scholarly journals A tool for the evaluation of human lower arm injury: approach, experimental validation and application to safe robotics

Robotica ◽  
2015 ◽  
Vol 34 (11) ◽  
pp. 2499-2515 ◽  
Author(s):  
B. Povse ◽  
S. Haddadin ◽  
R. Belder ◽  
D. Koritnik ◽  
T. Bajd
Keyword(s):  
Mathematical Model ◽  
Experimental Validation ◽  
Human Impacts ◽  
Industrial Robot ◽  
Impact Testing ◽  
Impact Response ◽  
Dynamic Impact ◽  
Good Consistency ◽  
Impact Experiments ◽  
Human Injury

SUMMARYThis paper treats the systematic injury analysis of lower arm robot–human impacts. For this purpose, a passive mechanical lower arm (PMLA) was developed that mimics the human impact response and is suitable for systematic impact testing and prediction of mild contusions and lacerations. A mathematical model of the passive human lower arm is adopted to the control of the PMLA. Its biofidelity is verified by a number of comparative impact experiments with the PMLA and a human volunteer. The respective dynamic impact responses show very good consistency and support the fact that the developed device may serve as a human substitute in safety analysis for the described conditions. The collision tests were performed with two different robots: the DLR Lightweight Robot III (LWR-III) and the EPSON PS3L industrial robot. The data acquired in the PMLA impact experiments were used to encapsulate the results in a robot independent safety curve, taking into account robot's reflected inertia, velocity and impact geometry. Safety curves define the velocity boundaries on robot motions based on the instantaneous manipulator dynamics and possible human injury due to unforeseen impacts.

scholarly journals Experimental and Numerical Investigations of Textile Hybrid Composites Subjected to Low Velocity Impact Loadings

2014 ◽  
Vol 2014 ◽  
pp. 1-14 ◽  
Author(s):  
Gautam S. Chandekar ◽  
Ajit D. Kelkar
Keyword(s):  
Impact Load ◽  
Areal Density ◽  
Impact Testing ◽  
Experimental Results ◽  
Impact Response ◽  
Low Velocity Impact ◽  
Low Velocity ◽  
Velocity Impact ◽  
Numerical Investigations ◽  
Impact Experiments

In the present study experimental and numerical investigations were carried out to predict the low velocity impact response of four symmetric configurations: 10 ply E Glass, 10 ply AS4 Carbon, and two Hybrid combinations with 1 and 2 outer plies of E Glass and 8 and 6 inner plies of Carbon. All numerical investigations were performed using commercial finite element software, LS-DYNA. The test coupons were manufactured using the low cost Heated Vacuum Assisted Resin Transfer Molding (H-VARTM©) technique. Low velocity impact testing was carried out using an Instron Dynatup 8250 impact testing machine. Standard 6 × 6 Boeing fixture was used for all impact experiments. Impact experiments were performed over progressive damage, that is, from incipient damage till complete failure of the laminate in six successive impact energy levels for each configuration. The simulation results for the impact loading were compared with the experimental results. For both nonhybrid configurations, it was observed that the simulated results were in good agreement with the experimental results, whereas, for hybrid configurations, the simulated impact response was softer than the experimental response. Maximum impact load carrying capacity was also compared for all four configurations based on their areal density. It was observed that Hybrid262 configuration has superior impact load to areal density ratio.

Dynamics Analysis of Industrial Sewing Machine Frame Based on FEA and Modal Experiment

2013 ◽  
Vol 419 ◽  
pp. 122-126
Author(s):  
Li Zhang ◽  
Chen Kai ◽  
Xue Jiao Wang
Keyword(s):  
3D Model ◽  
Element Model ◽  
Impact Testing ◽  
Testing System ◽  
Dynamics Analysis ◽  
Sewing Machine ◽  
Good Consistency ◽  
The Finite Element Model ◽  
Experiment Analysis ◽  
Abaqus Software

The industrial sewing machine frame is one of the most important components of the sewing machine system, so studying its dynamic characteristics is particularly important. In this paper, based on the 3D model, the theory modal analysis of the industrial sewing machine is conducted with ABAQUS software and the modal experiment analysis is carried out through LMS(Lab Impact Testing system). The experimental results are in good consistency, which shows that the finite element model built in the paper is reasonable. This paper provides theoretical reference for vibration and noise reduction of the industrial sewing machine.

THE DYNAMIC IMPACT RESPONSE OF PP∕PA BLENDS UNDER MULTI-AXIAL COMPRESSIVE STRESS STATE

2008 ◽  
Author(s):  
Shi Shaoqiu ◽  
Yu Bing ◽  
Yan Linbao ◽  
Alberto D’Amore ◽  
Domenico Acierno ◽  
...  
Keyword(s):  
Stress State ◽  
Compressive Stress ◽  
Impact Response ◽  
Dynamic Impact ◽  
Axial Compressive Stress

scholarly journals Wave-Based Attitude Control of Spacecraft with Fuel Sloshing Dynamics

2016 ◽  
Vol 63 (2) ◽  
pp. 263-275 ◽  
Author(s):  
Joseph William Thompson ◽  
William O’Connor
Keyword(s):  
Mathematical Model ◽  
Attitude Control ◽  
Experimental Validation ◽  
Uniform Structure ◽  
Structural Flexibility ◽  
Control Laws ◽  
Single Plane ◽  
Pendulum Model ◽  
Sloshing Dynamics ◽  
Upper Stage

Abstract Wave-Based Control has been previously applied successfully to simple under-actuated flexible mechanical systems. Spacecraft and rockets with structural flexibility and sloshing are examples of such systems but have added difficulties due to non-uniform structure, external disturbing forces and non-ideal actuators and sensors. The aim of this paper is to extend the application of WBC to spacecraft systems, to compare the performance of WBC to other popular controllers and to carry out experimental validation of the designed control laws. A mathematical model is developed for an upper stage accelerating rocket moving in a single plane. Fuel sloshing is represented by an equivalent mechanical pendulum model. A wave-based controller is designed for the upper stage AVUM of the European launcher Vega. In numerical simulations the controller successfully suppresses the sloshing motion. A major advantage of the strategy is that no measurement of the pendulum states (sloshing motion) is required.

Dynamic Impact Testing of Polyurethane Energy Absorbing (EA) Foams

1994 ◽  
Author(s):  
David F. Sounik ◽  
Dennis W. McCullough ◽  
John L. Clemons ◽  
John L. Liddle
Keyword(s):  
Impact Testing ◽  
Dynamic Impact ◽  
Energy Absorbing

A Study on Exhaust Muffler Using Counter-Phase Counteract

2014 ◽  
Vol 986-987 ◽  
pp. 810-813
Author(s):  
Ying Li Shao
Keyword(s):  
Mathematical Model ◽  
Experimental Validation ◽  
Noise Source ◽  
Low Frequency ◽  
Frequency Noise ◽  
Expansion Chamber ◽  
Band Noise ◽  
Exhaust Noise ◽  
Perforated Pipe ◽  
The Mathematical Model

The exhaust noise, which falls into low-frequency noise, is the dominant noise source of a diesel engines and tractors. The traditional exhaust silencers, which are normally constructed by combination of expansion chamber, and perforated pipe or perforated board, are with high exhaust resistance, but poor noise reduction especially for the low-frequency band noise. For this reason, a new theory of exhaust muffler of diesel engine based on counter-phase counteracts has been proposed. The mathematical model and the corresponding experimental validation for the new exhaust muffler based on this theory were performed.

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