luca Baglieri, Lorenzo Colucci, Giovanni Tagliavini, Luigi Botta, Andrea Politecn Torino DIMEAS Dept Mech & Aerosp Engn Corso Duca degli Abruzzi 24 I-10129 Turin Italy

ISBN: (纸本)9783031592591;9783031592577;9783031592560

Automating the processes of sampling and harvesting in precision agriculture is essential to expand the range of potential application scenarios. In this regard, this paper presents the design and development of an under-actuated device for grapevine harvesting and sampling. The tool is intended to be part of a set of tools from which a rover for precision agriculture can choose to perform various tasks. The tool presented in this paper is designed specifically for the gripper of a 7 d.o.f. robotic arm equipped by the rover Agri.Q, a service robot designed for agriculture. However, the design of the tool can be adapted to work with other robotic arm grippers. In this research, the gripper output contact forces and the required cut forces are experimentally measured to clearly define the design requirements of the tool. Then, the functional design of the system is described and a kinematic model of the mechanism is presented. Finally, the tool prototype is presented and tested with green peduncles ranging from 2 mm to 6 mm in diameter.

关键词： SDG 12 Autonomous harvesting Under-actuated mechanism Service robot Precision agriculture

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Study on Load Characteristics of Near-Wall Deep-Water Explosion Under Different Condition Parameters 30th

Study on Load Characteristics of Near-Wall Deep-Water Explos...

引用

30th International Conference on Computational and Experimental Engineering and sciences

作者： Zhong, Zi-Xian Luo, Xiao Chen, Xiao-Peng Hu, Hai-Bao Huang, Xiao Northwestern Polytech Univ Sch Marine Sci & Technol Xian 710072 Shaanxi Peoples R China Jiangsu Univ Sci & Technol Sch Naval Architecture & Ocean Engn Zhenjiang 212100 Jiangsu Peoples R China

ISBN: (纸本)9783031774911;9783031774898;9783031774881

As countries actively carry out deep-sea strategic layouts, depth charges have become underwater sharp tools to attack underwater vehicles. In order to improve the survival protection capability of underwater vehicles and enhance the striking capability of underwater weapons, this paper uses the S-ALE (Structured ALE) method to reveal the influence of explosion source depth and charge type on the propagation and load characteristics of near-wall deep-water explosion through numerical simulation. To verify the correctness of the numerical model, the calculated results are compared with the empirical formulas, and the results are in good agreement. The calculation shows that: both the depth of the explosion source and the type of charge have a great impact on the shock wave load of near-wall deep-water underwater explosion. The peak pressure of the shock wave increases with the depth of the explosion, and the propagation velocity and load characteristics of the shock wave formed by different types of charges are different.

关键词： Deep-water Explosion Shock Wave S-ALE Rigid Wall

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Numerical Simulation of Self-Excited Vibrations in Milling 12th

Numerical Simulation of Self-Excited Vibrations in Milling

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12th International Conference of machine and Industrial Design in Mechanical Engineering

作者： Mladjenovic, Cvijetin Kosarac, Aleksandar Zivkovic, Aleksandar Knezev, Milos Marinkovic, Dejan Ilic, Vojin Mejic, Luka Univ Novi Sad Fac Tech Sci Novi Sad Serbia Univ East Sarajevo Fac Mech Engn East Sarajevo Bosnia & Herceg

ISBN: (纸本)9783031805141;9783031805127;9783031805110

Self-excited vibrations in milling, commonly known as chatter, are undesirable vibrations that occur during the machining process. They result from unstable cutting conditions, often due to factors like tool geometry, cutting speeds, and workpiece material properties. These vibrations negatively impact machining precision, surface finish, tool life, and stability of the machining process in general. To avoid the mentioned negative effects, when defining cutting regimes diagrams are applied, which, depending on the spindle speed and cutting depth, illustrate the boundary between stable and unstable working area of the machine tool from the self-excitation vibrations point of view. These diagrams, known as "stability lobe diagrams," can be defined using mathematical models (analytical or numerical) or through experimental methods (such as the tangent method or sound mapping). This paper presents a newly developed numerical simulation of the milling process which aims to define the limit depth of cut, i.e. the cutting depth at which self-excited vibrations occur. To verify the proposed method, experimental tests of self-excited vibrations during the milling of aluminum Al7075 were carried out at the EMCO ConceptMill 450 machining center.

关键词： Dynamic Behavior of Machining Systems Self-Excited Vibrations Frequency Analysis Stability Lobe Diagram

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An Efficient Mesoscale Modelling of Composite Materials with High Particle Content and Multiple Particle Types 30th

An Efficient Mesoscale Modelling of Composite Materials with...

引用

30th International Conference on Computational and Experimental Engineering and sciences

作者： Hong, Ye Cai, Yongchang Tongji Univ Dept Geotechn Engn Coll Civil Engn Shanghai Peoples R China

ISBN: (纸本)9783031816758;9783031816734;9783031816727

A novel, generic and efficient grid point placement method (GPPM) is developed for mesoscale modelling of composite materials. In the GPPM, grid points are employed to dynamically mark the region occupied by particles and the placement region for subsequent particles. The region within the specimen suitable for generating particles in a certain size segment is provided individually and precisely to increase the probability of success, and complex particle overlap detection can be simplified as judging the grid point state recorded in an array. Therefore, the problems of particle content and computational efficiency existing in conventional modelling methods are well solved. For arbitrary particle shapes, the GPPM has a simple data structure and can directly obtain the corresponding finite element model in ABAQUS, which has a promising application in the study of composite materials. Fully-graded concrete and fibre reinforced concrete were used as examples to validate the efficiency and feasibility of the proposed method.

关键词： Composite materials Mesoscale model Grid point placement method (GPPM) Particles Fully-graded concrete

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Air-Dynamic Measurements on "S" Shape Hydrofoils 12th

Air-Dynamic Measurements on "S" Shape Hydrofoils

引用

12th International Conference of machine and Industrial Design in Mechanical Engineering

作者： Manea, Adriana-Sida Stroita, Daniel-Catalin Bordeasu, Ilare Ghera, Cristian Luca, Alexandru-Nicolae Politehn Univ Timisoara Timisoara Romania

ISBN: (纸本)9783031805141;9783031805127;9783031805110

The "S" shape hydrofoils are commonly used in reversible hydro-machines which can run in both pump and turbine regime. The hydraulic machinery team from "Politehnica" University of Timisoara has the "know how" experience in the design of hydrofoils of hydraulic pumps and turbines. This paper presents the measurement methodology and the experimental results for a "S" type hydrofoil used for the wicket gate of a reversible hydraulic machine. The measurements are done in an open circuit wind tunnel of the Air-dynamic Laboratory of Mechanical Faculty.

关键词： Hydrofoil Wind Tunnel Hydraulic machines

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Defining of a Workspace of the 3-PRPS Type Tripod 8th

Defining of a Workspace of the 3-PRPS Type Tripod

引用

8th IFToMM International Symposium on Robotics and Mechatronics (ISRM)

作者： Baigunchekov, Zhumadil Laribi, Med Amine Carbone, Giuseppe Kaiyrov, Rustem Kassinov, Abzal Al Farabi Kazakh Natl Univ Dept Mech Alma Ata Kazakhstan Univ Poitiers Pprime Inst Dept GMSC ENSMACNRSUPR 3346 F-3346 Poitiers France Univ Calabria Via Bucci Cubo 45C I-87036 Arcavacata Di Rende Italy Karaganda Buketov Univ Karaganda Kazakhstan

ISBN: (纸本)9783031598906;9783031598883;9783031598876

This paper is devoted to define of a workspace of the 3-PRPS type tripod, where P, R and S are prismatic, revolute and spherical kinematic pairs, respectively. This tripod is formed by connecting the moving and fixed platforms through three passive closing kinematic chains of the PRPS type. Prismatic kinematic pairs which are located on the fixed platform and leg are active kinematic pairs. The constant and variable parameters of the tripod characterizing its geometry and kinematics, respectively, are determined. A workspace of the 3-PRPS type tripod is determined on the basis of the solution of the inverse kinematics problem. Numerical results of defining a workspace of the tripod are presented.

关键词： Parallel manipulator Tripod Transformation matrices Workspace

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Performance Testing of an Integrated Car Child Restraint System 9th

Performance Testing of an Integrated Car Child Restraint Sys...

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9th European Conference on Mechanism science (EuCoMeS)

作者： Guerrero-Hernandez, L. A. Torres-SanMiguel, C. R. Flores-Campos, J. A. Silva-Garces, K. N. Ceccarelli, M. Inst Politecn Nacl Escuela Super Ingn Mecan & Elect Secc Estudios Posgrad & Invest Unidad Zacatenco Mexico City 07738 DF Mexico Inst Politecn Nacl Unidad Profes Interdisciplinaria Ingn & Tecnol Av Mexico City 07340 DF Mexico Univ Roma Tor Vergata Dept Surg Sci I-00133 Rome Italy

ISBN: (纸本)9783031672972;9783031672958;9783031672941

This paper focuses on dynamic analysis for the selection of an electric linear actuator for a child restraint system design that is embedded in a sedan-type automobile (E-CRS), according to the United Nations Economic Commission for Europe (UNECE) Regulation number 129. The positions, velocity, acceleration, and forces of the E-CRS are evaluated through a performance analysis also by simulation codes in computer program. An E-CRS mechanism prototype is built using a 3D printerwith ABS plastic material.* Electric linear actuators are selected to operate with a power supply and a bipolar switch for displacement. The results of the dynamic analysis give the required force necessary to obtain two characteristic positions, within which the mechanism moves at a speed of 1 cm/sec, with a force of 453 N.

关键词： Child restraint system Mechanism analysis prototype testing

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Motion Analysis of Rod-Driven Continuum Robots 14th

Motion Analysis of Rod-Driven Continuum Robots

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14th International Conference on the Theory of machines and mechanisms (TMM)

作者： Kuo, I-Hsuan Lin, Cian-Ru Wang, Mien-Li Lee, Jyh-Jone Natl Taiwan Univ Taipei 106 Taiwan

ISBN: (纸本)9783031702532;9783031702518;9783031702501

This paper presents the motion modelling of rod-driven multi-backbone continuum robots via the vector form intrinsic finite element (VFIFE) method. The contact force between the driving rod and the disk is calculated by the contact algorithm and penalty method. Furthermore, the static modeling of the system is achieved by employing a dynamic relaxation algorithm with kinetic damping on the dynamic equations established by VFIFE. Finally, experiments are conducted to validate the simulation results of a single-segment rod-driven continuum robot, while simulations are exclusively performed on a multi-segment variant. The simulation results match well with the experiment ones.

关键词： Continuum robot Rod driven Vector Form Intrinsic Finite Element method Contact algorithm Kinetic damping

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