Pub Date : 2023-12-08DOI: 10.3390/machines11121074
Xianhua Li, Xun Qiu, Fengtao Lin, Sixian Fei, Tao Song
The mechanism parameters of the manipulator not only have a great influence on the size of the working space but also affect flexible performance distribution. Aimed at obtaining a 6 DOF modular manipulator, mechanism parameters were optimized in order to explore the effect of upper arm and forearm dimensions on the end dexterity of the manipulator. First, forward kinematic equations were derived using the DH method, and the Jacobian matrix of the manipulator was solved. Second, three indicators, including the condition number index, structural length index, and global conditioning index, were employed as optimization indicators for the mechanism parameters of the manipulator, and an orthogonal experiment was designed based on the Grey–Taguchi method and robot toolbox. Third, the grey relational analysis method was used to process the experimental results, and the grey relational grade for each group was solved. Last, the variation curve between the grey relational grade and the parameter level of each mechanism was drawn, and optimized mechanical arm mechanism parameters were derived. It was found that although the overall dimension of the manipulator was slightly decreased, as determined via comparing the original and optimized manipulator length, the performance indexes were improved. The results not only verified the correctness of the proposed optimization method but also laid a foundation for subsequent research on the dynamic performance of modular robot systems.
{"title":"Dimensional Optimization of a Modular Robot Manipulator","authors":"Xianhua Li, Xun Qiu, Fengtao Lin, Sixian Fei, Tao Song","doi":"10.3390/machines11121074","DOIUrl":"https://doi.org/10.3390/machines11121074","url":null,"abstract":"The mechanism parameters of the manipulator not only have a great influence on the size of the working space but also affect flexible performance distribution. Aimed at obtaining a 6 DOF modular manipulator, mechanism parameters were optimized in order to explore the effect of upper arm and forearm dimensions on the end dexterity of the manipulator. First, forward kinematic equations were derived using the DH method, and the Jacobian matrix of the manipulator was solved. Second, three indicators, including the condition number index, structural length index, and global conditioning index, were employed as optimization indicators for the mechanism parameters of the manipulator, and an orthogonal experiment was designed based on the Grey–Taguchi method and robot toolbox. Third, the grey relational analysis method was used to process the experimental results, and the grey relational grade for each group was solved. Last, the variation curve between the grey relational grade and the parameter level of each mechanism was drawn, and optimized mechanical arm mechanism parameters were derived. It was found that although the overall dimension of the manipulator was slightly decreased, as determined via comparing the original and optimized manipulator length, the performance indexes were improved. The results not only verified the correctness of the proposed optimization method but also laid a foundation for subsequent research on the dynamic performance of modular robot systems.","PeriodicalId":48519,"journal":{"name":"Machines","volume":"55 16","pages":""},"PeriodicalIF":2.6,"publicationDate":"2023-12-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138588242","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-12-08DOI: 10.3390/machines11121078
Ang Li, Hongjiang Cui, Ying Guan, Jichen Deng, Ying Zhang, Wu Deng
In order to break through the speed bottleneck, researchers envision using tubes to cover high-speed maglev trains and extract some of the air inside the tubes, creating a low-density environment on the ground, greatly reducing the aerodynamic drag of the trains, and in a relatively economical and feasible way, making high subsonic (600 km/h and above) and even supersonic ground transportation possible. The faster the running speed of high-speed trains, the greater the impact of aerodynamic drag on their energy consumption. Studying the aerodynamic characteristics of trains with a speed of 600 km/h can help optimize the aerodynamic shape of the train, reduce aerodynamic drag, and reduce energy consumption. This has positive implications for improving train energy efficiency, reducing energy consumption, and environmental impact. This paper adopts the numerical simulation method to study the drag reduction effect of the plasma arrangement and different excitation speeds on the train set in four positions when the incoming wind speed is 600 km/h, to analyze the mechanism of drag reduction, and then to analyze the combination of working conditions in order to investigate the drag reduction effect of plasma on the vacuum tube train set with an ambient pressure of 10,000 Pa. The findings demonstrate that the plasma induces the directional flow of the gas close to the wall to move the flow separation point backward and delay the separation of the flow, thereby reducing the front and rear differential pressure drag of the train set and lowering the aerodynamic drag coefficient of the entire train. The plasma arrangement is located at the rear of the flow separation point and in close proximity to the flow separation point. The pneumatic drag reduction effect peaks when the excitation speed reaches 0.2 times the train speed and the pneumatic drag reduction ratio is around 0.88%; the pneumatic drag reduction ratio of the rear car peaks when the excitation speed reaches 0.25 times the train speed and the pneumatic drag reduction ratio is 1.62%. The SDBD (Surface Dielectric Barrier Discharge) device is installed at the flow separation point around the nose tip of the rear car.
为了突破速度瓶颈，研究人员设想用管道覆盖高速磁悬浮列车，抽取管道内的部分空气，在地面形成低密度环境，大大降低列车的气动阻力，以相对经济可行的方式，使高亚音速（时速 600 公里以上）甚至超音速地面交通成为可能。高速列车的运行速度越快，空气阻力对其能耗的影响就越大。研究时速 600 公里列车的气动特性有助于优化列车的气动外形，减少气动阻力，降低能耗。这对提高列车能效、降低能耗和环境影响具有积极意义。本文采用数值仿真方法，研究了当来风速为 600 km/h 时，等离子体布置和不同激振速度对列车组四个位置的减阻效果，分析了减阻机理，进而分析了工况组合，以探究等离子体对环境压力为 10,000 Pa 的真空管道列车组的减阻效果。研究结果表明，等离子体可诱导靠近壁面的气体定向流动，使气流分离点后移，延迟气流分离，从而减小列车组的前后压差阻力，降低整个列车的气动阻力系数。等离子体装置位于气流分离点的后部，并靠近气流分离点。当激励速度达到列车速度的 0.2 倍时，气动阻力降低效果达到峰值，气动阻力降低率约为 0.88%；当激励速度达到列车速度的 0.25 倍时，后车的气动阻力降低率达到峰值，气动阻力降低率为 1.62%。在后车厢车头周围的分流点安装了 SDBD（表面介质阻挡放电）装置。
{"title":"Study on Aerodynamic Drag Reduction by Plasma Jets for 600 km/h Vacuum Tube Train Sets","authors":"Ang Li, Hongjiang Cui, Ying Guan, Jichen Deng, Ying Zhang, Wu Deng","doi":"10.3390/machines11121078","DOIUrl":"https://doi.org/10.3390/machines11121078","url":null,"abstract":"In order to break through the speed bottleneck, researchers envision using tubes to cover high-speed maglev trains and extract some of the air inside the tubes, creating a low-density environment on the ground, greatly reducing the aerodynamic drag of the trains, and in a relatively economical and feasible way, making high subsonic (600 km/h and above) and even supersonic ground transportation possible. The faster the running speed of high-speed trains, the greater the impact of aerodynamic drag on their energy consumption. Studying the aerodynamic characteristics of trains with a speed of 600 km/h can help optimize the aerodynamic shape of the train, reduce aerodynamic drag, and reduce energy consumption. This has positive implications for improving train energy efficiency, reducing energy consumption, and environmental impact. This paper adopts the numerical simulation method to study the drag reduction effect of the plasma arrangement and different excitation speeds on the train set in four positions when the incoming wind speed is 600 km/h, to analyze the mechanism of drag reduction, and then to analyze the combination of working conditions in order to investigate the drag reduction effect of plasma on the vacuum tube train set with an ambient pressure of 10,000 Pa. The findings demonstrate that the plasma induces the directional flow of the gas close to the wall to move the flow separation point backward and delay the separation of the flow, thereby reducing the front and rear differential pressure drag of the train set and lowering the aerodynamic drag coefficient of the entire train. The plasma arrangement is located at the rear of the flow separation point and in close proximity to the flow separation point. The pneumatic drag reduction effect peaks when the excitation speed reaches 0.2 times the train speed and the pneumatic drag reduction ratio is around 0.88%; the pneumatic drag reduction ratio of the rear car peaks when the excitation speed reaches 0.25 times the train speed and the pneumatic drag reduction ratio is 1.62%. The SDBD (Surface Dielectric Barrier Discharge) device is installed at the flow separation point around the nose tip of the rear car.","PeriodicalId":48519,"journal":{"name":"Machines","volume":"253 9","pages":""},"PeriodicalIF":2.6,"publicationDate":"2023-12-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139011474","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-12-08DOI: 10.3390/machines11121076
Samet Yavuz, Selcuk Himmetoglu
In self-driving vehicles, passengers can set their seats in an unconventional seating position, such as rear-facing. Sitting in such an orientation can increase the risk of whiplash in the head-and-neck system in a frontal impact, as frontal crashes usually have higher severities compared with rear-end crashes. This paper shows that a forward-facing front seat optimised for rear-impact protection needs to be redesigned to be used as a rear-facing seat. In the second and main part of this paper, a restraint system for rear-facing car seats is developed, and frontal impact simulations with 64 km/h of delta-V are used to evaluate its performance. The designed seating system comprises two rigid torso plates, a fixed recliner and an energy absorber under the seat pan. Without using the developed restraint system, the 50th percentile male human model is exposed to neck shear forces exceeding 600 N. With the developed restraint system, neck shear forces are less than 350 N in frontal impacts with 64 km/h of delta-V. Apart from whiplash, the risk of head, chest, lower extremity and lower back injuries are also evaluated. The results confirm that the developed restraint system successfully protects the occupant since all assessment criteria values are lower than the injury assessment reference values.
在自动驾驶汽车中，乘客可以将座位设置在一个非常规的座位位置，比如朝后。这样的坐姿会增加头部和颈部系统在正面碰撞中扭伤的风险，因为正面碰撞通常比追尾碰撞更严重。本文表明，一个面向前的后排座椅优化后的冲击保护需要重新设计作为一个面向后的座椅。在论文的第二部分，也是正文部分，开发了一种面向后置汽车座椅的约束系统，并利用64 km/h的delta-V进行了正面碰撞仿真，对其性能进行了评价。所设计的座椅系统包括两个刚性躯干板，一个固定的躺椅和一个能量吸收器下的座位盘。在未使用开发的约束系统的情况下，第50百分位男性人体模型暴露在超过600 N的颈部剪切力下，使用开发的约束系统，在64 km/h δ v的正面碰撞中颈部剪切力小于350 N。除了鞭打外，还评估了头部、胸部、下肢和下背部受伤的风险。结果表明，所开发的约束系统对乘员的保护是成功的，所有的评估标准值都低于伤害评估参考值。
{"title":"Development of a Restraint System for Rear-Facing Car Seats","authors":"Samet Yavuz, Selcuk Himmetoglu","doi":"10.3390/machines11121076","DOIUrl":"https://doi.org/10.3390/machines11121076","url":null,"abstract":"In self-driving vehicles, passengers can set their seats in an unconventional seating position, such as rear-facing. Sitting in such an orientation can increase the risk of whiplash in the head-and-neck system in a frontal impact, as frontal crashes usually have higher severities compared with rear-end crashes. This paper shows that a forward-facing front seat optimised for rear-impact protection needs to be redesigned to be used as a rear-facing seat. In the second and main part of this paper, a restraint system for rear-facing car seats is developed, and frontal impact simulations with 64 km/h of delta-V are used to evaluate its performance. The designed seating system comprises two rigid torso plates, a fixed recliner and an energy absorber under the seat pan. Without using the developed restraint system, the 50th percentile male human model is exposed to neck shear forces exceeding 600 N. With the developed restraint system, neck shear forces are less than 350 N in frontal impacts with 64 km/h of delta-V. Apart from whiplash, the risk of head, chest, lower extremity and lower back injuries are also evaluated. The results confirm that the developed restraint system successfully protects the occupant since all assessment criteria values are lower than the injury assessment reference values.","PeriodicalId":48519,"journal":{"name":"Machines","volume":"18 6","pages":""},"PeriodicalIF":2.6,"publicationDate":"2023-12-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138589975","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
In the grinding process of complex-shaped cast workpieces, discrepancies between the workpiece’s contours and their corresponding three-dimensional models frequently lead to deviations in the machining trajectory, resulting in instances of under-grinding or over-grinding. Addressing this challenge, this study introduces an advanced robotic grinding force automatic tracking technique, leveraging a combination of deep neural networks and genetic algorithms. Harnessing the capability of force sensing, our method dynamically recalibrates the grinding path, epitomizing truly flexible grinding. Initially, in line with the prerequisites for force and pose tracking, an impedance control strategy was developed, integrating pose deviations with force dynamics. Subsequently, to enhance steady-state force tracking, we employed a genetic algorithm to compensate for force discrepancies caused by positional errors. This was built upon the foundational concepts of the three-dimensional model, impedance control, and environmental parameter estimation, leading to an optimized grinding trajectory. Following tracking tests, it was observed that the grinding’s normal force was consistently controlled within the bracket of 20 ± 2.5 N. To further substantiate our methodology, a specialized experimental platform was established for grinding complex-shaped castings. Optimized strategies were employed under anticipated forces of 5 N, 10 N, and 15 N for the grinding tests. The results indicated that the contact forces during the grinding process remained stable at 5 ± 1 N, 10 ± 1.5 N, and 15 ± 2 N. When juxtaposed with conventional teaching grinding methods, our approach manifested a reduction in grinding forces by 71.4%, 70%, and 75%, respectively. Post-grinding, the workpieces presented a pronounced enhancement in surface texture, exhibiting a marked increase in surface uniformity. Surface roughness metrics, originally recorded at 17.5 μm, 17.1 μm, and 18.7 μm, saw significant reductions to 1.5 μm, 1.6 μm, and 1.4 μm, respectively, indicating reductions by 76%, 73%, and 78%. Such outcomes not only meet the surface finishing standards for complex-shaped castings but also offer an efficacious strategy for robot-assisted flexible grinding.
{"title":"Research on a Method of Robot Grinding Force Tracking and Compensation Based on Deep Genetic Algorithm","authors":"Minghui Meng, Chuande Zhou, Zhongliang Lv, Lingbo Zheng, Wei Feng, Ting Wu, Xuewei Zhang","doi":"10.3390/machines11121075","DOIUrl":"https://doi.org/10.3390/machines11121075","url":null,"abstract":"In the grinding process of complex-shaped cast workpieces, discrepancies between the workpiece’s contours and their corresponding three-dimensional models frequently lead to deviations in the machining trajectory, resulting in instances of under-grinding or over-grinding. Addressing this challenge, this study introduces an advanced robotic grinding force automatic tracking technique, leveraging a combination of deep neural networks and genetic algorithms. Harnessing the capability of force sensing, our method dynamically recalibrates the grinding path, epitomizing truly flexible grinding. Initially, in line with the prerequisites for force and pose tracking, an impedance control strategy was developed, integrating pose deviations with force dynamics. Subsequently, to enhance steady-state force tracking, we employed a genetic algorithm to compensate for force discrepancies caused by positional errors. This was built upon the foundational concepts of the three-dimensional model, impedance control, and environmental parameter estimation, leading to an optimized grinding trajectory. Following tracking tests, it was observed that the grinding’s normal force was consistently controlled within the bracket of 20 ± 2.5 N. To further substantiate our methodology, a specialized experimental platform was established for grinding complex-shaped castings. Optimized strategies were employed under anticipated forces of 5 N, 10 N, and 15 N for the grinding tests. The results indicated that the contact forces during the grinding process remained stable at 5 ± 1 N, 10 ± 1.5 N, and 15 ± 2 N. When juxtaposed with conventional teaching grinding methods, our approach manifested a reduction in grinding forces by 71.4%, 70%, and 75%, respectively. Post-grinding, the workpieces presented a pronounced enhancement in surface texture, exhibiting a marked increase in surface uniformity. Surface roughness metrics, originally recorded at 17.5 μm, 17.1 μm, and 18.7 μm, saw significant reductions to 1.5 μm, 1.6 μm, and 1.4 μm, respectively, indicating reductions by 76%, 73%, and 78%. Such outcomes not only meet the surface finishing standards for complex-shaped castings but also offer an efficacious strategy for robot-assisted flexible grinding.","PeriodicalId":48519,"journal":{"name":"Machines","volume":"56 17","pages":""},"PeriodicalIF":2.6,"publicationDate":"2023-12-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138588206","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-12-08DOI: 10.3390/machines11121077
Chao Jia, Bingquan Li, Junhong Xu
This study proposes a double-crown tooth surface modification technology that improves the load-carrying capacity of non-orthogonal helical tooth surface gears. The tooth modification is determined by a modified rack-cutter, and its feed motion is related to an intentionally designed transmission error. The novelty of the tooth modification design is that the transmission error can be pre-designed. First, changing the tooth profile of the tool enables preliminary modification along the tooth profile direction; second, by modifying the interaction between the tool and the machined gear, subsequent fine adjustments are made to the contact path. This two-stage tooth modification strategy not only retains the advantages of the traditional method but also significantly improves the balance of the load distribution on the tooth surface through an original contact path modification strategy. Through systematic tooth contact analysis (TCA) and loaded tooth contact analysis (LTCA), it was verified that the new method reduces contact stress and tooth root bending stress and improves the gear’s resistance to misalignment errors. This research provides the basis and motivation for further exploring and improving this tooth profile modification technology to solve the challenges faced by more complex gear systems.
{"title":"A Novel Tooth Modification Methodology for Improving the Load-Bearing Capacity of Non-Orthogonal Helical Face Gears","authors":"Chao Jia, Bingquan Li, Junhong Xu","doi":"10.3390/machines11121077","DOIUrl":"https://doi.org/10.3390/machines11121077","url":null,"abstract":"This study proposes a double-crown tooth surface modification technology that improves the load-carrying capacity of non-orthogonal helical tooth surface gears. The tooth modification is determined by a modified rack-cutter, and its feed motion is related to an intentionally designed transmission error. The novelty of the tooth modification design is that the transmission error can be pre-designed. First, changing the tooth profile of the tool enables preliminary modification along the tooth profile direction; second, by modifying the interaction between the tool and the machined gear, subsequent fine adjustments are made to the contact path. This two-stage tooth modification strategy not only retains the advantages of the traditional method but also significantly improves the balance of the load distribution on the tooth surface through an original contact path modification strategy. Through systematic tooth contact analysis (TCA) and loaded tooth contact analysis (LTCA), it was verified that the new method reduces contact stress and tooth root bending stress and improves the gear’s resistance to misalignment errors. This research provides the basis and motivation for further exploring and improving this tooth profile modification technology to solve the challenges faced by more complex gear systems.","PeriodicalId":48519,"journal":{"name":"Machines","volume":"132 ","pages":""},"PeriodicalIF":2.6,"publicationDate":"2023-12-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139010722","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-12-07DOI: 10.3390/machines11121073
Georg Quinz, Gregor Überwimmer, M. Klanner, K. Ellermann
The increasing use of high-speed machinery leads to a growing demand for efficient balancing methods for flexible rotors. Conventional balancing methods are costly and time-consuming since they require multiple trial runs. For this reason, recent research focuses on model-based balancing methods, which substitute measurements with simulations. This work presents and examines a model-based modal balancing method, which utilizes the Numerical Assembly Technique (NAT) for the in situ balancing of warped rotors with flexible behaviour. NAT is a successive modification of discrete–continuous modelling that leads to analytical harmonic solutions and is very computationally efficient. In this version of NAT, internal damping is also included with a viscoelastic material model using fractional time derivatives. The modal balancing procedure is adapted to handle measurements outside of the critical speeds and the effect of the pre-bend on the rotor. The accuracy of the simulations is shown by comparing measured mode shapes and eigenvalues with values calculated with NAT. Furthermore, the first two modes of a rotor test bed are successfully balanced without trial runs.
{"title":"Modal Balancing of Warped Rotors without Trial Runs Using the Numerical Assembly Technique","authors":"Georg Quinz, Gregor Überwimmer, M. Klanner, K. Ellermann","doi":"10.3390/machines11121073","DOIUrl":"https://doi.org/10.3390/machines11121073","url":null,"abstract":"The increasing use of high-speed machinery leads to a growing demand for efficient balancing methods for flexible rotors. Conventional balancing methods are costly and time-consuming since they require multiple trial runs. For this reason, recent research focuses on model-based balancing methods, which substitute measurements with simulations. This work presents and examines a model-based modal balancing method, which utilizes the Numerical Assembly Technique (NAT) for the in situ balancing of warped rotors with flexible behaviour. NAT is a successive modification of discrete–continuous modelling that leads to analytical harmonic solutions and is very computationally efficient. In this version of NAT, internal damping is also included with a viscoelastic material model using fractional time derivatives. The modal balancing procedure is adapted to handle measurements outside of the critical speeds and the effect of the pre-bend on the rotor. The accuracy of the simulations is shown by comparing measured mode shapes and eigenvalues with values calculated with NAT. Furthermore, the first two modes of a rotor test bed are successfully balanced without trial runs.","PeriodicalId":48519,"journal":{"name":"Machines","volume":"41 2","pages":""},"PeriodicalIF":2.6,"publicationDate":"2023-12-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138593807","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-12-06DOI: 10.3390/machines11121072
Xiaoyu Huang, E. Rendon-Morales, R. Aviles-Espinosa
In this paper, the design and experimental evaluation of a parallel robotic system based on a linear delta geometry is presented. The design considers the requirements for high-precision applications including workspace, motion resolution, and payload. The entire design process includes robot kinematics, control, and optimization, resulting in the demonstration of a working device. The robot structure offers a versatile and simplified design when compared with state-of-the-art devices being able to be adapted to perform different tasks while keeping the advantages of high precision with reduced complexity. The presented robot prototype was constructed and evaluated experimentally through three proof-of-concept experiments mimicking tasks requiring high motion precision such as microsurgery, semiconductor testing, and optical device alignment. The obtained results in the three experimental scenarios validate that the here-proposed design can achieve an average motion precision of ~3.3 ± 0.3 μm with varying load conditions, thus confirming its potential to be used for high-precision tasks in industrial and medical settings.
{"title":"ROMI: Design and Experimental Evaluation of a Linear Delta Robotic System for High-Precision Applications","authors":"Xiaoyu Huang, E. Rendon-Morales, R. Aviles-Espinosa","doi":"10.3390/machines11121072","DOIUrl":"https://doi.org/10.3390/machines11121072","url":null,"abstract":"In this paper, the design and experimental evaluation of a parallel robotic system based on a linear delta geometry is presented. The design considers the requirements for high-precision applications including workspace, motion resolution, and payload. The entire design process includes robot kinematics, control, and optimization, resulting in the demonstration of a working device. The robot structure offers a versatile and simplified design when compared with state-of-the-art devices being able to be adapted to perform different tasks while keeping the advantages of high precision with reduced complexity. The presented robot prototype was constructed and evaluated experimentally through three proof-of-concept experiments mimicking tasks requiring high motion precision such as microsurgery, semiconductor testing, and optical device alignment. The obtained results in the three experimental scenarios validate that the here-proposed design can achieve an average motion precision of ~3.3 ± 0.3 μm with varying load conditions, thus confirming its potential to be used for high-precision tasks in industrial and medical settings.","PeriodicalId":48519,"journal":{"name":"Machines","volume":"59 7","pages":""},"PeriodicalIF":2.6,"publicationDate":"2023-12-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138596209","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-12-06DOI: 10.3390/machines11121071
James L. Williamson, Glen A. Lichtwark, Taylor J. M. Dick
Humans and animals navigate complex and variable terrain in day-to-day life. Wearable assistive exoskeletons interact with biological tissues to augment movement. Yet, our understanding of how these devices impact the biomechanics of movement beyond steady-state environments remains limited. We investigated how passive ankle exoskeletons influence mechanical energetics and neuromuscular control of the lower-limb during level, incline, and decline walking. We collected kinematic and kinetic measures to determine ankle, knee, and hip mechanics and surface electromyography to characterize muscle activation of lower-limb muscles while participants walked on level, incline, and decline surfaces (0°, +5°, and −5°) with exoskeletons of varying stiffnesses (0–280 Nm rad−1). Our results demonstrate that walking on incline surfaces with ankle exoskeletons was associated with increased negative work and power at the knee and increased positive work and power at the hip. These alterations in joint energetics may be linked to an additional requirement to load the springy exoskeleton in incline conditions. Decline walking with ankle exoskeletons had no influence on knee or hip energetics, likely owing to disrupted exoskeleton clutch actuation. To effectively offload the musculoskeletal system during walking on sloped surfaces, alterations to passive ankle exoskeleton clutch design are necessary.
人类和动物在日常生活中应对复杂多变的地形。可穿戴的辅助外骨骼与生物组织相互作用以增强运动。然而，我们对这些设备如何影响超出稳态环境的运动生物力学的理解仍然有限。我们研究了被动踝关节外骨骼在水平行走、倾斜行走和下降行走过程中如何影响下肢的机械能量学和神经肌肉控制。我们收集了运动学和动力学测量来确定踝关节、膝关节和髋关节力学，并收集了表面肌电图来表征参与者在水平、倾斜和下降表面(0°、+5°和- 5°)上行走时下肢肌肉的肌肉激活情况，外骨骼的刚度(0 - 280 Nm rad - 1)各不相同。我们的研究结果表明，在倾斜的表面上行走，踝关节外骨骼会增加膝盖的负功和力量，增加臀部的正功和力量。关节能量学的这些变化可能与在倾斜条件下加载弹性外骨骼的额外要求有关。踝关节外骨骼的衰退行走对膝关节或髋关节的能量没有影响，可能是由于外骨骼的离合器驱动被破坏。为了有效地卸载肌肉骨骼系统在斜坡上行走时，改变被动脚踝外骨骼离合器设计是必要的。
{"title":"Exploring the Impact of Passive Ankle Exoskeletons on Lower-Limb Neuromechanics during Walking on Sloped Surfaces: Implications for Device Design","authors":"James L. Williamson, Glen A. Lichtwark, Taylor J. M. Dick","doi":"10.3390/machines11121071","DOIUrl":"https://doi.org/10.3390/machines11121071","url":null,"abstract":"Humans and animals navigate complex and variable terrain in day-to-day life. Wearable assistive exoskeletons interact with biological tissues to augment movement. Yet, our understanding of how these devices impact the biomechanics of movement beyond steady-state environments remains limited. We investigated how passive ankle exoskeletons influence mechanical energetics and neuromuscular control of the lower-limb during level, incline, and decline walking. We collected kinematic and kinetic measures to determine ankle, knee, and hip mechanics and surface electromyography to characterize muscle activation of lower-limb muscles while participants walked on level, incline, and decline surfaces (0°, +5°, and −5°) with exoskeletons of varying stiffnesses (0–280 Nm rad−1). Our results demonstrate that walking on incline surfaces with ankle exoskeletons was associated with increased negative work and power at the knee and increased positive work and power at the hip. These alterations in joint energetics may be linked to an additional requirement to load the springy exoskeleton in incline conditions. Decline walking with ankle exoskeletons had no influence on knee or hip energetics, likely owing to disrupted exoskeleton clutch actuation. To effectively offload the musculoskeletal system during walking on sloped surfaces, alterations to passive ankle exoskeleton clutch design are necessary.","PeriodicalId":48519,"journal":{"name":"Machines","volume":"15 12","pages":""},"PeriodicalIF":2.6,"publicationDate":"2023-12-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138597178","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-12-06DOI: 10.3390/machines11121070
L. Hrabovský, Eliška Nováková, Štěpán Pravda, Daniel Kurač, Tomáš Machálek
This paper presents the basic structural parts, a 3D model, and the overall design of a laboratory machine, which was created to detect vibrations generated by the casing of a conveyor roller rotating at different speeds. The intention of the authors was to verify whether plastic brackets inserted into the structurally modified trestles of a fixed conveyor idler can reduce the vibration values transmitted from the rotating conveyor roller to the trestle of a fixed idler. Experimental vibration measurements taken on the non-rotating parts of conveyor rollers, performed on a laboratory machine according to ISO 10816, are suitable for characterizing their operating conditions with regard to trouble-free operation. The aim of this paper is to detect the vibrations of a rotating conveyor roller on a laboratory machine in the defined places of a fixed conveyor idler and also on the steel frame of a laboratory machine that represents the supporting track of a belt conveyor. Vibrations detected by piezoelectric acceleration sensors were recorded by a measuring apparatus and displayed in the environment of Dewesoft X software (version 10). The measurements show that the vibration values grow with the increasing speed of the conveyor roller rotation. Experimental measurements have proven the correctness of the assumption that the vibrations transmitted to the trestle of a fixed conveyor idler are lower by up to 40% when using plastic brackets into which the axle of the conveyor roller is attached, compared to the solution where the axle of the conveyor roller is inserted into the notches of a steel trestle.
{"title":"The Reduction of Rotating Conveyor Roller Vibrations via the Use of Plastic Brackets","authors":"L. Hrabovský, Eliška Nováková, Štěpán Pravda, Daniel Kurač, Tomáš Machálek","doi":"10.3390/machines11121070","DOIUrl":"https://doi.org/10.3390/machines11121070","url":null,"abstract":"This paper presents the basic structural parts, a 3D model, and the overall design of a laboratory machine, which was created to detect vibrations generated by the casing of a conveyor roller rotating at different speeds. The intention of the authors was to verify whether plastic brackets inserted into the structurally modified trestles of a fixed conveyor idler can reduce the vibration values transmitted from the rotating conveyor roller to the trestle of a fixed idler. Experimental vibration measurements taken on the non-rotating parts of conveyor rollers, performed on a laboratory machine according to ISO 10816, are suitable for characterizing their operating conditions with regard to trouble-free operation. The aim of this paper is to detect the vibrations of a rotating conveyor roller on a laboratory machine in the defined places of a fixed conveyor idler and also on the steel frame of a laboratory machine that represents the supporting track of a belt conveyor. Vibrations detected by piezoelectric acceleration sensors were recorded by a measuring apparatus and displayed in the environment of Dewesoft X software (version 10). The measurements show that the vibration values grow with the increasing speed of the conveyor roller rotation. Experimental measurements have proven the correctness of the assumption that the vibrations transmitted to the trestle of a fixed conveyor idler are lower by up to 40% when using plastic brackets into which the axle of the conveyor roller is attached, compared to the solution where the axle of the conveyor roller is inserted into the notches of a steel trestle.","PeriodicalId":48519,"journal":{"name":"Machines","volume":"66 1","pages":""},"PeriodicalIF":2.6,"publicationDate":"2023-12-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138595834","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-12-05DOI: 10.3390/machines11121069
Aashish Shaju, Steve S. Southward, Mehdi Ahmadian
This article focuses on the development and assessment of a PID-based computationally cost-efficient longitudinal control algorithm for platooning trucks. The study employs a linear controller with a nested architecture, wherein the inner loop regulates relative velocities while the outer loop governs inter-vehicle distances within platoon vehicles. The design of the proposed PID controller entails a comprehensive focus on system identification, particularly emphasizing actuation dynamics. The simulation framework used in this study has been established through the integration of TruckSim® and Simulink®, resulting in a co-simulation environment. Simulink® serves as the platform for control action implementation, while TruckSim® simulates the vehicle’s dynamic behavior, thereby closely replicating real world conditions. The significant effort in fine-tuning the PID controller is described in detail, including the system identification of the linearized longitudinal dynamic model of the truck. The implementation is followed by an extensive series of simulation tests, systematically evaluating the controller’s performance, stability, and robustness. The results verify the effectiveness of the proposed controller in various leading truck operational scenarios. Furthermore, the controller’s robustness to large fluctuations in road grade and payload weight, which is commonly experienced in commercial vehicles, is evaluated. The simulation results indicate the controller’s ability to compensate for changes in both road grade and payload. Additionally, an initial assessment of the controller’s efficiency is conducted by comparing the commanded control efforts (total torque on wheels) along with the total fuel consumed. This initial analysis suggests that the controller exhibits minimal aggressive tendencies.
{"title":"PID-Based Longitudinal Control of Platooning Trucks","authors":"Aashish Shaju, Steve S. Southward, Mehdi Ahmadian","doi":"10.3390/machines11121069","DOIUrl":"https://doi.org/10.3390/machines11121069","url":null,"abstract":"This article focuses on the development and assessment of a PID-based computationally cost-efficient longitudinal control algorithm for platooning trucks. The study employs a linear controller with a nested architecture, wherein the inner loop regulates relative velocities while the outer loop governs inter-vehicle distances within platoon vehicles. The design of the proposed PID controller entails a comprehensive focus on system identification, particularly emphasizing actuation dynamics. The simulation framework used in this study has been established through the integration of TruckSim® and Simulink®, resulting in a co-simulation environment. Simulink® serves as the platform for control action implementation, while TruckSim® simulates the vehicle’s dynamic behavior, thereby closely replicating real world conditions. The significant effort in fine-tuning the PID controller is described in detail, including the system identification of the linearized longitudinal dynamic model of the truck. The implementation is followed by an extensive series of simulation tests, systematically evaluating the controller’s performance, stability, and robustness. The results verify the effectiveness of the proposed controller in various leading truck operational scenarios. Furthermore, the controller’s robustness to large fluctuations in road grade and payload weight, which is commonly experienced in commercial vehicles, is evaluated. The simulation results indicate the controller’s ability to compensate for changes in both road grade and payload. Additionally, an initial assessment of the controller’s efficiency is conducted by comparing the commanded control efforts (total torque on wheels) along with the total fuel consumed. This initial analysis suggests that the controller exhibits minimal aggressive tendencies.","PeriodicalId":48519,"journal":{"name":"Machines","volume":"24 5","pages":""},"PeriodicalIF":2.6,"publicationDate":"2023-12-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138600959","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
京公网安备 11010802042870号
京ICP备2023020795号-1
扫码关注我们
求助内容：
应助结果提醒方式：