scholarly journals Design and Analysis of Force/Moment Sensor for a Robot

10.29007/x5j9 ◽  
2018 ◽  
Author(s):  
Kenal Tandel ◽  
Haresh Patolia ◽  
Dr. Vinay Patel
Keyword(s):  
Working Conditions ◽  
Parametric Analysis ◽  
Low Cost ◽  
Strain Gauges ◽  
Percentage Error ◽  
Torque Sensor ◽  
Ansys Software ◽  
Element Analysis ◽  
Force Moment ◽  
Measurable Range

To safely hold an unidentified object by means of an intelligent hand of robot, the hand has to recognize the weight of it. By attaching six-axis Force/Torque (F/T or Force/Moment) sensor to an intelligent robot’s hand the weight can be calculated by measuring forces Fx, Fy and Fz. Forces should be measured in order to precisely pull and push an object. To securely grasp an unidentified object with an intelligent robot’s gripper, the forces in the gripping direction and in the gravitational direction needs to be detected, but it also requires to perceive the moments to accurately recognize the position of the object in the grippers. A robot joint can be controlled in better way if three forces and three moments exerted at the joint are measured. The available Force/Torque sensors are bulky, not customized and costly. Therefore, it is essential to customize and develop low cost six axis Force/Torque sensor with new appropriate dimensions for an intelligent robot’s joints. Six axis Force/Torque sensor is designed using strain gauge. The strain gauges are selected for Aluminium and its working conditions. The sensor design is based on results of parametric analysis done in ANSYS software to obtain the strain values in the measurable range. The analytical results are compared with Finite Element Analysis (ANSYS) results. The percentage error in deviation is 0.75% maximum.

Finite Element Analysis of the Chassis for Sugarcane Leaf Cutting Off Returning to Field Machinery

2014 ◽  
Vol 915-916 ◽  
pp. 305-308
Author(s):  
Jing Wang ◽  
Yu Xing Wang ◽  
Yan Qin Tang ◽  
Dian Wu Zhang ◽  
Zhen Hua Xu ◽  
...  
Keyword(s):  
Finite Element ◽  
Working Conditions ◽  
Maximum Stress ◽  
Excitation Frequency ◽  
Allowable Stress ◽  
Ansys Software ◽  
Element Analysis ◽  
Stress Contour ◽  
Leaf Cutting ◽  
Design Requirements

By modeling of sugarcane leaf cutting off returning to field machinery chassis and loading, this paper simplifies reasonably several different conditions of the chassis to the two forms. The finite element is used for the solution of the problem by using ANSYS software, solving the node stress contour of the chassis. Compared the maximum stress in the most dangerous working conditions to the allowable stress of the material, the result verifies the chassis strength to meet the design requirements. According to the vibration of the chassis at work, analyzing the first sixth modal of the chassis, and comparing with excitation frequency shows that the design of the chassis avoids the excitation frequency, which does not cause resonance at work. The results show that the chassis meets the design requirements.

scholarly journals Novel Mechanically Fully Decoupled Six-Axis Force-Moment Sensor

Sensors ◽  
2020 ◽  
Vol 20 (2) ◽  
pp. 395 ◽  
Author(s):  
Chyi-Yeu Lin ◽  
Anton Royanto Ahmad ◽  
Getnet Ayele Kebede
Keyword(s):  
Cross Talk ◽  
Experimental Testing ◽  
Beam Theory ◽  
Ring Structure ◽  
Strain Gauges ◽  
Error Performance ◽  
Element Analysis ◽  
Force Moment ◽  
Comparison Of The Results ◽  
Mechanical Decoupling

In this study, a novel six-axis force/moment (F/M) sensor was developed. The sensor has a novel ring structure comprising a cross-beam elastic body with sliding and rotating mechanisms to achieve complete decoupling. The unique sliding and rotating mechanisms can reduce cross-talk effects caused by minimized structural interconnection. The forces Fx, Fy, and Fz and moments Mx, My, and Mz can be measured for the six-axis F/M sensors according to the elastic deformation of strain gauges attached to the cross beam. Herein, we provide detailed descriptions of the mathematical models, model idealizations, model creation, and the mechanical decoupling principle. The paper also presents a theoretical analysis of the strain based on Timoshenko beam theory and the subsequent validation of the analysis results through a comparison of the results with those obtained from a numerical analysis conducted using finite element analysis simulations. The sensor was subjected to experimental testing to obtain the maximum cross-talk errors along the following six axes under different loadings (the errors are presented in parentheses): Fx under SMy (2.12%), Fy under SMx (1.88%), Fz under SMz (2.02%), Mx under SFz (1.15%), My under SFx (1.80%), and Mz under SFx (2.63%). The proposed sensor demonstrated a considerably improved cross-talk error performance compared with existing force sensors.

Use of the Finite Element Analysis Method in Pedodontics

2018 ◽  
Vol 55 (4) ◽  
pp. 666-675
Author(s):  
Mihaela Tanase ◽  
Dan Florin Nitoi ◽  
Marina Melescanu Imre ◽  
Dorin Ionescu ◽  
Laura Raducu ◽  
...  
Keyword(s):  
Finite Element Analysis ◽  
Finite Element ◽  
Structural Model ◽  
Analysis Method ◽  
Ansys Software ◽  
Concentrated Force ◽  
Element Analysis ◽  
Finite Element Analysis Method ◽  
The Finite Element Analysis ◽  
Solid Type

The purpose of this study was to determinate , using the Finite Element Analysis Method, the mechanical stress in a solid body , temporary molar restored with the self-curing GC material. The originality of our study consisted in using an accurate structural model and applying a concentrated force and a uniformly distributed pressure. Molar structure was meshed in a Solid Type 45 and the output data were obtained using the ANSYS software. The practical predictions can be made about the behavior of different restorations materials.

Based on ANSYS Planetary Gear Ransmission Design Analysis

2011 ◽  
Vol 314-316 ◽  
pp. 1218-1221
Author(s):  
Hao Min Huang
Keyword(s):  
Finite Element Analysis ◽  
Finite Element ◽  
Contact Stress ◽  
Planetary Gear ◽  
Design Analysis ◽  
Ansys Software ◽  
Element Analysis ◽  
Planet Gear ◽  
Gear Contact ◽  
Transmission Gear

Conventional methods of design to be completed ordinary hydraulic transmission gear gearbox design, but for such a non-planet-rule entity, and the deformation of the planet-gear contact stress will have a great impact on the planet gear, it will be very difficult According to conventional design. In this paper, ANSYS software to the situation finite element analysis, the planetary gear to simulate modeling study.

Analysis of Hydroelectric Unit’s Upper Bracket Based on Test and FEM

2014 ◽  
Vol 721 ◽  
pp. 131-134
Author(s):  
Mi Mi Xia ◽  
Yong Gang Li
Keyword(s):  
Finite Element Method ◽  
Finite Element ◽  
Element Model ◽  
The Finite Element Method ◽  
Ansys Software ◽  
Element Analysis ◽  
Hydroelectric Unit ◽  
The Finite Element Analysis ◽  
Strain Rosette ◽  
The Finite Element Model

To research the load upper bracket of Francis hydroelectric unit, then established the finite-element model, and analyzed the structure stress of 7 operating condition points with the ANSYS software. By the strain rosette test, acquired the data of stress-strain in the area of stress concentration of the upper bracket. The inaccuracy was considered below 5% by analyzing the contradistinction between the finite-element analysis and the test, and match the engineering precision and the test was reliable. The finite-element method could be used to judge the stress of the upper bracket, and it could provide reference for the Structural optimization and improvement too.

Finite Element Analysis of Drum on the New Type Self-Driven Towing Machine for Cable

2011 ◽  
Vol 55-57 ◽  
pp. 664-669
Author(s):  
Jin Ning Nie ◽  
Hui Wang ◽  
De Feng Xie
Keyword(s):  
Finite Element Analysis ◽  
Finite Element ◽  
Stress Analysis ◽  
Compressive Stress ◽  
Wire Rope ◽  
Ansys Software ◽  
Element Analysis ◽  
Structure Improvement ◽  
Improvement Measures ◽  
New Type

According to the situation that the dual-friction drums on the new type towing machine lack stress analysis when designed, the safety is difficult to test and verify. The pull of wire rope in various positions was derived and calculated, so both compressive stress and tangent friction force generated by the pull of wire rope were calculated. The result made by ANSYS software demonstrates the safety of the left drum which suffers from larger loads, structure improvement measures are put forward for the drum.

Performance of Low-Cost 3D Printer in Medical Application

2021 ◽  
Author(s):  
Nor Aiman Sukindar ◽  
Azib Azhari Awang Dahan ◽  
Sharifah Imihezri Syed Shaharuddin ◽  
Nor Farah Huda Abd Halim
Keyword(s):  
Low Cost ◽  
Medical Application ◽  
Fused Deposition Modelling ◽  
3D Printer ◽  
Layer By Layer ◽  
Total Deformation ◽  
Element Analysis ◽  
Porosity Level ◽  
Fused Deposition ◽  
Printing Parameters

Abstract Fused Deposition Modelling (FDM) is an additive manufacturing (AM) process that produces a physical object directly from a CAD design using layer-by-layer deposition of the filament material that is extruded via a nozzle. In industry, FDM has become one of the most used AM processes for the production of low batch quantity and functional prototypes, due to its safety, efficiency, reliability, low cost, and ability to process manufacturing-grade engineering thermoplastic. Recently, the market is flooded with the availability of low-cost printers produced by numerous companies. This research aims to investigate the effect of different porosity levels on a scaffold structure produced using a low-cost 3D printer. Comparisons of these porous structures were made in terms of Von-Mises strain, total deformation, as well as compressive stress. Various porosity levels were created by varying printing parameters, including layer height, infill density, and shell thickness by slicing the initial solid CAD file using Repetier Host 3D printing software. Finite Element Analysis (FEA) simulation was then performed on the created scaffold structures by using Ansys Workbench 19.2. The simulation result indicates that the greater porosity level will result in higher total deformation of the structure. Meanwhile, the compression test shows that the minimum strength value obtained was favourable at 22 MPa and had exceeded that of the trabecular femur (15 MPa). However, its porosity level (maximum at 52%) was still below that of the minimum threshold of porosity level of 70 percent. However, the printing parameters currently used can be adjusted in the future. Therefore, it was deduced that the low-cost 3D printer offers promising potential to fabricate different porosity structures with multiple outcomes.

Buckling analysis of natural fiber reinforced composites

2021 ◽  
Vol 7 (2) ◽  
pp. 58
Author(s):  
Celal Çakıroğlu ◽  
Gebrail Bekdaş
Keyword(s):  
Composite Plate ◽  
Natural Fiber ◽  
Low Cost ◽  
Natural Fibers ◽  
Experimental Studies ◽  
Fiber Reinforced Composites ◽  
Fiber Types ◽  
Reinforced Composites ◽  
Fiber Reinforced ◽  
Element Analysis

In the recent years natural fiber reinforced composites are increasingly receiving attention from the researchers and engineers due to their mechanical properties comparable to the conventional synthetic fibers and due to their ease of preparation, low cost and density, eco-friendliness and bio-degradability. Natural fibers such as kenaf or flux are being considered as a viable replacement for glass, aramid or carbon. Extensive experimental studies have been carried out to determine the mechanical behavior of different natural fiber types such as the elastic modulus, tensile strength, flexural strength and the Poisson’s ratio. This paper presents a review of the various experimental studies in the field of fiber reinforced composites while summarizing the research outcome about the elastic properties of the major types of natural fiber reinforced composites. Furthermore, the performance of a kenaf reinforced composite plate is demonstrated using finite element analysis and results are compared to a glass fiber reinforced laminated composite plate.

scholarly journals Optimum Multilayer-Graphene-Montmorillonite Composites From Sugar for Thermosolar Coatings Formulations

2017 ◽  
Vol 139 (3) ◽  
Author(s):  
Bàrbara Micó-Vicent ◽  
María López ◽  
Azucena Bello ◽  
Noelia Martínez ◽  
Francisco Martínez-Verdú
Keyword(s):  
Working Conditions ◽  
Low Cost ◽  
Multilayer Graphene ◽  
Optimum Conditions ◽  
Laminar Structure ◽  
Solar Absorptance ◽  
Solar Plant ◽  
Different Temperatures ◽  
Complex Deposition ◽  
Deposition Techniques

Solar thermal coatings are designed to achieve the highest incident solar flux into the receiver of a tower solar plant. These materials are subjected to extreme working conditions of temperature and solar concentrated radiation. Much effort is being made to develop a durable and high absorptive coating that can provide an excellent solar to heat conversion efficiency. Complex deposition techniques (PVD, CVD, electrodeposition, etc.) are developed and tested to achieve solar selectivity. High solar absorptance paints are an alternative technique, that is, easy to apply and implement in the field. In paint, pigments are the compound that provides high absorptance values, whose stability impacts the durability of optical properties. The search for new selective solar pigments for solar receivers is a promising route to improve the efficiency of this technology. In this work, novel nanocomposites were synthesized from low-cost organic materials such as table sugar. Promising results were obtained when intercalated and calcined in the laminar structure of montmorillonite, a type of smectite clay. The pigments were tested in a paint format on metallic coupons at different temperatures to obtain absorptivities above 96% of absorptance after 24 h at 700  °C. Further experiments are still needed to obtain optimum conditions to maximize the coating's absorptivity and durability at high temperature.

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