Search results for "Mechanical engineering"
showing 10 items of 4245 documents
Decoupled nonlinear adaptive control of position and stiffness for pneumatic soft robots
2020
This article addresses the problem of simultaneous and robust closed-loop control of joint stiffness and position, for a class of antagonistically actuated pneumatic soft robots with rigid links and compliant joints. By introducing a first-order dynamic equation for the stiffness variable and using the additional control degree of freedom, embedded in the null space of the pneumatic actuator matrix, an innovative control approach is introduced comprising an adaptive compensator and a dynamic decoupler. The proposed solution builds upon existing adaptive control theory and provides a technique for closing the loop on joint stiffness in pneumatic variable stiffness actuators. Under a very mi…
Mechanical and metallurgical characterization of AA6082-T6 sheet-bulk joints produced through a linear friction welding based approach
2020
In the last decades, new flexible manufacturing processes have been developed to face the demands, by many industrial fields, for highly customized complex functional parts. The peculiar design of these components often overcomes conventional sheet metal and bulk metal forming processes capabilities. In order to face this issue, new hybrid techniques, capable of exploit key advantages of different processes, have to be developed. In this study, a method to obtain sheet-bulk joints, based on the Linear Friction Welding process, is proposed. The feasibility of the technique was investigated through an experimental campaign carried out with varying pressure and oscillation frequency using AA60…
Analysis of hybrid vehicle transmissions with any number of modes and planetary gearing: kinematics, power flows, mechanical power losses
2021
Abstract This paper is focused on upgrading a unified parametric model, available in the literature, that can perform both the analysis and the design of Power-Split Continuously Variable Transmissions (PS-CVTs), which are particularly promising to deploy in the hybrid electric powertrain. In particular, this work is focused on the analysis of PS-CVTs and proposes a new matrix approach for identifying the basic functional parameters underlying the model from the constructive layout of the transmission. This new method does not rely on a case-specific formulation, thus befits any power-split transmission, regardless of the number of planetary and ordinary gear sets and their constructive arr…
Rotation estimation and vanishing point extraction by omnidirectional vision in urban environment
2012
International audience; Rotation estimation is a fundamental step for various robotic applications such as automatic control of ground/aerial vehicles, motion estimation and 3D reconstruction. However it is now well established that traditional navigation equipments, such as global positioning systems (GPSs) or inertial measurement units (IMUs), suffer from several disadvantages. Hence, some vision-based works have been proposed recently. Whereas interesting results can be obtained, the existing methods have non-negligible limitations such as a difficult feature matching (e.g. repeated textures, blur or illumination changes) and a high computational cost (e.g. analyze in the frequency domai…
Teleoperation of industrial robot manipulators based on augmented reality
2020
[EN] This research develops a novel teleoperation for robot manipulators based on augmented reality. The proposed interface is equipped with full capabilities in order to replace the classical teach pendant of the robot for carrying out teleoperation tasks. The proposed interface is based on an augmented reality headset for projecting computer-generated graphics onto the real environment and a gamepad to interact with the computer-generated graphics and provide robot commands. In order to demonstrate the benefits of the proposed method, several usability tests were conducted using a 6R industrial robot manipulator in order to compare the proposed interface and the conventional teach pendant…
A Mathematical Model for Vehicle-Occupant Frontal Crash Using Genetic Algorithm
2016
In this paper, a mathematical model for vehicle-occupant frontal crash is developed. The developed model is represented as a double-spring-mass-damper system, whereby the front mass and the rear mass represent the vehicle chassis and the occupant, respectively. The springs and dampers in the model are nonlinear piecewise functions of displacements and velocities respectively. More specifically, a genetic algorithm (GA) approach is proposed for estimating the parameters of vehicle front structure and restraint system. Finally, it is shown that the obtained model can accurately reproduce the real crash test data taken from the National Highway Traffic Safety Administration (NHTSA). The maximu…
Geometrical deviation of end-of-life parts as a consequence of reshaping by single point incremental forming
2021
AbstractPutting in place circular economy strategies is an urgent challenge to face. In this scenario, manufacturing processes play a relevant role as efficient material reuse enabler. Scientists have to make an effort either to find new process or to rethink old process to reprocess end-of-life (EoL) component to recover both material and functions. In this paper, single point incremental forming (SPIF) process is used for reshaping sheet metal EoL components. The entire process chain was replicated including both deep drawing process (to imitate the end-of-life component) as well as SPIF operations (to obtain the reshaped components). The geometrical deviation as a consequence of SPIF ope…
Manufacturing processes as material and energy efficiency strategies enablers: The case of Single Point Incremental Forming to reshape end-of-life me…
2021
Abstract Making materials consumes about 21% of the global energy demand; concerning metals production, it accounts for about 8% of total global energy consumption. Circular economy strategies such as longer life, more intense use, repair, product upgrades, modularity, remanufacturing, component reuse, and open/closed-loop recycling are strategies to put in place urgently to reduce the environmental impact of raw material production. Although recycling of metals is the most used strategy and is being improved in terms of efficiency, it is mandatory moving towards more virtuous circular economy strategies, such as product/component reuse. In this paper a novel reuse strategy for sheet metal …
Prediction of Vehicle Crashworthiness Parameters Using Piecewise Lumped Parameters and Finite Element Models
2018
Estimating the vehicle crashworthiness parameters experimentally is expensive and time consuming. For these reasons different modelling approaches are utilized to predict the vehicle behaviour and reduce the need for full-scale crash testing. The earlier numerical methods used for vehicle crashworthiness analysis were based on the use of lumped parameters models (LPM), a combination of masses and nonlinear springs interconnected in various configurations. Nowadays, the explicit nonlinear finite element analysis (FEA) is probably the most widely recognized modelling technique. Although informative, finite element models (FEM) of vehicle crash are expensive both in terms of man-hours put into…
Cross-correlation of whitened vibration signals for low-speed bearing diagnostics
2019
Abstract Rolling-element bearings are crucial components in all rotating machinery, and their failure will initially degrade the machine performance, and later cause complete shutdown. The period between an initial crack and complete failure is short due to crack propagation. Therefore, early fault detection is important to avoid unexpected machine shutdown and to aid in maintenance scheduling. Bearing condition monitoring has been applied for several decades to detect incipient faults at an early stage. However, low-speed conditions pose a challenge for bearing fault diagnosis due to low fault impact energy. To reliably detect bearing faults at an early stage, a new method termed Whitened …