Impact analysis of actuator torque degradation on the IRB 120 robot performance using simscape-based model

Actuators in a robot system may become faulty during their life cycle. Locked joints, free-moving joints, and the loss of actuator torque are common faulty types of robot joints where the actuators fail. Locked and free-moving joint issues are addressed by many published articles, whereas the actuator torque loss still opens attractive investigation challenges. The objectives of this study are to classify the loss of robot actuator torque, named actuator torque degradation, into three different cases: Boundary degradation of torque, boundary degradation of torque rate, and proportional degradation of torque, and to analyze their impact on the performance of a typical 6-DOF robot (i.e., the IRB 120 robot). Typically, controllers of robots are not pre-designed specifically for anticipating these faults. To isolate and focus on the impact of only actuator torque degradation faults, all robot parameters are assumed to be known precisely, and a popular closed-loop controller is used to investigate the robot’s responses under these faults. By exploiting MATLAB-the reliable simulation environment, a simscape-based quasi-physical model of the robot is built and utilized instead of an actual expensive prototype. The simulation results indicate that the robot responses cannot follow the desired path properly in most fault cases.

Contraction-Induced Loss of Plasmalemmal Electrophysiological Function Is Dependent on the Dystrophin Glycoprotein Complex

Weakness and atrophy are key features of Duchenne muscular dystrophy (DMD). Dystrophin is one of the many proteins within the dystrophin glycoprotein complex (DGC) that maintains plasmalemmal integrity and cellular homeostasis. The dystrophin-deficient mdx mouse is also predisposed to weakness, particularly when subjected to eccentric (ECC) contractions due to electrophysiological dysfunction of the plasmalemma. Here, we determined if maintenance of plasmalemmal excitability during and after a bout of ECC contractions is dependent on intact and functional DGCs rather than, solely, dystrophin expression. Wild-type (WT) and dystrophic mice (mdx, mL172H and Sgcb−/− mimicking Duchenne, Becker and Limb-girdle Type 2E muscular dystrophies, respectively) with varying levels of dystrophin and DGC functionality performed 50 maximal ECC contractions with simultaneous torque and electromyographic measurements (M-wave root-mean-square, M-wave RMS). ECC contractions caused all mouse lines to lose torque (p<0.001); however, deficits were greater in dystrophic mouse lines compared to WT mice (p<0.001). Loss of ECC torque did not correspond to a reduction in M-wave RMS in WT mice (p=0.080), while deficits in M-wave RMS exceeded 50% in all dystrophic mouse lines (p≤0.007). Moreover, reductions in ECC torque and M-wave RMS were greater in mdx mice compared to mL172H mice (p≤0.042). No differences were observed between mdx and Sgcb−/− mice (p≥0.337). Regression analysis revealed ≥98% of the variance in ECC torque loss could be explained by the variance in M-wave RMS in dystrophic mouse lines (p<0.001) but not within WT mice (R2=0.211; p=0.155). By comparing mouse lines that had varying amounts and functionality of dystrophin and other DGC proteins, we observed that (1) when all DGCs are intact, plasmalemmal action potential generation and conduction is maintained, (2) deficiency of the DGC protein β-sarcoglycan is as disruptive to plasmalemmal excitability as is dystrophin deficiency and, (3) some functionally intact DGCs are better than none. Our results highlight the significant role of the DGC plays in maintaining plasmalemmal excitability and that a collective synergism (via each DGC protein) is required for this complex to function properly during ECC contractions.

Screw removal torque evaluation in implants with cone morse and external hexagon platforms in anterior cantilever

This study aims to evaluate the screw removal torque on prosthetic platforms of Cone Morse (CM) and External Hexagon (EH) implants in crowns with anterior cantilever. Materials and Methods: in vitro study with a sample consisting of 20 test specimens of 2 elements (21 and 22), with n = 40; load is simulated on element 21 or on cantilever of 22. Samples were divided into 4 groups consisting of 10 test specimens on CM implants (groups 1 and 2), and 10 test specimens on EH implants (groups 3 and 4). The test specimens were manufactured using cylindrical PVC pipes measuring 22 x 19.05 mm filled with acrylic resin. The implants were fixed with a centralization device. Components used were EUCLAs and UCLAs with a chrome-cobalt alloy molten base. The metal bases were scanned, the crowns were digitally waxed, made on CAD/CAM system, and cemented on the metal bases with Panavia cement. Torque was applied using 20N for CM and 32N for EH, according to the manufacturers’ instructions. The test specimens were then subjected to a cycling process consisting of 1,000,000 cycles at a frequency of 2 Hz. The cyclic process applied axial forces to the surface (palate face of 21 and 22). Two cycling processes were carried on, the first on the palate face of 21 and the second on the palate face of 22. Between the two, screws were removed and replaced by new ones. The screw removal torque was measured using a digital torque meter. Results were analyzed with Student’s t test and variance analysis. Statistical calculations were conducted in SPSS 23 using 5% of significance. Results: Student’s t test showed significantly lower removal torque values in comparison with initial torque for both CM and EH connection implants and force applied to elements 21 and 22 (p < 0.001) or 22 (p < 0.001). Considering torque loss, there was no significant effect of the interaction between type of implant connection and site of force application (p = 0.094). Removal torque was significantly lower than initial torque for both implants (CM and EH). Conclusion: Torque loss occurred both in CM and EH. There was no significant effect of the interaction between connections and site of force application.

Analysis of the Torque Loss of High-Speed Transmission Mechanism with a Stacked Roller Set

Two-dimensional pumps have broad application prospects in aerospace. However, the performance of the pump is degraded because of the clearance problem of the current 2D transmission mechanism. In order to eliminate the clearance between the cam rail and the rollers, a high-speed transmission mechanism with a stacked roller set is proposed. The stacked roller set is compressed by the load pressure. The axial inertia force is balanced when the transmission mechanism works at high speed, via the equal acceleration and reverse movement of two cam rail sets. Thus, the transmission mechanism meets the high-speed demand. In this paper, the mathematical model of the transmission mechanism is established based on the enveloping surface theory and the differential geometry principle. Afterwards, numerical analysis of the mathematical model is performed based on MATLAB, combined with the experiment, to study the influence of load pressure and rotational speed on the torque loss. Then, the torque characteristics of the transmission mechanism is obtained. According to a test, the deviation between theoretical data and experimental data is 11.9%; therefore, the mathematical model can predict the torque of the transmission mechanism effectively. It is concluded that the torque loss of the transmission mechanism increases linearly with the load pressure, and the rotational speed has a slight effect on the torque loss.

Comparison of the Effect of Four Different Abutment Screw Torques on Screw Loosening in Single Implant-Supported Prosthesis after the Application of Mechanical Loading

Background. The complications of implant-supported prostheses can be classified into mechanical and biological ones, one part of which is associated with screw loosening. This study was aimed to compare the effect of four different abutment screw torque techniques on screw loosening in single implant-supported prostheses following the application of mechanical loading. Materials and Methods. In this experimental study, a total of 40 implants in acrylic blocks (6 × 10 × 20 mm) were mounted perpendicular to the surface. They were then randomly divided into four groups: (1) torquing once with 30 Ncm, (2) torquing three times with 30 Ncm and 5-minute intervals, (3) torquing once with 30 Ncm, opening the screw, and retorquing with 30 Ncm, and (4) torquing once with 35 Ncm. The torque values were confirmed by using a digital torque meter. Then, the samples underwent a force (2 cps, 0.453–11.793 kg) for three hours before the measurement of detorque values. The screw loosening force (torque) was then measured and recorded. The obtained data were analyzed by SPSS (version 22) software using one-way ANOVA and Tukey post hoc test at a 5% error level. Results. The maximum mean detorque values of the abutment screws in single implant-supported prostheses were reported for groups 4 (27.8 ± 1.3), 1 (26.8 ± 1.3), and 3 (25.1 ± 1.3), and the minimum mean detorque value was found in group 2 (24.9 ± 1.2). Moreover, no significant difference was observed between groups 2 and 3 ( p > 0.05 ), but a significant difference was found between groups 1 and 3 and other groups ( p < 0.05 ). Conclusion. The increase in the torque value increased the torque loss. However, the detorque value in group 4 showed the least difference with the value recommended by the manufacturer (30 Ncm).

An Investigation of Viscous Torque Loss in Ball Bearing Operating in Various Liquids

The limited functionality of seals that are used in hydraulic machines to prevent the liquid from leaking into the bearings may result in decrease in machine efficiency and reliability and may cause an accident of the whole hydraulic machine. However, not every damage of seals must result in a shutdown of the whole machine. In case of partially or fully flooded bearings, the machine can temporarily operate with significantly increased input power and with lower efficiency. Such a limited operation of the machine shortens its lifetime and is accompanied by the presence of torque loss on the shaft. The measurement of torque loss can be helpful during the design process of new machines as well as for an analysis of hydraulic losses and efficiency of prototypes. Moreover, the real-time measurement of torque loss can be used for remote online monitoring of hydraulic machines. The aim of this paper is to present primarily an experimental investigation of the viscous torque loss for ball bearings submerged into liquid. The CFD simulation is also included to distribute the total torque loss between the hub and the bearing. The main goal is to modify the drag coefficient, respectively the friction loss coefficient in SKF’s and Palgrem’s empirical model. The new coefficients may provide a prediction of torque loss in the fully flooded bearings which is not possible with existing models. The torque loss characteristics are determined for specific ball bearings too. In contradiction to partially flooded bearing situation, it is obvious from a experiment, that some coefficients in Palgrem’s model and SKF model are dependent on revolutions when bearings are fully flooded. The experimental investigation of viscous torque loss are carried out for various types of ball bearings, all fully submerged into two various liquids, i.e., oil and water.

Experimental evaluation of orthodontic bracket slot deformation to simulated torque

In orthodontic fixed appliance therapy, the archwire torque used to refine the teeth position during the treatment imparts significant forces inside the bracket slot. The objective of this study was to measure the torque relevant bracket slot deformation in Stainless Steel (SS) brackets during various degree of archwire twist. Standard edgewise brackets 0.018-inch (in.)/0.022-in. each 20 no. and 0.016 × 0.022, 0.017 × 0.025, 0.019 × 0.025, and 0.021 × 0.025 in. archwires each 10 no. were used. A novel experimental setup consisting of loading fixture and torque key mounted on a Vision Measuring System (VMS) were used to measure the brackets slot deformation. The Top Slot and Middle Slot Deformations (TSD and MSD) of the brackets for 35° angle of twist in 0.016 × 0.022 in. archwire in 0.018-in. slot, 0.019 × 0.025 in. archwire in 0.022-in. slot and for 30° angle of twist in 0.017 × 0.025 in. archwire in 0.018-in. slot and 0.021 × 0.025 in. archwire in 0.022-in. slot were measured. Results showed that the mean TSD and MSD were higher when the archwire size, the slot size and the angle of twist were greater. In the evaluated bracket-archwire combinations, the TSD were higher than MSD and the bracket slots were elastically deformed within the clinically required 35° angle of twist in the archwire. Clinicians should be aware of this torque relevant bracket slot deformation which might be a factor for torque loss and suitably incorporate archwire angle of twist.