1,720,992 research outputs found
Special Collection on advances in rehabilitation engineering with robotics and mechatronic devices
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A Digital Twin Procedure for the Design, Simulation, and Optimization of Machine Tending Layout
No full textThis paper presents a structured design framework that aims to enhance the functionalities of robotized work cells in machine tending applications. The framework, developed through digital twin simulations in an educational context, addresses the increasing demand for off-line programming, reconfigurable workstations, and reduced installation time. The primary goal of this contribution is to disseminate the specific competencies in engineering students and technicians. The iterative methodology described in this approach enables the design of new systems or the adjustment of existing layouts to meet industrial demands and mitigate current constraints in a virtual environment
Robotics for rehabilitation of hand movement in stroke survivors
No full textThis article aims to give an overall review of research status in hand rehabilitation robotic technology, evaluating a number of devices. The main scope is to explore the current state of art to help and support designers and clinicians make better choices among varied devices and components. The review also focuses on both mechanical design, usability and training paradigms since these parts are interconnected for an effective hand recovery. In order to study the rehabilitation robotic technology status, the devices have been divided in two categories: end-effector robots and exoskeleton devices. The end-effector robots are more flexible than exoskeleton devices in fitting the different size of hands, reducing the setup time and increasing the usability for new patients. They suffer from the control of distal joints and haptic aspects of object manipulation. In this way, exoskeleton devices may represent a new opportunity. Nevertheless their design is complex and a deep investigation of hand biomechanics and physical human-robot interaction is required. The main hand exoskeletons have been developed in the last decade and the results are promising demonstrated by the growth of the commercialized devices. Finally, a discussion on the complexity to define which design is better and more effective than the other one is summarized for future investigations
Modeling the thermo-mechanical deformations of machine tool structures in CFRP material adopting data-driven prediction schemes
No full textThe thermo-mechanical effects in machine tools (MTs) are represented by complex models since they may produce non-linear distortions overtime, impacting significantly on the machining accuracy. This paper aims to model the deformation of CFRP (Carbon-Fiber-Reinforced-Polymers) structures using data-driven schemes to predict and compensate the structural thermo-mechanical behavior. A novel study is presented to investigate the thermally-induced distortions of CFPR structural materials, selecting and positioning sensors, simulating and validating models to compensate the error in real-time. Anisotropic materials are becoming an effective solution to reduce structure mass and increase damping of a MT, nevertheless their physical complexity and the different thermal-coefficients at the interface with conventional materials may generate undesired effects, limiting the obtained advantages. The proposed strategy is based on the evaluation of a set of data-driven models simultaneously, identifying the most suitable solution and comparing finite element simulations with machine learning approach. The study is developed on a vertical axis frame made of CFRP material. The experimental validation is executed on a commercial 5-axis machine tool by varying the temperature conditions and evaluating the structural thermo-mechanical deformation effect on the Tool-Tip-Point (TTP) displacement. The thermo-mechanical behavior is measured by fiber Bragg grating (FBG) sensing technology embedded in the CFRP structure. Data-driven lab tests are evaluated in operational conditions during 36 h, considering: i) training-deployment periods (875 min interval), ii) typical machining stresses and iii) environmental perturbations. The final selected data-driven model is able to reduce the detected error lower than 10 μm range. In particular, the achieved results indicate a congruence between the TTP displacement measured and predicted with a residual error lower than 7.0 μm (Y-direction) using the ANN- multilayer perceptron algorithm
Active vibration control development in ultra‐precision machining
No full textThis study presents a combined feedback–feedforward adaptive regulator applied to an active vibration control tool holder platform to contain the effect of machining vibrations. The proposed mechatronic solution can be integrated in a milling machine tool as an interface between the beam (Z-axis) and the tool holder. The aim is to counteract vibrations in the broadband frequency range (100 Hz–900 Hz), controlling the tool position in real time. The active vibration control system is based on the harmonic steady-state concept due to the sinusoidal representation of the disturbance signals. The study focuses on the regulator architecture and the main logics applied to satisfy the required performance. A full investigation is executed through simulations and experimental campaigns, proving the disturbance reduction. The active vibration control system is implemented on a 4-axis machine tool and validated using multitonal disturbances. The system is evaluated in compensating a set of undesired effects, such as vibrations generated by unbalanced tools or hard material cutting processes. The obtained results show a maximum reduction of the vibration amplitude by 43.7% at the critical frequency
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