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design and Control of a 13-DOF Biped Robot Using Human Gait

Design and Control of a 13-DOF Biped Robot Using Human Gait

引用

10th asme biennial conference on engineering systems design and analysis

作者： Naghibi, Reza Tootoonchi, Alireza Akbarzade Ferdowsi Univ Mashhad ME Dept Mashhad Iran

ISBN: (纸本)9780791849170

this paper presents a new biped humanoid robot, as well as control strategies to be implemented for walking and balance recovery. the ultimate design goal was to design the structure to be as close to a lower part of human body as possible. therefore, golden-ratio-based human body proportions and proper number of degrees of freedom of the lower part are used [1]. the biped has 12 actuated DOE in the lower body: three at each hip, one at each knee, two at each ankle as well as 1 additional DOF at its torso. Each degree of freedom is powered by a force controllable actuator. To achieve human like trajectory, human walking data has been used [2]. To insure both stability and human like trajectory, a torque compensator is added to the one DOF at the torso. the Biped is designed in Solid Works and simulated in SimMechanic and COSMOSMotion. the movement of the joints are achieved by motors and harmonic drives. the contact between sole and ground is considered to be elastic and is modelled using spring and damper in horizontal and vertical directions [3]. Finally, control of the biped is performed using a PID control scheme and each of the 13 motors achieve desired human like trajectory.

关键词： Springs Degrees of freedom Dampers Actuators Trajectories (Physics) Robots Torque design Humanoid robots Stability Knee Motors

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EXPERIMENTAL analysis OF SMALL SCALE COGENERATORS BASED ON NATURAL GAS FIRED RECIPROCATING INTERNAL COMBUSTION ENGINE

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10th asme biennial conference on engineering systems design and analysis

作者： Roselli, Carlo Sasso, Maurizio Sibilio, Sergio Tzscheutschler, Peter Univ Sannio Dipartimento Ingn I-82100 Benevento Italy

ISBN: (纸本)9780791849156

the European Union recently established an ambitious target by 2020 that consists of increasing the utilization of renewable energy up to 20%, reducing its overall pollutant emissions to at least 20%, and achieving a primary energy saving of 20% compared to reported 1990 levels. this aim could be reached only with strong effort in different sectors, such as residential, commercial, industry, tertiary, transportation, .... In particular in the European Union a remarkable contribution to energy consumption and CO2 emissions is concentrated in residential and commercial sector. the introduction of more efficient technologies in these sectors could help in achieving the results expected by 2020. An option is given by cogeneration, defined as the combined "production" of electric and/or mechanical and thermal energy starting from single energy source, that could be considered one of the first elements to save primary energy, to avoid network losses and to reduce the greenhouse gas emissions. In particular, our interest will be focused on the microcogeneration (electric power <= 15 kW), which represents a valid and interesting application for residential and light commercial users. the energetic, economic and environmental implications due to the use of small scale cogeneration systems were reported, starting by an experimental research activity performed by the authors and other researchers.

关键词： MCHP microcogeneration experimental analysis energy saving

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Effect of specimen dimensions on mechanical behavior of resistant spot welded aluminium lap joints

Effect of specimen dimensions on mechanical behavior of resi...

引用

10th asme biennial conference on engineering systems design and analysis

作者： Han, L. thornton, M. Chandrasekar, C. Maggs, S. Shergold, M. Univ Warwick Warwick Mfg Grp Coventry CV4 7AL W Midlands England

ISBN: (纸本)9780791849170

A study was carried out to examine the effect of specimen dimensions on mechanical behavior of RSW welded joints. A full factorial design of Experiment (DOE) approach was applied to the experimental process and analysis stages. Aluminium alloy AA5754 sheet in various thicknesses was used to form symmetrical and asymmetrical joints. Single lap shear test geometry with three dimensional changes;width, length and overlap at two-level, was tested throughout the project. the results demonstrated that for both symmetric and asymmetric stacks, the width of the specimen had a statistically significant effect on both failure mechanism and shear strength value of such joints;a strong interaction effect between length and overlap of the specimen on joint shear strength was observed. Although the strength variation is not substantial in engineering terms, the change in failure mechanism is significant and the results are useful in optimization of lap shear test standards and in comparison of joint strength obtained from different investigations with different specimen dimensions. It is also helpful in assisting structural and manufacturing engineers in design and development of RSW of aluminium for application.

关键词： Geometry Optimization Symmetry (Physics) Welded joints Aluminum Shear strength Aluminum alloys Mechanical behavior design Failure mechanisms Engineers Dimensions Shear (Mechanics) Manufacturing

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DYNAMICS OF CVT METAL PUSHING V-BELT CO-SIMULATING WIth FEEDBACK CONTROL AND FINITE ELEMENT analysis

引用

10th asme biennial conference on engineering systems design and analysis

作者： Saito, Toshihiro Honda Res & Dev Co Ltd Automobile R&D Ctr Haga Tochigi 3213393 Japan

ISBN: (纸本)9780791849194

A simulation technology has been developed to predict the transmission efficiency of a metal pushing V-belt and pulleys that make up the drive system of a continuously variable transmission (CVT). When a CVT operates in an actual vehicle, pulley thrust pressure is adjusted by feedback control to maintain a speed ratio. this feedback control has been implemented, for the first time, in an existing simulation that predicts the dynamic behavior of a metal V-belt using explicit structural analysis. the new simulation enables stable control of a target speed ratio when appropriate gains are set for each analysis condition. Using this simulation, the following values can be obtained: 1) pulley thrust pressure that is necessary for maintaining a specified speed ratio but could previously be derived only from physical testing, 2) transmission efficiency of a CVT drive system, consisting of a metal pushing V-belt and pulleys, at each operating condition, and 3) belt friction losses calculated from sliding velocities and friction forces applied to element contact surfaces.

关键词： Finite element analysis Metals Simulation thrust Pulleys V-belts Structural analysis Vehicles Dynamics (Mechanics) Belts Pressure Friction Feedback Testing

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COMPUTATIONAL STUDY OF A TARGET FLUIDIC FLOWMETER

引用

10th asme biennial conference on engineering systems design and analysis

作者： Nowakowski, Andrzej F. Nicolleau, Franck C. G. A. Salim, S. M. Muztaba Univ Sheffield Dept Mech Engn Sheffield Fluid Mech Grp Sheffield S1 3JD S Yorkshire England

ISBN: (纸本)9780791849170

the computational studies on the flow structure, design and performance of a target fluidic flowmeter have been carried out. the computational challenge was to find a universal approach to study a wide range of flow regimes. To this end the Detached Eddy Simulation (DES) approach for unsteady flows was applied. the numerical technique enabled to accurately reproduced three dimensional flow structures in a target fluidic flowmeter. the signal analysis of the obtained results was conducted for a range of Reynolds numbers from laminar case up to 4000. the results show that a number of factors such as meter geometry and aspect ratio can influence the performance of the flow meter significantly. A minimum Reynolds number constraint for the measurements to be accurate was evaluated for various design parameters. the significance of using knife edges which influence boundary layer separation was also established. the experimental data, which were obtained for a prototype of flowmeter setup were used to validate numerical tools in the important area of low Reynolds number flows.

关键词： Reynolds number Flow (Dynamics) Simulation Eddies (Fluid dynamics) Signals Unsteady flow Flowmeters Separation (Technology) design Geometry engineering prototypes Boundary layers

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COUPLED AXIAL-FLEXURAL-TORSIONAL VIBRATION OF INTERNALLY DAMPED TIMOSHENKO FRAMES

引用

10th asme biennial conference on engineering systems design and analysis

作者： Yucel, Adil Arpaci, Alaeddin Tufekci, Ekrem Istanbul Tech Univ Inst Informat TR-34469 Istanbul Turkey

ISBN: (纸本)9780791849163

In this study, free in-plane and out-of-plane bending vibrations of frame structures have been analyzed together with torsional vibration. Axial extension, rotational inertia and shear effects have also been considered. the frame structure has been constructed as having two beams with doubly symmetric cross-sections and connected at any angle to each other. these types of frames frequently appear on ships as bridge wings which are probably the most problematic members experiencing severe vibration. Internal damping has been incorporated into the analyses by using a complex modulus of elasticity. Natural frequencies have been obtained analytically by solving simultaneous linear equations of complex coefficients. A finite element analysis has also been conducted to verify the analytical results. Furthermore, an experimental modal analysis has been carried out and the results have been compared with theoretical ones in tables for various connection angles and damping factors. the agreement among results has been found to be good.

关键词： Finite element analysis Bridges (Structures) Cross section (Physics) Vibration Modal analysis Rotational inertia Shear (Mechanics) Ships Elastic moduli Wings Damping

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Investigating Optimum Procedures Needed to Maintain a Model Satellite's CG Stable about design Point, under Subsystem Configuration Changes

引用

10th asme biennial conference on engineering systems design and analysis

作者： Laatleyli, Hassan Dastoom Abedian, Ali Teimouri, Hessamodin Sharif Univ Technol Dept Aerosp Engn Tehran Iran

ISBN: (纸本)9780791849187

During design, microsatellites are subject to different changes like the changes in weight, location and dimension of parts and elements of subsystems and the payload. these changes should be accumulated by the structure subsystem in a way that some key structural parameters like the center of gravity (CG) and inertia moments remain unchanged. this subject is also important regarding the design of a modular structure of a satellite. In the present study it is tried to accommodate any changes in weight and location of any part(s) and element(s) of a microsatellite by optimum (minimum) rearrangement of other parts on their plane of rest in order to keep the CG and inertia moments unchanged. this is performed by a special mathematics modeling considering the existing constraints. Of course, no addition or subtractions of weight from the remaining parts are assumed. Also, in order to keep the original structural design intact, no movement of the parts except in the close neighborhood of their original location is allowed. At the end, this study shows that it is possible to move other subsystems on some suitable paths as a result of changing one subsystem mass from -100% (omitting that element) to 100% (doubling the weight of that element) to maintain the overall CG position in its previous position.

关键词： design requirements modular satellite design CG analysis nonlinear optimization

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INFLUENCE OF ION IMPLANTATION ON TRIBO AND MECHANICAL BEHAVIOUR OF DUPLEX HARD COATINGS

引用

10th asme biennial conference on engineering systems design and analysis

作者： Skoric, Branko Kakas, Damir Miletic, Aleksandar Univ Novi Sad Ctr Surface Engn & Nanotechnol Novi Sad 21000 Serbia

ISBN: (纸本)9780791849156

In this paper, we present the results of a study of TiN films which are deposited by a Physical Vapor Deposition and Ion Beam Assisted Deposition. In the present investigation the subsequent ion implantation was provided with N2+ ions. the ion implantation was applied to enhance the mechanical properties of surface. In the nano indentation technique, hardness and Young's modulus can be determined by the Oliver and Pharr method. Indentation was performed with CSM Nanohardness Tester. the results are analyzed in terms of load-displacement curves, hardness, Young's modulus, unloading stiffness and elastic recovery the analysis of the indents was performed by Atomic Force Microscope. the stress determination follows the conventional sin(2)psi method, using a X-ray diffractometer. A variety of analytic techniques were used for characterization, such as scratch test, calo test, SEM, AFM, XRD and EDAX therefore, by properly selecting the processing parameters, well-adherent TiN films with high hardness can be obtained on engineering steel substrates, and show a potential for engineering applications. the experimental results indicated that the mechanical hardness is elevated by penetration of nitrogen, whereas the Young's modulus is significantly elevated.

关键词： Ions X-rays Stiffness Displacement Nitrogen Atomic force microscopy engineering systems and industry applications Ion implantation Young's modulus Mechanical behavior Nanoindentation Vapor deposition Mechanical properties Stress Coatings Steel

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Classical and generalized coupled thermoelasticity of a layer

引用

asme 2010 10th biennial conference on engineering systems design and analysis (ESDA2010)

作者： Hosseini Zad, S.K. Eslami, M.R. Department of Mechanical Engineering Amirkabir University of Technology Tehran Iran Academy of Sciences ME Dept. Amirkabir Univ. of Tech. Tehran Iran

ISBN: (纸本)9780791849187

A one-dimensional thermoelastic region is modeled based on the classical and generalized coupled thermoelasticity theories, and a finite element scheme is employed to obtain the field variables directly in the space and time domains. the problem is solved for two different types of boundary conditions (BCs), and the behavior of temperature, displacement and stress waves according to these BCs and based on the classical and generalized coupled thermoelasticity theories are shown and compared with each other. Several characteristics of thermoelastic waves are examined according to this analysis, and comparison between the behavior of classical and generalized coupled thermoelasticity theories in extended period of time is made to examine the damping effects of each theory. © 2010 by asme.

关键词： Elasticity

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A COMBINATORY design MEthODOLOGY DEDICATED TO thE BALL AND ROLLER SCREW DRIVES FOR OPTIMUM design

引用

10th asme biennial conference on engineering systems design and analysis

作者： Dupont, Pierre Schaeffler Belgium Sprl Bvba Belgian Engn Off B-1420 Braine Lalleud Belgium

ISBN: (纸本)9780791849187

Machine-tools, packaging units, lifting systems and also other heavy duty devices (le. used in steel casting technologies) employ advantageously screw drives (balls, re-circulating rollers, and planetary roller drives) as mechanical command elements (f.e. directly coupled to servo drives), especially for their high efficiencies (similar to 87 .. 98%) and "output force to input torque ratio". After a short review of the most important checks (for Static and Endurance Strength, Lift, Shocks resistance and also some Miscellaneous Effects due f.e. to Critical Speeds and Stress Concentrators) it will be described briefly a combinatory design methodology or "heuristics" which takes into account as the technical viability and reliability as well as the economical feasibility of the whole system line (included end bearings and transmission) leading to an "overall safety ratio matrix" and/or to "viability and reliability graphs" helping in such a way the designer to reach an "optimum design" by an overall helicopter view of his/her design(s). In terms of optimization techniques, this user friendly combinatory design methodology could be placed in the field of the "heuristic" ones. An industrial case study will illustrate that presentation. this presentation is also a continuation of the one given for the MS&T09 occurring in PITTSBURGH, USA during the "Charles R. MORIN Memorial Symposium on Failure analysis & Prevention" for the ASM. International.

关键词： Packaging Screws Casting Optimization Torque Failure analysis Shock (Mechanics) Machine tools design Bearings Stress Servo drives Safety Reliability design methodology Rollers Steel

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