The Experts below are selected from a list of 306 Experts worldwide ranked by ideXlab platform

Clément Gosselin - One of the best experts on this subject based on the ideXlab platform.

  • Design and Static Analysis of Elastic Force and Torque Limiting Devices for Safe Physical Human–Robot Interaction
    Journal of Mechanisms and Robotics, 2017
    Co-Authors: Meiying Zhang, Thierry Laliberte, Clément Gosselin
    Abstract:

    This paper presents the static analysis of Elastic Force and torque limiters that aim at limiting the Forces that a robotic manipulator can apply on its environment. First, the design of one-degree-of-freedom Force and torque limiting mechanisms is presented. It is shown that a single Elastic component (spring) can be used to provide a prescribed preload and stiffness in both directions of motion along a given axis. Then, the mechanisms are analyzed in order to determine the nonlinear relationships between the motion of the mechanism and the extension of the spring. These relationships can then be used in the design of the Force and torque limiters. Finally, the Force capabilities of the mechanisms are investigated and numerical results are provided for example designs.

  • Design and Static Analysis of Elastic Force and Torque Limiting Devices for Safe Physical Human-Robot Interaction
    Volume 5B: 40th Mechanisms and Robotics Conference, 2016
    Co-Authors: Meiying Zhang, Thierry Laliberte, Clément Gosselin
    Abstract:

    This paper presents the static analysis of Elastic Force and torque limiters that aim at limiting the Forces that a robotic manipulator can apply on its environment. First, the design of one-degree-of-freedom Force and torque limiting mechanisms is presented. It is shown that a single Elastic component (spring) can be used to provide a prescribed preload and stiffness in both directions of motion along a given axis. Then, the mechanisms are analyzed in order to determine the nonlinear relationships between the motion of the mechanism and the extension of the spring. These relationships can then be used in the design of the Force and torque limiters. Finally, the Force capabilities of the mechanisms are investigated and numerical results are provided for example designs.

Meiying Zhang - One of the best experts on this subject based on the ideXlab platform.

  • Design and Static Analysis of Elastic Force and Torque Limiting Devices for Safe Physical Human–Robot Interaction
    Journal of Mechanisms and Robotics, 2017
    Co-Authors: Meiying Zhang, Thierry Laliberte, Clément Gosselin
    Abstract:

    This paper presents the static analysis of Elastic Force and torque limiters that aim at limiting the Forces that a robotic manipulator can apply on its environment. First, the design of one-degree-of-freedom Force and torque limiting mechanisms is presented. It is shown that a single Elastic component (spring) can be used to provide a prescribed preload and stiffness in both directions of motion along a given axis. Then, the mechanisms are analyzed in order to determine the nonlinear relationships between the motion of the mechanism and the extension of the spring. These relationships can then be used in the design of the Force and torque limiters. Finally, the Force capabilities of the mechanisms are investigated and numerical results are provided for example designs.

  • Design and Static Analysis of Elastic Force and Torque Limiting Devices for Safe Physical Human-Robot Interaction
    Volume 5B: 40th Mechanisms and Robotics Conference, 2016
    Co-Authors: Meiying Zhang, Thierry Laliberte, Clément Gosselin
    Abstract:

    This paper presents the static analysis of Elastic Force and torque limiters that aim at limiting the Forces that a robotic manipulator can apply on its environment. First, the design of one-degree-of-freedom Force and torque limiting mechanisms is presented. It is shown that a single Elastic component (spring) can be used to provide a prescribed preload and stiffness in both directions of motion along a given axis. Then, the mechanisms are analyzed in order to determine the nonlinear relationships between the motion of the mechanism and the extension of the spring. These relationships can then be used in the design of the Force and torque limiters. Finally, the Force capabilities of the mechanisms are investigated and numerical results are provided for example designs.

Thierry Laliberte - One of the best experts on this subject based on the ideXlab platform.

  • Design and Static Analysis of Elastic Force and Torque Limiting Devices for Safe Physical Human–Robot Interaction
    Journal of Mechanisms and Robotics, 2017
    Co-Authors: Meiying Zhang, Thierry Laliberte, Clément Gosselin
    Abstract:

    This paper presents the static analysis of Elastic Force and torque limiters that aim at limiting the Forces that a robotic manipulator can apply on its environment. First, the design of one-degree-of-freedom Force and torque limiting mechanisms is presented. It is shown that a single Elastic component (spring) can be used to provide a prescribed preload and stiffness in both directions of motion along a given axis. Then, the mechanisms are analyzed in order to determine the nonlinear relationships between the motion of the mechanism and the extension of the spring. These relationships can then be used in the design of the Force and torque limiters. Finally, the Force capabilities of the mechanisms are investigated and numerical results are provided for example designs.

  • Design and Static Analysis of Elastic Force and Torque Limiting Devices for Safe Physical Human-Robot Interaction
    Volume 5B: 40th Mechanisms and Robotics Conference, 2016
    Co-Authors: Meiying Zhang, Thierry Laliberte, Clément Gosselin
    Abstract:

    This paper presents the static analysis of Elastic Force and torque limiters that aim at limiting the Forces that a robotic manipulator can apply on its environment. First, the design of one-degree-of-freedom Force and torque limiting mechanisms is presented. It is shown that a single Elastic component (spring) can be used to provide a prescribed preload and stiffness in both directions of motion along a given axis. Then, the mechanisms are analyzed in order to determine the nonlinear relationships between the motion of the mechanism and the extension of the spring. These relationships can then be used in the design of the Force and torque limiters. Finally, the Force capabilities of the mechanisms are investigated and numerical results are provided for example designs.

Marc-a Dubois - One of the best experts on this subject based on the ideXlab platform.

  • Flexural-standing-wave Elastic Force motor using ZnO and PZT thin film on micromachined silicon membranes for wristwatch applications
    Smart Materials and Structures, 1998
    Co-Authors: Georges-a Racine, Paul Muralt, Marc-a Dubois
    Abstract:

    Ultrasonic motors for low electrical power applications are considered for portable devices such as an electronic wristwatch. For the study of a standing wave type motor, a modular approach was proposed, where stators and rotors are added in an assembly step. The mode conversion principle called the 'Elastic fin motor' and its extension to an 'Elastic Force motor' suitable for a flat profile motor are discussed. Fabrication methods and the mechanical response of silicon diaphragms covered by PZT (PbZrxTi1-xO3) and ZnO (zinc oxide) piezoelectric thin films are compared. A closed loop position control using an integrated piezoelectric stress detection is proposed and demonstrated. The target torque of 1 mu N m at a mechanical power of a few mu W has been achieved. A long-term test during 2 months of continuous operation proved an acceptable reliability for the specified applications.

Jalil R Sany - One of the best experts on this subject based on the ideXlab platform.

  • development of Elastic Force model for wheel rail contact problems
    Journal of Sound and Vibration, 2004
    Co-Authors: Ahmed A Shabana, Khaled E Zaazaa, Jose L Escalona, Jalil R Sany
    Abstract:

    In this investigation, a new formulation for the wheel/rail contact problem based on the Elastic Force approach is presented. Crucial to the success of any Elastic Force formulation for the wheel/rail contact problem is the accurate prediction of the location of the contact points. To this end, features of multibody formulations that allow introducing additional differential equations are exploited in this investigation in order to obtain a good estimate of the rail arc length travelled by the wheel set. In the formulation presented in this paper, four parameters are used to describe the wheel and the rail surfaces. In order to determine the location of the points of contact between the wheel and the rail, a first order differential equation for the rail arc length is introduced and is integrated simultaneously with the multibody equations of motion of the wheel/rail system. The method presented in this paper allows for multiple points of contact between the wheel and the rail by using an optimized search for all possible contact points. The normal contact Forces are calculated and used with non-linear expressions for the creepages to determine the creep Forces. The paper also discusses two different procedures for the analysis of the two-point contact in the wheel/rail interaction. Numerical results obtained using the Elastic Force model are presented and compared with the results obtained using the constraint approach.

  • Modeling Two-Point Wheel/Rail Contacts Using Constraint and Elastic-Force Approaches
    Rail Transportation, 2002
    Co-Authors: Ahmed A Shabana, Khaled E Zaazaa, Jose L Escalona, Jalil R Sany
    Abstract:

    Two approaches are commonly used for solving the problem of wheel/rail contact in railroad dynamics. The first is the Elastic approach in which the wheel is assumed to have six degrees of freedom with respect to the rail. The normal contact Forces are defined using Hertz’s contact theory or in terms of assumed stiffness and damping coefficients. The second approach is the constraint approach in which nonlinear kinematic contact constraint equations are introduced, leading to a model in which the wheel has five degrees of freedom with respect to the rail. It is the objective of this investigation to present a new formulation for the wheel/rail contact problem based on the Elastic Force approach. Crucial to the success of any Elastic Force formulation for wheel/rail contact problem is the accurate prediction of the location of the contact points. To this end, features of multibody formulations that allow introducing arbitrary differential equations are exploited in this investigation in order to obtain a good estimate of the rail arc length traveled by the wheel set. In the formulation presented in this paper, four surface parameters are used to describe the wheel and the rail surfaces each with arbitrary geometry. In order to determine the location of the points of contact between the wheel and the rail, a first order differential equation for the rail arc length is introduced and is integrated simultaneously with the multibody equations of motion of the wheel/rail system. The method presented in this paper allows for multiple points of contact between the wheel and the rail by using an optimized search for all possible contact points. The normal contact Forces are calculated and used with non-linear expressions for the creepages to determine the creep Forces. The paper also discusses two different procedures for the analysis of the two-point contact in the wheel/rail interaction. Numerical results obtained using the Elastic Force model are presented and compared with the results obtained using the constraint approach.Copyright © 2002 by ASME