Design and Experimental Characterization of a Cable-Driven Elbow Assisting Device

2021 ◽  
Vol 15 (1) ◽  
Author(s):  
Med Amine Laribi ◽  
Marco Ceccarelli
Keyword(s):  
Experimental Testing ◽  
Kinematic Model ◽  
Experimental Results ◽  
Experimental Setup ◽  
The Novel ◽  
Experimental Characterization ◽  
Device Design ◽  
Performance Characterization ◽  
Assisting Device

Abstract This paper presents the design and an experimental characterization of CADEL, a cable-driven elbow assisting device. The device design is presented to be portable and user-oriented solution and its kinematic model is formulated for functionality analysis. A first prototype and its experimental setup are discussed with the peculiarities of the novel solutions. Two operation modes are investigated with and without load in experimental testing. The performance characterization and feasibility are discussed referring to both the numerical and experimental results.

Controllable, High Force Amplification Using Elastic Cable Capstans

2012 ◽  
Author(s):  
Gray C. Thomas ◽  
Clayton C. Gimenez ◽  
Erica D. Chin ◽  
Andrew P. Carmedelle ◽  
Aaron M. Hoover
Keyword(s):  
Dynamic Performance ◽  
Experimental Results ◽  
Rotating Drum ◽  
Experimental Characterization ◽  
Experimental Apparatus ◽  
Linear Force ◽  
Low Torque ◽  
Robotic Applications

This paper presents the design and experimental characterization of a continuously variable linear force amplifier based on the theory of capstans. In contrast to traditional capstan amplifiers, the design presented here uses an elastic cable, enabling a control actuator to not only continuously clutch output to a rotating drum but also passively declutch by releasing tension. Our experimental results demonstrate successful declutching at all force amplification ratios up to the limit of our experimental apparatus, 21 — significantly higher than previously published values. A system of distributed capstan amplifiers driven by a central torque source with cable engagement switched by lightweight, low torque actuators has potential to reduce the mass of distal actuators and enable more dynamic performance in robotic applications.

scholarly journals Toward the design of alkynylimidazole fluorophores: computational and experimental characterization of spectroscopic features in solution and in poly(methyl methacrylate)

2015 ◽  
Vol 17 (40) ◽  
pp. 26710-26723 ◽  
Author(s):  
Vincenzo Barone ◽  
Fabio Bellina ◽  
Malgorzata Biczysko ◽  
Julien Bloino ◽  
Teresa Fornaro ◽  
...  
Keyword(s):  
Methyl Methacrylate ◽  
The Novel ◽  
Experimental Characterization ◽  
Solar Concentrators ◽  
Organic Fluorophores ◽  
Poly Methyl Methacrylate ◽  
Luminescent Solar Concentrators ◽  
Integrated Study

Integrated study on the novel organic fluorophores: toward their application in luminescent solar concentrators.

Analytical and experimental characterization of viscous fan clutch performances including thermal dynamics

2016 ◽  
Vol 231 (5) ◽  
pp. 876-891
Author(s):  
Zhihong Yin ◽  
Kegang Zhao ◽  
Wenbin Shangguan ◽  
Liming Song
Keyword(s):  
Mathematical Model ◽  
Laboratory Experiments ◽  
System Development ◽  
Experimental Setup ◽  
Experimental Characterization ◽  
Calculation Algorithm ◽  
Thermal Dynamics ◽  
Proposed Model ◽  
Viscosity Variation

This paper presents an investigation on the performance characterization of viscous fan clutch with double grooves including thermal behaviors. A detailed mathematical model of the fan clutch is established by taking into account the viscosity variation of the viscous fluid with shear radius and temperature, and an iterative algorithm is proposed to calculate the performances of the fan clutch. Laboratory experiments are then carried out on a performance measurement setup for viscous clutch, for validating the proposed mathematical model and calculation method. Based on the verified model and calculation algorithm and the experimental setup, the performances of six alternative viscous fan clutch designs are studied. The combined analytical/experimental results suggest that the clutch performances degrade with the increase of the input speed, and the proposed model and calculate method are valid and can be successfully employed to facilitate the design of new viscous fan clutches as well as control system development, for saving cost and shortening development period.

Experimental Characterization of the Reliability of Multi-Terminal Dual-Damascene Copper Interconnect Trees

2003 ◽  
Vol 766 ◽  
Author(s):  
C. L. Gan ◽  
C.V. Thompson ◽  
K. L. Pey ◽  
W. K. Choi ◽  
C. W. Chang ◽  
...  
Keyword(s):  
Current Density ◽  
Void Nucleation ◽  
Experimental Results ◽  
Experimental Characterization ◽  
Dual Damascene ◽  
Current Densities ◽  
The Common ◽  
Number Of Segments ◽  
Atomic Source

AbstractThe reliability of Cu dual-damascene interconnect trees with 3-terminal (dotted-I), 4-terminal (‘T’) and 5-terminal (‘+’) configurations has been investigated. The lifetime of multiterminal interconnect trees with the same current density through the common middle via was determined to be independent of the number of segments connected at the common junction. Furthermore, our experimental results on dotted-I test structures showed an increase in the reliability of the interconnect tree when the distribution of a same current was not equal in the two connected segments, especially for the cases where one of the segments was acting as a passive reservoir or active source of Cu atoms for the adjoining segment. Due to the low barrier for void nucleation at the Cu/Si3N4 interface, the presence of any small atomic source in neighboring segments will enhance the reliability of a connected segment in which Cu atoms are being drained away. As a consequence, failure can occur in a tree segment which is stressed at significantly lower current densities than more highly stressed adjoining segments.

An Experimental Characterization of Cork Storage Modulus for Cork-Steel Applications in Vibration Attenuation

2010 ◽  
Vol 636-637 ◽  
pp. 1199-1205 ◽  
Author(s):  
Hugo Policarpo ◽  
M.M. Neves ◽  
A.M.R. Ribeiro
Keyword(s):  
Frequency Response ◽  
Storage Modulus ◽  
Force Transducer ◽  
Vibration Response ◽  
Experimental Setup ◽  
Experimental Characterization ◽  
Satisfactory Correlation ◽  
Dynamical Deformation ◽  
Vibration Attenuation

This study presents an experimental characterization of cork storage modulus used to model the vibration response of bars built using alternate layers of cork and steel. In the experimental setup, the specimen was suspended from a fixed support by two thin lines while a shaker was suspended from a mobile support by metallic chains. The shaker was connected to the bar specimen through a force transducer imposing a dynamical deformation that propagates through the specimen. An accelerometer in the opposite extremity of the bar measures the corresponding vibration response and the cork storage modulus is then obtained from the first peak of this frequency response. The proposed methodology successfully characterized the storage modulus of the cork material used in the multilaminated periodic bars. The results obtained illustrate a satisfactory correlation between

Sign in / Sign up

Export Citation Format

Share Document