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.

scholarly journals Design of a Unique Device for Residual Stresses Quantification by the Drilling Method Combining the PhotoStress and Digital Image Correlation

Materials ◽  
2021 ◽  
Vol 14 (2) ◽  
pp. 314
Author(s):  
Miroslav Pástor ◽  
Martin Hagara ◽  
Ivan Virgala ◽  
Adam Kaľavský ◽  
Alžbeta Sapietová ◽  
...  
Keyword(s):  
Digital Image Correlation ◽  
Digital Image ◽  
Experimental Testing ◽  
Digital Processing ◽  
Image Correlation ◽  
Optical Systems ◽  
Hole Drilling ◽  
Element Analysis ◽  
Thin Specimen ◽  
Comparison Of The Results

This paper presents a uniquely designed device combining the hole-drilling technique with two optical systems based on the PhotoStress and digital image correlation (DIC) method, where the digital image correlation system moves with the cutting tool. The authors aimed to verify whether the accuracy of the drilled hole according to ASTM E837-13a standard and the positioning accuracy of the device were sufficient to achieve accurate results. The experimental testing was performed on a thin specimen made from strain sensitive coating PS-1D, which allowed comparison of the results obtained by both methods. Although application of the PhotoStress method allows analysis of the strains at the edge of the cut hole, it requires a lot of experimenter’s practical skills to assess the results correctly. On the other hand, the DIC method allows digital processing of the measured data. However, the problem is not only to determine the data at the edge of the hole, the results also significantly depend on the smoothing levels used. The quantitative comparison of the results obtained was performed using finite element analysis.

scholarly journals Displacement amplification ratio modeling of bridge-type nano-positioners with input displacement loss

2019 ◽  
Vol 10 (1) ◽  
pp. 299-307
Author(s):  
Jinyin Li ◽  
Peng Yan ◽  
Jianming Li
Keyword(s):  
Experimental Testing ◽  
Elastic Beam ◽  
Beam Theory ◽  
Element Analysis ◽  
Compliance Matrix ◽  
Amplification Ratio ◽  
Practical Applications ◽  
Analysis And Design ◽  
Proposed Model ◽  
Bridge Type

Abstract. This paper presents an improved modeling method for bridge-type mechanism by taking the input displacement loss into consideration, and establishes an amplification ratio model of bridge-type mechanism according to compliance matrix method and elastic beam theory. Moreover, the amplification ratio of the designed bridge-type nano-positioner is obtained by taking the guiding mechanism as the external load of bridge-type mechanism. Comparing with existing methods, the proposed model is more accurate, which is further verified by finite element analysis(FEA) and experimental test. The consistency of the results obtained from theoretical model, FEA and experimental testing indicates that the proposed model can accurately predict the amplification characteristics of nano-positioners, which helps the analysis and design of bridge-type nano-positioners in practical applications.

scholarly journals Design of a Compliant Gripper With Multimode Jaws

2018 ◽  
Vol 10 (3) ◽  
Author(s):  
Guangbo Hao ◽  
Haiyang Li ◽  
Abhilash Nayak ◽  
Stephane Caro
Keyword(s):  
Finite Element Analysis ◽  
Finite Element ◽  
Analytical Modeling ◽  
Layer Structure ◽  
Experimental Testing ◽  
Element Analysis ◽  
Operation Modes ◽  
Linear Actuators ◽  
Multiple Operation ◽  
Comparison Of The Results

This paper presents the design of a multimode compliant gripper, using the singularities of the four-bar mechanism with equilateral links. The mobility of the compliant gripper can be reconfigurable to grasp a variety of shapes or adapt to specific requirements. The compliant gripper is a compact and two-layer structure. Two linear actuators are required to enable the multiple operation modes, by the conversion of two pairs of slider-crank mechanisms. A multimode compliant four-bar mechanism is first presented and kinematically analyzed. The design and the kinetostatic modeling of the resulting compliant gripper are then performed. Finally, the analysis of the reconfigurable compliant gripper under different actuation schemes is carried out, including the comparison of the results obtained from analytical modeling, finite element analysis (FEA), and experimental testing.

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.

Natural frequency analysis of a functionally graded rotor-bearing system with a slant crack subjected to thermal gradients

2021 ◽  
Vol 0 (0) ◽  
Author(s):  
Arnab Bose ◽  
Prabhakar Sathujoda ◽  
Giacomo Canale
Keyword(s):  
Finite Element Analysis ◽  
Finite Element ◽  
Power Law ◽  
Beam Theory ◽  
Functionally Graded ◽  
Thermal Gradients ◽  
Element Analysis ◽  
Rotor Bearing ◽  
Natural Frequency Analysis ◽  
Bearing System

Abstract The present work aims to analyze the natural and whirl frequencies of a slant-cracked functionally graded rotor-bearing system using finite element analysis for the flexural vibrations. The functionally graded shaft is modelled using two nodded beam elements formulated using the Timoshenko beam theory. The flexibility matrix of a slant-cracked functionally graded shaft element has been derived using fracture mechanics concepts, which is further used to develop the stiffness matrix of a cracked element. Material properties are temperature and position-dependent and graded in a radial direction following power-law gradation. A Python code has been developed to carry out the complete finite element analysis to determine the Eigenvalues and Eigenvectors of a slant-cracked rotor subjected to different thermal gradients. The analysis investigates and further reveals significant effect of the power-law index and thermal gradients on the local flexibility coefficients of slant-cracked element and whirl natural frequencies of the cracked functionally graded rotor system.

On-Site Experimental Testing to Study the Vibration of Composite Floors

2014 ◽  
Vol 601 ◽  
pp. 231-234
Author(s):  
Cristian Lucian Ghindea ◽  
Dan Cretu ◽  
Monica Popescu ◽  
Radu Cruciat ◽  
Elena Tulei
Keyword(s):  
Dynamic Characteristics ◽  
Experimental Testing ◽  
Concrete Slab ◽  
Human Perception ◽  
Experimental Tests ◽  
International Standards ◽  
Structural Element ◽  
Element Analysis ◽  
Floor Slabs ◽  
Composite Floors

As a general trend, in order to reduce material consumption or to reduce the mass of the structures, composite floor slabs solutions are used to achieve large spans floor slabs. This solutions led to floors sensitive to vibrations induced generally by human activities. As a verification of the design concepts of the composite floors, usually, it is recommended a further examination of the floor after completion by experimental tests. Although the experimental values of the dynamic response of the floor are uniquely determined, the processing can take two directions of evaluation. The first direction consist in determining the dynamic characteristics of the floor and their comparison with the design values. Another way that can be followed in the processing of the experimental results is to consider the human perception and comfort to the vibration on floors. The paper aims to present a case study on a composite floor, with steel beams and concrete slab, tested on-site. Both aspects of data processing are analyzed, in terms of the structural element, and in terms of the effect on human perception and comfort. Experimentally obtained values for the dynamic characteristics of the floor are compared with numerical values from finite element analysis, while the second type of characteristic values are compared with various human comfort threshold values found in international standards.

scholarly journals Dynamic Analysis of Honeycomb Sandwich Beam with Multiple Debonds

2012 ◽  
Vol 2012 ◽  
pp. 1-7 ◽  
Author(s):  
B. Saraswathy ◽  
R. Ramesh Kumar ◽  
Lalu Mangal
Keyword(s):  
Analytical Solution ◽  
Transient Analysis ◽  
Sandwich Beam ◽  
Beam Theory ◽  
Beam Length ◽  
Honeycomb Core ◽  
Element Analysis ◽  
Fast Fourier Transform Analysis ◽  
Honeycomb Sandwich ◽  
Nonlinear Transient

Analytical formulation for the evaluation of frequency of CFRP sandwich beam with debond, following the split beam theory, generally underestimates the stiffness, as the contact between the honeycomb core and the skin during vibration is not considered in the region of debond. The validation of the present analytical solution for multiple-debond size is established through 3D finite element analysis, wherein geometry of honeycomb core is modeled as it is, with contact element introduced in the debond region. Nonlinear transient analysis is followed by fast Fourier transform analysis to obtain the frequency response functions. Frequencies are obtained for two types of model having single debond and double debond, at different spacing between them, with debond size up to 40% of beam length. The analytical solution is validated for a debond length of 15% of the beam length, and with the presence of two debonds of same size, the reduction in frequency with respect to that of an intact beam is the same as that of a single-debond case, when the debonds are well separated by three times the size of debond. It is also observed that a single long debond can result in significant reduction in the frequencies of the beam than multiple debond of comparable length.

Modeling of a One-Sided Bonded and Rigid Constraint Using Beam Theory

2008 ◽  
Vol 75 (3) ◽  
Author(s):  
Peter J. Ryan ◽  
George G. Adams ◽  
Nicol E. McGruer
Keyword(s):  
Boundary Conditions ◽  
Microelectromechanical Systems ◽  
Three Dimensional ◽  
Beam Theory ◽  
Rotational Stiffness ◽  
Element Analysis ◽  
Transverse Loads ◽  
Rigid Constraint ◽  
Dimensional Finite Element ◽  
Three Dimensional Finite Element

In beam theory, constraints can be classified as fixed/pinned depending on whether the rotational stiffness of the support is much greater/less than the rotational stiffness of the freestanding portion. For intermediate values of the rotational stiffness of the support, the boundary conditions must account for the finite rotational stiffness of the constraint. In many applications, particularly in microelectromechanical systems and nanomechanics, the constraints exist only on one side of the beam. In such cases, it may appear at first that the same conditions on the constraint stiffness hold. However, it is the purpose of this paper to demonstrate that even if the beam is perfectly bonded on one side only to a completely rigid constraining surface, the proper model for the boundary conditions for the beam still needs to account for beam deformation in the bonded region. The use of a modified beam theory, which accounts for bending, shear, and extensional deformation in the bonded region, is required in order to model this behavior. Examples are given for cantilever, bridge, and guided structures subjected to either transverse loads or residual stresses. The results show significant differences from the ideal bond case. Comparisons made to a three-dimensional finite element analysis show a good agreement.

Composite Drive Shaft Coupling for Future Rotorcraft: A 3D Finite-Element Analysis

1988 ◽  
Author(s):  
R. N. Margasahayam ◽  
H. S. Faust
Keyword(s):  
Finite Element Analysis ◽  
Finite Element ◽  
Analytical Techniques ◽  
Fe Model ◽  
Design Development ◽  
Element Analysis ◽  
3D Finite Element ◽  
The Finite Element Analysis ◽  
Comparison Of The Results ◽  
3D Finite Element Method

Abstract A finite-element stress analysis of a one-piece, integrated, all-composite shaft and coupling is presented. In addition to a brief discussion of design-driving parameters, some limitations of the analytical techniques used for design development are described. The 3D finite-element method (FEM) was then used to evaluate critical stresses and strains experienced by the shaft coupling. A comparison of the results from the finite-element analysis and those from static bending, axial, and torsional tests conducted on these prototype shafts yielded excellent correlation. Some important considerations in the development of the FE model and the correlation of results with tests, especially in the design of composite materials, are addressed.

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