Performing Energy-Efficient Pick-and-Place Motions for High-Speed Robots by using Variable Stiffness Springs

Typically, for pick-and-place robots operating at high speeds, an enormous amount of energy is lost during the robot braking phase. This is due to the fact that, during such operational phase, most of the energy is dissipated as heat on the braking resistances of the motor drivers. In order to increase the energy-efficiency during the high-speed pick-and-place cycles, this paper investigates the use of variable stiffness springs (VSS) in parallel configuration with the motors. These springs store the energy during the braking phase, instead of dissipating it. The energy is then released to actuate the robot in a next displacement phase. This design approach is combined with a motion generator which seeks to optimize trajectories for input torques reduction (and thus of energy consumption), through solving a boundary value problem (BVP) based on the robot dynamics. Experimental results of the suggested approach on a five-bar mechanism show the drastic reduction of input torques, and therefore of energetic losses.

Thermal Analysis of Thermal Spray Coated Gray Cast Iron Brake Rotor

Braking is a process which transform the kinetic energy of the rotor into heat energy. During the braking phase, the frictional heat generated at the interface rotor–pad can lead to high temperatures (> 600 oC). In long-term frequent use of braking, increased temperature causes disc distortions, heat cracks, and causes degradation of the pad material. This creates a risk in the reduction of rotor-pad interface friction and loss of brake performance under safe driving conditions. In this study, the thermal monitoring of the thermal spray coated rotor was investigated and the variation of the friction coefficient and wear related thickness were measured. In addition, changes in torque forces at increasing temperatures were also evaluated.

Power Mode of High-Speed Combined Extrusion of Flat Bimetallic Road Milling Picks

The paper presents a mathematical model developed for calculating the force effect on the punch in the process of high-speed combined hot extrusion of bimetallic road milling picks under plane deformation conditions. To solve the problem, the process is divided into two phases: acceleration phase and braking phase, which consists of two stages. A distinctive feature of the acceleration phase is that it allows the analysis of reverse extrusion, in the process of which the metal flows in the opposite direction to the punch stroke. A method for calculating the force acting on the punch at each phase of the process of plastic flow of a bimetallic workpiece into a matrix cavity with three deformation zones is presented in the paper. While solving the problem in a quasi-static formulation and proceeding from the conditions of the minimum power of internal forces, equations have been obtained for calculating the optimal field parameters aopt, bopt, gopt, depending on the elongation coefficients l and the friction coefficient m. The equations obtained within the framework of the developed model are quite correct, since they allow determining the minimum force acting on the punch. The considered calculation model and equations can be used in the development of industrial technology for high-speed combined hot extrusion of flat-step bimetallic road milling picks.

Kinetic and Kinematic Analysis of Locomotion Speed of Higher Secondary Boys

The purpose was to analyze selected components of locomotion speed. Thirty school boys of age ranging from 17 to 19 year were selected as subject. Selected anthropometric and mechanical parameters were body weight, body height, leg length, maximum locomotion speed, leg power, stride length, stride frequency, body inclination, angle of leg placement in braking phase, push-off angle, horizontal projection of CG in braking phase, horizontal projection of CG in propulsion phase, horizontal velocity of CG in braking phase, horizontal velocity of CG in propulsion phase, velocity of swing leg in braking phase, velocity of swing leg in propulsion phase, angular velocity of thigh in propulsion phase, contact phase, flight phase, braking phase, and propulsion phase. The maximum locomotion speed was determined by a field test. Running action was filmed by a digital video camera with 120 fps for the distance between 40 to 50 m of the 100 m race. The anthropometric parameters were measured using standard procedure. The selected mechanical parameters were analyzed by motion analysis software. Results showed that weight, height, leg length, stride length, stride frequency had higher positive correlation with maximum locomotion velocity, whereas, contact phase, flight phase and propulsion phase had higher negative correlation with maximum locomotion velocity.

A new method for measuring treadmill belt velocity fluctuations: effects of treadmill type, body mass and locomotion speed

Treadmills are essential to the study of human and animal locomotion as well as for applied diagnostics in both sports and medicine. The quantification of relevant biomechanical and physiological variables requires a precise regulation of treadmill belt velocity (TBV). Here, we present a novel method for time-efficient tracking of TBV using standard 3D motion capture technology. Further, we analyzed TBV fluctuations of four different treadmills as seven participants walked and ran at target speeds ranging from 1.0 to 4.5 m/s. Using the novel method, we show that TBV regulation differs between treadmill types, and that certain features of TBV regulation are affected by the subjects’ body mass and their locomotion speed. With higher body mass, the TBV reductions in the braking phase of stance became higher, even though this relationship differed between locomotion speeds and treadmill type (significant body mass × speed × treadmill type interaction). Average belt speeds varied between about 98 and 103% of the target speed. For three of the four treadmills, TBV reduction during the stance phase of running was more intense (> 5% target speed) and occurred earlier (before 50% of stance phase) unlike the typical overground center of mass velocity patterns reported in the literature. Overall, the results of this study emphasize the importance of monitoring TBV during locomotor research and applied diagnostics. We provide a novel method that is freely accessible on Matlab’s file exchange server (“getBeltVelocity.m”) allowing TBV tracking to become standard practice in locomotion research.

Neuromuscular Strategies in Stretch–Shortening Exercises with Increasing Drop Heights: The Role of Muscle Coactivation in Leg Stiffness and Power Propulsion

When applying drop jump exercises, knowing the magnitude of the stimulus is fundamental to stabilize the leg joints and to generate movements with the highest power. The effects of different drop heights on leg muscles coactivation, leg stiffness and power propulsion were investigated in fifteen sport science students. Drop jumps from heights of 20, 30, 40, 50, and 60 cm in a random order were performed on a force platform. During each drop jump, the ground reaction force, knee angle displacement, and synchronized surface-electromyography root-mean-square (sEMGRMS) activity (vastus lateralis, VL; vastus medialis, VM; rectus femoris, RF; biceps femoris, BF; tibialis anterior, TA and lateral gastrocnemius, LG) were recorded. The coactivation in the pre-contact phase, between VL and BF, VM and BF as well as RF and BF, was dependent on the drop height (p < 0.01; effect size (ES) ranged from 0.45 to 0.90). Leg stiffness was dependent on the drop height (p < 0.001; ES = 0.27–0.28) and was modulated by the coactivation of VM–BF (p = 0.034) and RF–BF (p = 0.046) during the braking phase. Power propulsion was also dependent on the drop height (p < 0.001; ES = 0.34); however, it was primarily modulated by the coactivation of LG–TA during the braking phase (p = 0.002). The coactivation of thigh muscles explains leg stiffness adjustments at different drop heights. On the contrary, the coactivation of shank muscles is mostly responsible for the power propulsion.

Different Movement Strategies in the Countermovement Jump Amongst a Large Cohort of NBA Players

Previous research has demonstrated large amounts of inter-subject variability in downward (unweighting & braking) phase strategies in the countermovement jump (CMJ). The purpose of this study was to characterize downward phase strategies and associated temporal, kinematic and kinetic CMJ variables. One hundred and seventy-eight NBA (National Basketball Association) players (23.6 ± 3.7 years, 200.3 ± 8.0 cm; 99.4 ± 11.7 kg; CMJ height 68.7 ± 7.4 cm) performed three maximal CMJs. Force plate and 3D motion capture data were integrated to obtain kinematic and kinetic outputs. Afterwards, athletes were split into clusters based on downward phase characteristics (k-means cluster analysis). Lower limb joint angular displacement (i.e., delta flexion) explained the highest portion of point variability (89.3%), and three clusters were recommended (Ball Hall Index). Delta flexion was significantly different between clusters and players were characterized as “stiff flexors”, “hyper flexors”, or “hip flexors”. There were no significant differences in jump height between clusters (p > 0.05). Multiple regression analyses indicated that most of the jumping height variance was explained by the same four variables, (i.e., sum concentric relative force, knee extension velocity, knee extension acceleration, and height) regardless of the cluster (p < 0.05). However, each cluster had its own unique set of secondary predictor variables.