This elaboration presents a comprehensive approach to identify the parameters of the novel six-pole axial active magnetic bearing actuator with current-driven electromagnets. The developed actuator ...is devoted to compensate for the tilt motion of disc-type machines by suppressing lateral vibrations with three actively controlled force vectors. This research emphasizes the interdisciplinary identification of magnetic bearing parameters using various measurement methods. In particular, the impact of inaccuracy inspired by the imperfections of the real prototype was investigated. Furthermore, a chaotic motion of the disc was observed in the plane perpendicular to its levitation direction. The coil parameters were measured with a precise indication of the differences. The thermal reliability of the bearing was tested with an increase in current and weight load up to twice the nominal operational temperature. The study extends the crucial aspect of measuring and calculating the electromagnetic force through four methods with decent convergence between them. In general, the proposed mechatronic actuator is capable of increasing the stability range of rigid or flexible rotors and is characterized by favourable dynamic properties, which was demonstrated in the shaker test with external harmonic excitation. A complete description of the actuator with uncertainties in the parameters was obtained by accessible in situ identification.
Thermally comfortable indoor environments are of great importance, as modern lifestyles often require people to spend more than 20 h per day indoors. Since most of the thermal comfort models use a ...variety of different environmental and personal factors that need to be measured or estimated, real-time and continuous assessment of thermal comfort is often not practically feasible. This work presents a cheap and non-invasive approach based on infrared imaging for monitoring the occupants’ thermal sensation and comfort in real time. Thanks to a mechatronic device developed by the authors, the imaging is performed on the forehead skin, selected because it is always exposed to the environment and, thus, facilitating the monitoring activity in a non-invasive manner. Tests have been performed in controlled conditions on ten subjects to assess the hypothesis that the forehead temperature is correlated with subjects’ thermal sensation. This allows the exploitation of this quantity as a base for a simple monitoring of thermal comfort, which could later be tuned with an extensive experimental campaign.
Measuring human arm stiffness in robot interaction is a crucial topic in both neuroscience and the related learning process during skill acquisition and functional recovery in neurological subjects. ...However, it is a complex and time-consuming procedure often requiring a computational burden which prevents from an online estimation of the data. Most systems described in the previous literature uses robotic manipulandum to estimate limb stiffness by perturbing the arm across different directions over multiple trials and acquiring the corresponding restoring forces. The proposed method is still robust and accurate, although with rather strong limitations in terms of speed and acquisition bandwidth. For this reason, we designed a mechatronic device able to carry out endpoint stiffness estimation within in a single trial. The proposed system can be operated in a stand-alone configuration or can be plugged in a robotic manipulandum, allowing us to perform the measurement during a posture maintaining task in contact with the robotic counterpart. This paper describes the mechanism and the design, testing the device in different experimental contexts, using a customized test bench to characterize the potentials and the limits of the proposed architecture. Furthermore, we tested the system on human subjects to obtain a reliable bidimensional estimation of arm stiffness when it is plugged in a robotic device. Results are reported and discussed in detail highlighting the limitations and the advantages of using the proposed solution.
This paper describes a research activity concerning the design and the development of an automotive semi-active differential based on the use of a magnetorheological fluid that allows to control the ...locking torque and, consequently, to improve the vehicle handling. Starting from a gearbox of a common front wheel drive vehicle, the boundary volume of the new device was defined by means of reverse engineering techniques. Two alternative architectures were proposed and compared to select the best one in terms of functionality. Then, the selected functional scheme was modeled and optimized by means of multiphysics simulations. The definition of a reiterative process, based on the use of a specific cost function, allowed to optimize the design variables and to obtain the final virtual prototype. In order to evaluate the effectiveness of the proposed device, a physical prototype was realized. First experimental tests were carried out validating the design process.
The article describes an innovative mechatronic device for the hand rehabilitation, which enables diagnostics, comprehensive exercises and reporting of the results of rehabilitation of individual ...fingers of people who have lost their full efficiency as a result of past illnesses (i.a. stroke) and orthopedic injuries. The basic purpose of the device is to provide controlled, active exercises of the individual fingers, to widen the range of their movements, and to increase their precision of movement. The developed mechatronic device works with original software for PCs containing a diagnostic module, reporting module and a set of virtual reality exercises using biofeedback. The device uses auditory and visual biofeedback, and electromyography (EMG).
This 2028 Special Issue presents recent developments and achievements in the field of Mechanism and Machine Science coming from the Italian community with international collaborations and ranging ...from theoretical contributions to experimental and practical applications. It contains selected contributions that were accepted for presentation at the Second International Conference of IFToMM Italy, IFIT2018, that has been held in Cassino on 29 and 30 November 2018. This IFIT conference is the second event of a series that was established in 2016 by IFToMM Italy in Vicenza. IFIT was established to bring together researchers, industry professionals and students, from the Italian and the international community in an intimate, collegial and stimulating environment.
Mechatronic Device for Locomotor Training Duda, Sławomir; Gąsiorek, Damian; Gembalczyk, Grzegorz ...
Acta Mechanica et Automatica,
12/2016, Letnik:
10, Številka:
4
Journal Article
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This paper presents a novel mechatronic device to support a gait reeducation process. The conceptual works were done by the interdisciplinary design team. This collaboration allowed to perform a ...device that would connect the current findings in the fields of biomechanics and mechatronics. In the first part of the article shown a construction of the device which is based on the structure of an overhead travelling crane. The rest of the article contains the issues related to machine control system. In the prototype, the control of drive system is conducted by means of two RT-DAC4/PCI real time cards connected with a signal conditioning interface. Authors present the developed control algorithms and optimization process of the controller settings values. The summary contains a comparison of some numerical simulation results and experimental data from the sensors mounted on the device. The measurement data were obtained during the gait of a healthy person.
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