scholarly journals Kinetostatic Nonlinear Stiffness Characteristic Generation Using the Kinematic Singularity of Planar Linkages

2019 ◽  
Author(s):  
Baokun Li ◽  
Guangbo Hao
Keyword(s):  
Nonlinear Stiffness ◽  
Kinematic Singularity ◽  
Stiffness Characteristic ◽  
Planar Linkages

A Study on Nonlinear Stiffness Characteristic of Air Spring for a Bus

2002 ◽  
Author(s):  
Hongwei Liu ◽  
Dejun Zhuang ◽  
Yi Lin ◽  
Wangyu Wang ◽  
Fengjun Zhang ◽  
...  
Keyword(s):  
Nonlinear Stiffness ◽  
Air Spring ◽  
Stiffness Characteristic

Advanced Method for Semi-Rigid Joints Design

2015 ◽  
Vol 725-726 ◽  
pp. 710-715 ◽  
Author(s):  
Nikolai Vatin ◽  
Ruslan Bagautdinov ◽  
Konstantin Andreev
Keyword(s):  
Design Process ◽  
Nonlinear Stiffness ◽  
Safety Factors ◽  
Advanced Method ◽  
Stiffness Characteristic ◽  
Rigid Joints

In this paper was presented analysis of the background and was found the most appropriate ways to consider joints stiffness. The design process algorithm is proposed in order to take into account nonlinear stiffness characteristic, complex of economic, ecologic and safety factors for the different joint types.

scholarly journals Design of 3D printable prosthetic foot to implement nonlinear stiffness behavior of human toe joint based on finite element analysis

2021 ◽  
Vol 11 (1) ◽  
Author(s):  
Hui-Jin Um ◽  
Heon-Su Kim ◽  
Woolim Hong ◽  
Hak-Sung Kim ◽  
Pilwon Hur
Keyword(s):  
Finite Element Analysis ◽  
Finite Element ◽  
Nonlinear Stiffness ◽  
Element Analysis ◽  
Shape Factors ◽  
Prosthetic Foot ◽  
Human Foot ◽  
Stiffness Characteristic ◽  
General Feeling ◽  
Foot Function

AbstractToe joint is known as one of the critical factors in designing a prosthetic foot due to its nonlinear stiffness characteristic. This stiffness characteristic provides a general feeling of springiness in the toe-off and it also affects the ankle kinetics. In this study, the toe part of the prosthetic foot was designed to improve walking performance. The toe joint was implemented as a single part suitable for 3D printing. The various shape factors such as curved shape, bending space, auxetic structure, and bending zone were applied to mimic human foot characteristics. The finite element analysis (FEA) was conducted to simulate terminal stance (from heel-off to toe-off) using the designed prosthetic foot. To find the structure with characteristics similar to the human foot, the optimization was performed based on the toe joint geometries. As a result, the optimized foot showed good agreement with human foot behavior in the toe torque-angle curve. Finally, the simulation conditions were validated by comparing with human walking data and it was confirmed that the designed prosthetic foot structure can implement the human foot function.

scholarly journals Verification of Finger Joint Stiffness Estimation Method With Soft Robotic Actuator

2020 ◽  
Vol 8 ◽  
Author(s):  
Xiang Qian Shi ◽  
Ho Lam Heung ◽  
Zhi Qiang Tang ◽  
Kai Yu Tong ◽  
Zheng Li
Keyword(s):  
Estimation Method ◽  
Joint Stiffness ◽  
Ground Truth ◽  
Clinical Score ◽  
Metacarpophalangeal Joint ◽  
Finger Joint ◽  
Joint Torque ◽  
Hand Rehabilitation ◽  
Stiffness Characteristic ◽  
Modified Ashworth Scale

Stroke has been the leading cause of disability due to the induced spasticity in the upper extremity. The constant flexion of spastic fingers following stroke has not been well described. Accurate measurements for joint stiffness help clinicians have a better access to the level of impairment after stroke. Previously, we conducted a method for quantifying the passive finger joint stiffness based on the pressure-angle relationship between the spastic fingers and the soft-elastic composite actuator (SECA). However, it lacks a ground-truth to demonstrate the compatibility between the SECA-facilitated stiffness estimation and standard joint stiffness quantification procedure. In this study, we compare the passive metacarpophalangeal (MCP) joint stiffness measured using the SECA with the results from our designed standalone mechatronics device, which measures the passive metacarpophalangeal joint torque and angle during passive finger rotation. Results obtained from the fitting model that concludes the stiffness characteristic are further compared with the results obtained from SECA-Finger model, as well as the clinical score of Modified Ashworth Scale (MAS) for grading spasticity. These findings suggest the possibility of passive MCP joint stiffness quantification using the soft robotic actuator during the performance of different tasks in hand rehabilitation.

Mobility of Single-Loop N-Bar Linkage With Active/Passive Prismatic Joints

2005 ◽  
Vol 128 (6) ◽  
pp. 1261-1271 ◽  
Author(s):  
W. Z. Guo ◽  
R. Du
Keyword(s):  
Open Loop ◽  
Class Iii ◽  
Active Joint ◽  
Revolute Joint ◽  
Single Loop ◽  
Prismatic Joint ◽  
Passive Joint ◽  
Offset Distance ◽  
Prismatic Joints ◽  
Planar Linkages

Single-loop N-bar linkages that contain one prismatic joint are common in engineering. This type of mechanism often requires complicated control and, hence, understanding its mobility is very important. This paper presents a systematic study on the mobility of this type of mechanism by introducing the concept of virtual link. It is found that this type of mechanism can be divided into three categories: Class I, Class II, and Class III. For each category, the slide reachable range is cut into different regions: Grashof region, non-Grashof region, and change-point region. In each region, the rotation range of the revolute joint or rotatability of the linkage can be determined based on Ting’s criteria. The characteristics charts are given to describe the rotatability condition. Furthermore, if the prismatic joint is an active joint, the revolvability of the input revolute joint is dependent in non-Grashof region but independent in other regions. If the prismatic joint is a passive joint, the revolvability of the input revolute joint is dependent on the offset distance of the prismatic joint. Two examples are given to demonstrate the presented method. The new method is able to cover all the cases of N-bar planar linkages with one or a set of adjoined prismatic joints. It can also be used to study N-bar open-loop planar robotic mechanisms.

Design and analysis of a vibration isolation system with cam–roller–spring–rod mechanism

2021 ◽  
pp. 107754632110005
Author(s):  
Yonglei Zhang ◽  
Guo Wei ◽  
Hao Wen ◽  
Dongping Jin ◽  
Haiyan Hu
Keyword(s):  
Vibration Isolation ◽  
Dynamic Stiffness ◽  
Experimental Studies ◽  
Excitation Amplitude ◽  
Isolation System ◽  
Vibration Isolation System ◽  
Stiffness Characteristic ◽  
Negative Stiffness Mechanism ◽  
Isolation Systems ◽  
Vibration Isolation Performance

The vibration isolation system using a pair of oblique springs or a spring-rod mechanism as a negative stiffness mechanism exhibits a high-static low-dynamic stiffness characteristic and a nonlinear jump phenomenon when the system damping is light and the excitation amplitude is large. It is possible to remove the jump via adjusting the end trajectories of the above springs or rods. To realize this idea, the article presents a vibration isolation system with a cam–roller–spring–rod mechanism and gives the detailed numerical and experimental studies on the effects of the above mechanism on the vibration isolation performance. The comparative studies demonstrate that the vibration isolation system proposed works well and outperforms some other vibration isolation systems.

scholarly journals Sensitivity with Respect to the Path Parameters and Nonlinear Stiffness of Vibration Transfer Path Systems

2010 ◽  
Vol 2010 ◽  
pp. 1-11
Author(s):  
Yimin Zhang ◽  
Xianzhen Huang
Keyword(s):  
Dynamic Response ◽  
Time Domain ◽  
Evaluation Criteria ◽  
Nonlinear Stiffness ◽  
Vibration System ◽  
Transfer Path ◽  
Dynamic Sensitivity ◽  
The Time Domain

Generally speaking, a vibration system consists of three parts: vibration resource, vibration transfer path, and vibration receiver. Based on the dynamic sensitivity technique, this paper proposes a method for evaluating the contribution of each vibration transfer path to the dynamic response of the vibration receiver. Nonlinear stiffness is an important factor in causing the nonlinearity of vibration systems. Taking sensitivity as the evaluation criteria, we present an effective approach for estimating the influence of nonlinear stiffness in vibration transfer paths on the dynamic response of the vibration receiver. Using the proposed method, the sensitivity of the vibration system with multiple and/or multidimensional transfer paths could be determined in the time domain.

Direct Differential Kinematics of Hybrid-Chain Manipulators Including Singularity and Stability Analyses

1994 ◽  
Vol 116 (2) ◽  
pp. 614-621 ◽  
Author(s):  
Yong-Xian Xu ◽  
D. Kohli ◽  
Tzu-Chen Weng
Keyword(s):  
Stability Index ◽  
Inverse Kinematic ◽  
Degree Of Freedom ◽  
Static Force ◽  
Force Analysis ◽  
Kinematic Singularity ◽  
Numerical Examples ◽  
Transformation Matrices ◽  
Unstable Configuration ◽  
Direct Kinematics

A general formulation for the differential kinematics of hybrid-chain manipulators is developed based on transformation matrices. This formulation leads to velocity and acceleration analyses, as well as to the formation of Jacobians for singularity and unstable configuration analyses. A manipulator consisting of n nonsymmetrical subchains with an arbitrary arrangement of actuators in the subchain is called a hybrid-chain manipulator in this paper. The Jacobian of the manipulator (called here the system Jacobian) is a product of two matrices, namely the Jacobian of a leg and a matrix M containing the inverse of a matrix Dk, called the Jacobian of direct kinematics. The system Jacobian is singular when a leg Jacobian is singular; the resulting singularity is called the inverse kinematic singularity and it occurs at the boundary of inverse kinematic solutions. When the Dk matrix is singular, the M matrix and the system Jacobian do not exist. The singularity due to the singularity of the Dk matrix is the direct kinematic singularity and it provides positions where the manipulator as a whole loses at least one degree of freedom. Here the inputs to the manipulator become dependent on each other and are locked. While at these positions, the platform gains at least one degree of freedom, and becomes statically unstable. The system Jacobian may be used in the static force analysis. A stability index, defined in terms of the condition number of the Dk matrix, is proposed for evaluating the proximity of the configuration to the unstable configuration. Several illustrative numerical examples are presented.

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