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1
Bailly, Sean. "Les microtubules, des capteurs de force." Pour la Science N° 551 – septembre, no. 9 (September 1, 2023): 10–11. http://dx.doi.org/10.3917/pls.551.0010.
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Kulakov, F. M. "Active force-torque robot control without using wrist force-torque sensors." Journal of Computer and Systems Sciences International 51, no. 1 (February 2012): 147–68. http://dx.doi.org/10.1134/s1064230711060141.
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Snell-Massie, S., M. Barber, M. Pazderka, G. Wilhelm, and M. S. Hallbeck. "Interaction of Static Pinch and Forearm Torque." Proceedings of the Human Factors and Ergonomics Society Annual Meeting 41, no. 1 (October 1997): 688–91. http://dx.doi.org/10.1177/1071181397041001151.
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A study was undertaken to evaluate the effects gender, torque direction, forearm position and pinch type on pinch and torque. The study was a mixed factor design with subjects nested within gender. The study demonstrated that wrist torque for three-jaw chuck pinch was 72% of wrist torque for the lateral (key) pinch; that average female wrist torque was 69% of males. The three-jaw chuck pinch force was 86% of lateral (key) pinch; that average female pinch force was 59% of males. Wrist torque and pinch force did not change significantly by forearm position. Pinch force was highest when no torque was applied; supinating torque was 64% of the no-torque pinch force, pronating torque was 69% of the no-torque pinch force. When examined by torque direction, wrist torque showed that pronating torque was 90% that of supinating torque.
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SATO, Katsuki, and Takahiro INOUE. "Torque Sensorless External Force Estimation." Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2016 (2016): 2P2–04b2. http://dx.doi.org/10.1299/jsmermd.2016.2p2-04b2.
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UNTEN, Hikaru, Sho SAKAINO, and Toshiaki TSUJI. "Detection of Small Variation on Force/Torque Information Using 6-Axis Force/Torque Sensor." Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2020 (2020): 2A2—N03. http://dx.doi.org/10.1299/jsmermd.2020.2a2-n03.
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Pal Singh, Amrinder, Manu Sharma, and Inderdeep Singh. "Optimal control during drilling in GFRP composite laminates." Multidiscipline Modeling in Materials and Structures 10, no. 4 (November 4, 2014): 611–30. http://dx.doi.org/10.1108/mmms-04-2014-0019.
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Purpose – Damage due to delamination is an important issue during drilling in polymer-matrix composites (PMCs). It depends on thrust force and torque which are functions of feed rate. Transfer function of thrust force with feed rate and torque with feed rate is constructed through experiments. These transfer functions are then combined in state-space to formulate a sixth-order model. Then thrust force and torque are controlled by using optimal controller. The paper aims to discuss these issues. Design/methodology/approach – A glass fiber reinforced plastic composite is drilled at constant feed rate during experimentation. The corresponding time response of thrust force and torque is recorded. Third-order transfer functions of thrust force with feed rate and torque with feed rate are identified using system identification toolbox of Matlab®. These transfer functions are then converted into sixth-order combined state-space model. Optimal controller is then designed to track given reference trajectories of thrust force/torque during drilling in composite laminate. Findings – Optimal control is used to simultaneously control thrust force as well as torque during drilling. There is a critical thrust force during drilling below which no delamination occurs. Therefore, critical thrust force profile is used as reference for delamination free drilling. Present controller precisely tracks the critical thrust force profile. Using critical thrust force as reference, high-speed drilling can be done. The controller is capable of precisely tracking arbitrary thrust force and torque profile simultaneously. Findings suggest that the control mechanism is efficient and can be effective in minimizing drilling induced damage in composite laminates. Originality/value – Simultaneous optimal control of thrust force and torque during drilling in composites is not available in literature. Feed rate corresponding to critical thrust force trajectory which can prevent delamination at fast speed also not available has been presented.
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GINDY, SHERIF S. "Force and Torque Measurement, A Technology Overview Part II-Torque." Experimental Techniques 9, no. 7 (July 1985): 9–14. http://dx.doi.org/10.1111/j.1747-1567.1985.tb02279.x.
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ABE, Koyu, Toshio MIWA, and Masaru UCHIYAMA. "Development of a 3-Axis Planer Force/Torque Sensor for Very Small Force/Torque Measurement." JSME International Journal Series C 42, no. 2 (1999): 376–82. http://dx.doi.org/10.1299/jsmec.42.376.
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ABE, Koyu, Toshio MIWA, and Masaru UCHIYAMA. "Developement of a 3-axis planer force/torque sensor for very small force/torque measurement." Transactions of the Japan Society of Mechanical Engineers Series C 64, no. 621 (1998): 1648–53. http://dx.doi.org/10.1299/kikaic.64.1648.
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Liu, Xinxing, Hao Kou, Xudong Ma, and Mingming He. "Investigation of the Rock-Breaking Mechanism of Drilling under Different Conditions Using Numerical Simulation." Applied Sciences 13, no. 20 (October 17, 2023): 11389. http://dx.doi.org/10.3390/app132011389.
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The interaction between the drill bit and rock is a complex dynamic problem in the process of drilling and breaking rock. In this paper, the dynamic process of drilling and breaking rock is analyzed using ABAQUS software. The rock-breaking mechanism of drilling is revealed according to the stress–strain state of the rock and the force of the drill bit. The effect of the size of the drill bit and the characteristics of the rock mass on the drilling parameters is studied during the drilling process. The results show that both thrust force and torque show a linear increase with the increasing drilling speed under each fixed rotational speed. The drill bit size has minimal impact on the correlation coefficient of the relationship curves between thrust force, torque, and rotation speed. The drilling results in a soft–hard interlayered rock formation show that there are significant differences in thrust force and torque during the drilling process of different rock types. Whether transitioning from a soft rock layer to a hard rock layer or vice versa, the relationship between thrust force and torque is distinctly manifested whenever there is a change in rock quality. The thrust force and torque increase correspondingly with the increase in confining pressure. When subjected to lateral pressure, thrust force and torque gradually increase with the rising confining pressure. Vertical drilling exhibits a larger increase in thrust force and torque compared to horizontal drilling. The thrust force and torque increase more significantly with the rise in confining pressure compared to lateral pressure.
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Qi, Yayun, and Huanyun Dai. "Influence of motor harmonic torque on wheel wear in high-speed trains." Proceedings of the Institution of Mechanical Engineers, Part F: Journal of Rail and Rapid Transit 234, no. 1 (February 21, 2019): 32–42. http://dx.doi.org/10.1177/0954409719830808.
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With the increase of train speed, the harmonic torque of the traction motor of a high-speed train is not a negligible source of excitation. In order to explore the influence of the harmonic torque of the motor on wheel wear, a high-speed EMU vehicle model was established based on the multibody dynamics theory. FASTSIM was used to calculate the wear parameters, and the Zobory wear model was used to calculate the depth of the wheel wear. The influence of the harmonic torque of the motor on the wear parameters and wear depth of high-speed trains under straight and curve conditions is calculated, respectively. The simulation results show that the harmonic torque has a large influence on the wheel rail vertical force and the longitudinal creep force and has little influence on the lateral creep force. With the 30% harmonic torque, the wheel rail vertical force increases by 7.6%, the longitudinal creep force increases by 15%, and the lateral creep force increases by 4%. The amplitude of the longitudinal creepage increases by 14.2% when the harmonic torque is 10%, and increases by 34.4% when the harmonic torque is 30%. When the harmonic torque increases, the wheel wear depth increases, the 10% harmonic torque increases by 3% and the 30% harmonic torque increases by 8%, and the increase of the motor harmonic component accelerates the wheel wear. At the same time, small longitudinal positioning stiffness can help to reduce the influence of the harmonic torque, and the selection of the longitudinal positioning stiffness needs to consider the dynamic performance of the vehicle.
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Chen, Ting Zhi, and Yi Min Mo. "Method Study to Determine Tighten Torque of Thread Fasteners." Applied Mechanics and Materials 328 (June 2013): 432–36. http://dx.doi.org/10.4028/www.scientific.net/amm.328.432.
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To meet the operating requirements and give full play to the efficiency of thread fasteners, a method to calculate tighten torque was developed on the basis of pre-tightening force-torque characteristic curve. Compared the traditional method depended on empirical values, the method proposed in the paper can not only consider the theoretical analysis, but also combine experiment results. Through calculating the tighten torque of a car engines bearing bolts by pre-tightening force-torque characteristic curve method, and comparing the results and the practical torque value, it demonstrates that the pre-tightening force-torque characteristic curve method can develop more efficiency of the bolt.
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Muscolo, Giovanni Gerardo, and Paolo Fiorini. "A New Cable-Driven Model for Under-Actuated Force–Torque Sensitive Mechanisms." Machines 11, no. 6 (June 3, 2023): 617. http://dx.doi.org/10.3390/machines11060617.
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Force–torque sensors are used in many and different domains (i.e., space, medicine, biology, etc.). Design solutions of force–torque sensors can be conceived by using many types of connections or components; however, there are only a few sensors designed using cable-driven systems. This could be related to many reasons, one of which being that cables are able only to pull and not push. In this paper, a new cable-driven model for under-actuated force–torque sensing mechanisms is proposed, simulated, and tested, underlining the novelty of using cables for force–torque sensing. Analytical formulations, simulations, and physical implementations are presented in this paper. Results confirm that the new proposed model can be used for force–torque sensing mechanisms in micro- and macro- applications where under-actuation is a fundamental requirement, as in robotic surgery. The proposed model and mechanism can be used in the design of sensors and actuators. The innovative model is validated with two different test benches, opening new challenges in the design and development of under-actuated force–torque transducers.
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Pottinger, M. G., and A. M. Fairlie. "Relationship Between Tire Tread Physical Properties and Tire Force and Moment Properties." Tire Science and Technology 17, no. 2 (April 1, 1989): 109–25. http://dx.doi.org/10.2346/1.2141678.
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Abstract Tire lateral force and aligning torque are the most significant determinants of automotive handling. Tread compound physical properties are important design parameters for determination of tire lateral force and aligning torque behavior. This paper extends the published knowledge of the effects of tread compound physical properties on force and moment to cover the entire range of slip angles encountered in driving. Below 10 degrees slip angle lateral force increases with increasing compound stiffness and hysteresis. At and above 10 degrees slip angle there is a change in the general trend. In this range it appears that an optimal compound stiffness exists and that the hysteresis effect reverses. Aligning torque shows two distinctly different behaviors. One, like that governing lateral force in the general driving range, is valid below the peak of the aligning torque curve. The other, valid above the peak of the aligning torque curve, shows decreasing aligning torque with increasing tread stiffness and no hysteresis effect.
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Singh, Ravinder Pal, Pulak Mohan Pandey, Asit Ranjan Mridha, and Tanuj Joshi. "Experimental investigations and statistical modeling of cutting force and torque in rotary ultrasonic bone drilling of human cadaver bone." Proceedings of the Institution of Mechanical Engineers, Part H: Journal of Engineering in Medicine 234, no. 2 (November 21, 2019): 148–62. http://dx.doi.org/10.1177/0954411919889913.
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Cutting force and torque are important factors in the success of the bone drilling process. In the recent past, many attempts have been made to reduce the cutting force and torque in the bone drilling process. In this work, drilling on human cadaver bones has been performed using rotary ultrasonic bone drilling process to investigate the effect of drilling parameters on cutting force and torque. The experimental work was carried on a recently developed rotary ultrasonic bone drilling machine for surgical operations. The experimental work was performed in two phases. The first phase includes a comparative study between rotary ultrasonic bone drilling and conventional surgical bone drilling, to study the influence of various drilling parameters (rotational speed, drill diameter, and drilling tool feed rate) on the cutting force and torque. The results revealed that the cutting force and torque produced during drilling operations in rotary ultrasonic bone drilling were lesser (30%–40%) than conventional surgical bone drilling. In the second phase, response surface methodology was used to perform the statistical modeling of cutting force and torque in rotary ultrasonic bone drilling process. Analysis of variance was performed at a confidence interval of 95% to analyze the significant contribution ( p < 0.05) of process parameters (drilling speed, feed rate, drill diameter, and abrasive particle size) on the responses (cutting force and torque). The confirmatory experiments were performed to validate the developed statistical models. It was found that both cutting force and torque decrease with increase in drilling speed and increases with the increasing drill diameter, feed rate, and abrasive particle size.
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Raianov, Timur A. "Overview of new types of torque force sensors." Transportation Systems and Technology 6, no. 1 (March 30, 2020): 5–14. http://dx.doi.org/10.17816/transsyst2020615-14.
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In recent years, modern torque measurement systems have become very popular. they are used in road, rail, aviation and ship transport, as well as in the pulp, paper, and metallurgical industries. These metrological systems provide accurate torque measurement in difficult operating conditions as well as in aggressive environments. Thanks to the introduction of microprocessors in these devices, it became possible to increase the speed, it became possible to connect automatic torque tracking systems via a network interface to a single automatic control center and to perform remote control of torque sensors. With the use of modern software increases communication automatic torque measurement systems. Various software models are being developed for automatic torque measurement systems that have the ability to either partially simulate this system or work as an assistant device adapting automatic measurement systems to various uncertainties such as ambient temperature and properties of ferromagnetic materials. Safety of operation of transport systems, load-lifting devices and production facilities is increased.
The purpose of this article is to review and analyze new types of torque sensors well-known manufacturers. The design and composition of modern measuring systems are considered and their advantages and disadvantages are analyzed. The technical description for each of the torque converters is given.
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Jiwane, Kshitij Ghanshyam, Sudhir Madhav Patil, and Maneetkumar R. Dhanvijay. "Motor controlled system development with force-assistance using force/torque sensor for four-axis ceiling suspension system." International Journal of Power Electronics and Drive Systems (IJPEDS) 14, no. 2 (June 1, 2023): 833. http://dx.doi.org/10.11591/ijpeds.v14.i2.pp833-841.
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Multi-axis force and torque sensors are type of transducers. They can measure force and torque in three dimensions. These sensors have multiple applications in robotic systems. The majority of these type of sensors use the strain measurement in any elastic structure. There are multiple approaches for strain measurement which include resistive strain gauge, piezo-electric and capacitive technologies. The evaluation of such a system can be done on various parameters, maximizing the acceptable sensing range while minimizing measurement errors/crosstalk is the main design challenge. In future, because force and torque sensors are necessary for service machines to interact with people in different situations, they will be widely deployed. However, it is challenging to find an appropriate force/torque sensor, and the cost is very high, because of certain design concerns and needs. This paper discusses an application based on the multi-axis force/torque sensor. A force-assisted control system has been proposed with simultaneous motorized action using force as feedback. The sensor needs and machine performance are reviewed after a thorough analysis of relevant data. This thorough investigation will benefit in the interfacing of specialized force/torque sensors to reduce crosstalk and aid in broadening the scope of service machines in which they can be used.
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Fumagalli, Matteo, Serena Ivaldi, Marco Randazzo, Lorenzo Natale, Giorgio Metta, Giulio Sandini, and Francesco Nori. "Force feedback exploiting tactile and proximal force/torque sensing." Autonomous Robots 33, no. 4 (April 4, 2012): 381–98. http://dx.doi.org/10.1007/s10514-012-9291-2.
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Wang, K., Z. Q. Zhu, G. Ombach, and W. Chlebosz. "Torque ripple and magnetic forces on teeth in IPM machines." COMPEL: The International Journal for Computation and Mathematics in Electrical and Electronic Engineering 33, no. 5 (August 26, 2014): 1487–501. http://dx.doi.org/10.1108/compel-09-2013-0298.
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Purpose – The purpose of this paper is to investigate torque ripple and magnetic force on the teeth in interior permanent magnet (IPM) machines over a wide range of speed operation for electrical power steering (EPS) applications. Design/methodology/approach – The flux-weakening capability of IPM machines has been analysed by finite element method considering the effect of cross-coupling between d- and q-axis current. The traditional method of analysing torque ripple is based on constant torque and flux-weakening region. However, the cross-coupling need to be considered when applying this technique to flux-weakening region. Meanwhile, the torque ripple with current amplitude and angle and with different speed in the flux-weakening region is also investigated. In addition, the magnetic force on the teeth due to the separated teeth with stator yoke is also investigated during the constant torque and flux-weakening region. Findings – The torque ripple and magnetic force on teeth in IPM machine are dependent on current and current angle. Both the lowest torque ripple and magnetic force on teeth exist over the whole torque-speed region. Research limitations/implications – The purely sinusoidal currents are applied in this analysis and the effects of harmonics in the current on torque ripple and magnetic force on teeth are not considered in this application. The 12-slot/10-pole IPM machine has been employed in this analysis, but this work can be continued to investigate different slot/pole number combinations. Originality/value – This paper has analysed the torque ripple and magnetic force on the teeth in IPM machines for EPS application over a wide range of operation speed, which are the main cause of vibration and acoustic noise. The variation of torque ripple with current amplitude and angle as well as speed in the flux-weakening region is also investigated. In addition, the magnetic force on the teeth is also investigated over the whole torque-speed region.
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Sun, Chuanyu, Hang Yang, Shangke Han, Hongchang Ding, Jiaqing Li, and Ning Han. "Control System Design for 16/6/8 Double-Stator Bearingless Switched Reluctance Motor." Mathematical Problems in Engineering 2021 (August 30, 2021): 1–15. http://dx.doi.org/10.1155/2021/4727917.
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The 16/6/8 double-stator bearingless switched reluctance motor (DSBSRM) is used as the object of study in this paper. To solve the problem of torque and levitation force ripples in this motor, a control system direct force control (DFC) and direct instantaneous torque control (DITC) based on the torque sharing function (TSF) are proposed. With the strong nonlinearity and approximation capability of radial basis function neural networks, the torque and levitation force observer are designed. The observed torque and levitation forces are used as feedback for the internal loop control, which is combined with the external loop control to make a double closed-loop control. In order to further improve the output torque and system robustness and suppress the torque ripple in steady-state process, the motor winding method is optimized and a set of switching angles is added on the basis of TSF. The simulation results verify the effectiveness and superiority of the proposed control method. It effectively suppresses speed ripple and reduces torque and levitation force fluctuations and rotor radial displacement jitter.
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Guo, Weihao, Liming Wang, Jianfeng Li, Wenxiang Li, Fangyi Li, and Yu Gu. "Prediction of thrust force and torque in canal preparation process using Taguchi method and Artificial Neural Network." Advances in Mechanical Engineering 13, no. 10 (October 2021): 168781402110524. http://dx.doi.org/10.1177/16878140211052459.
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Root canal preparation is a vital procedure during the treatment of pulposis and periapical periodontitis. However, the improper control of thrust force and torque in root canal preparation will cause nerve damage and cell necrosis. The aim of this study was to investigate and optimize the main factors influencing thrust force and torque and to establish an efficient predictive model for root canal preparation. This study was conducted on fresh bovine bones due to the similarity of structure and density with human teeth. A novel experimental platform was first built to measure the force and torque in canal preparation of different parameters. The effect of the experimental results on thrust force and torque was investigated based on Analysis of variance (ANOVA). The results indicated that the diameter of instrument, width of root canal, and feed rate are the most significant factors influencing the thrust forces and torque ( p < 0.05). Based on the above experiments, a Radial Basis Function Neural Network (RBFN) model was established to predict the thrust force and torque in a wider range of parameters. In confirmation tests, RBFN showed an excellent predictive model for prediction of thrust force and torque (error less than 14%) in canal preparation.
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Yicun, Xie, Jiang Qiang, Wu Yao, Shen Zhiqiang, Liu Chuang, Li Dong, Liu Kexin, and Li Xinying. "Design and Application of Micro-vibration Test Platform for Control Moment Gyroscope of Space Station." Journal of Physics: Conference Series 2784, no. 1 (June 1, 2024): 012024. http://dx.doi.org/10.1088/1742-6596/2784/1/012024.
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Abstract In order to obtain the disturbance force and torque of large control moment gyroscopes used in China space station, a calculation method of the resultant force and moment at the product center of mass was studied. A disturbance force testing system for large control moment gyroscopes was designed, and structural modal testing and disturbance force and torque testing were carried out on the rigid installation and isolator installation states of the control moment gyroscopes. By analyzing the root mean square values of disturbance force and torque, as well as the isolation efficiency at the operating frequency of the control torque gyroscope, it can be concluded that the isolator has a good isolation effect.
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Kolchunov, V. I., S. Yu Savin, and M. A. Amelina. "Stability of Reinforced Concrete Columns Subjected to Compression with Torsion under Accidental Action." Reinforced concrete structures 7, no. 3 (September 27, 2024): 12–23. http://dx.doi.org/10.22227/2949-1622.2024.3.12-23.
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The effect of reinforcement ratio and compressive strength of concrete on the stability of reinforced concrete elements at different ratios of longitudinal force to torque is examined. For the purposes of the study, an analytical solution is used for reinforced concrete bars, which takes into account the change in stiff-ness under the combined action of axial compressive force and torque, considering the nonlinear relationship between stresses and strains according to Model Code and the change in strength and deformability of concrete under complex stress-strain state according to the model of G.A. Geniev. For the reinforced concrete elements considered in the study, the stability region boundaries for the combined action of the axial compressive force and torque are plotted. It is shown that at combined loading by axial force and torque for small values of axial force N one should expect failure due to loss of strength of sections under the action of torque Mt. For elements made of concrete of different compressive strength classes, but with close values of effective reinforcement ratio αs, the dimensionless axial force αn and dimensionless torque αm decrease as the concrete strength class increases.
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Zhang, Hui, Changsheng Guo, and Changming Zhang. "Effect of drilling parameters on drilling temperature and force of ultra-high strength steel." Thermal Science 23, no. 5 Part A (2019): 2577–84. http://dx.doi.org/10.2298/tsci181125146z.
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Aiming at 300M hard-to-machine material, the effects of different drilling parameters (spindle speed, n, feed, f, bit diameter, d) on drilling temperature, torque and axial force were analyzed and studied by orthogonal test method. The prediction models of drilling temperature, torque, and drilling axial force are constructed. The results show that the cutting temperature and stress are mainly distributed on the cross edge of the bit in the initial stage of 300 m steel drilling. With the continuous drilling process of 300M hard-to-machine materials, the cutting temperature and stress generated gradually transfer to the main cutting edge of the bit and extend along the main cutting edge. With the increase of bit diameter, the cutting axial force, torque and cutting temperature decrease, but the cutting axial force, torque and cutting temperature decrease. With the increase of spindle speed and feed, the cutting temperature is increasing. According to the results of orthogonal experiment, the cutting axial force is established by least square method. The predictive models of force, torque, and cutting temperature are validated by the experimental model coefficients and model coefficients. The results show that feed, f, has the greatest influence on cutting axial force, torque, and cutting temperature.
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Ye, Yong. "Simulation Solving Active Force and Passive Force of a 3UPU-II Type Spatial Parallel Manipulator." Applied Mechanics and Materials 246-247 (December 2012): 749–53. http://dx.doi.org/10.4028/www.scientific.net/amm.246-247.749.
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A CAD variation geometry approach and force/torque balance equations are proposed for simulation of the accurate active force and passive force of a 3-dof 3UPU-Ⅱspatial parallel manipulator. First, an initial simulation mechanism of the 3UPU-Ⅱspatial parallel manipulator is created. Second, a variable workload which is composed of a central force F and a central torque T is constructed and applied to the center of the platform in the simulation mechanism. Third, the whole F/T (force/torque) simulation mechanism of the 3UPU-II spatial parallel manipulator is created. Finally, the extension of the active limbs, the active forces and passive forces are solved and modified.
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TSUJI, Toshiaki. "Touch Interface using Force/Torque Sensor." Journal of the Institute of Electrical Engineers of Japan 136, no. 1 (2016): 30–33. http://dx.doi.org/10.1541/ieejjournal.136.30.
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Sultan, Cornel, and Robert Skelton. "A force and torque tensegrity sensor." Sensors and Actuators A: Physical 112, no. 2-3 (May 2004): 220–31. http://dx.doi.org/10.1016/j.sna.2004.01.039.
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Perry, Dwayne M. "Multi‐axis force and torque sensing." Sensor Review 17, no. 2 (June 1997): 117–20. http://dx.doi.org/10.1108/02602289710170285.
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Leng, Yu-Quan, Zheng-Cang Chen, Xu He, Yang Zhang, and Wei Zhang. "Collision Sensing Using Force/Torque Sensor." Journal of Sensors 2016 (2016): 1–10. http://dx.doi.org/10.1155/2016/6291216.
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Collision sensing including collision position, collision direction, and force size could make robots smoothly interact with environment, so that the robots can strongly adapt to the outside world. Skin sensor imitates principles of human skin using special material and physical structure to obtain collision information, but this method has some disadvantages, such as complex design, low sampling rate, and poor generality. In this paper, a new method using force/torque sensor to calculate collision position, collision direction, and force size is proposed. Detailed algorithm is elaborated based on physical principle and unified modeling method for basic geometric surface. Gravity compensation and dynamic compensation are also introduced for working manipulators/robots in gravity and dynamic environment. In addition, considering algorithm solvability and uniqueness, four constraints are proposed, which are force constraint, geometric constraint, normal vector constraint, and current mutation constraint. In order to solve conflict solution of algorithm in redundant constraints, compatibility solution analysis is proposed. Finally, a simulation experiment shows that the proposed method can achieve collision information efficiently and accurately.
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Hu, Wei Chao, Yan Chao Li, Ze Bin Yang, and Huang Qiu Zhu. "Direct Torque Control of Bearingless Synchronous Reluctance Motor." Applied Mechanics and Materials 150 (January 2012): 36–39. http://dx.doi.org/10.4028/www.scientific.net/amm.150.36.
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The bearingless synchronous reluctance motor (BSynRM) is a multi-variable, nonlinear and strong-coupled system. To solve the difficult problem of precise decoupling in electric torque and radial suspension force control, the theory of direct torque control of traditional synchronous reluctance motor are applied to the torque control of a BSynRM in this paper. Based on mathematical models of the BSynRM, A direct torque control algorithm based on space vector pulse width modulation (SVM-DTC) is deduced. The SVM-DTC control system is designed and simulated. The simulation results show the control algorithm of SVM-DTC realizes decoupling in electric torque and radial suspension force control. The static and dynamic performance of electric torque, speed and radial suspension force of the BSynRM is excellent.
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Jiang, Xin Ping, and Yi Ming Wang. "Force Analysis and Experimental Study of Separator Cam of Feeder." Applied Mechanics and Materials 312 (February 2013): 47–50. http://dx.doi.org/10.4028/www.scientific.net/amm.312.47.
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Aimed at the stability problem of feeder, we study distribution characteristics of separator shaft torque. By a kinematic and dynamics analysis of typical feeder Mechanism, we get the force of feeder camshaft and distribution characteristics of separator torque. We study the fluctuation of separator torque using the developed feeder torque test platform. The study shows that: the theoretical analysis and experimental research of separator torque distribution is basically consistent.
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Wang, Sun’an, Binquan Zhang, Zhenyuan Yu, and Yu’ang Yan. "Differential Soft Sensor-Based Measurement of Interactive Force and Assistive Torque for a Robotic Hip Exoskeleton." Sensors 21, no. 19 (September 30, 2021): 6545. http://dx.doi.org/10.3390/s21196545.
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With the emerging of wearable robots, the safety and effectiveness of human-robot physical interaction have attracted extensive attention. Recent studies suggest that online measurement of the interaction force between the robot and the human body is essential to the aspects above in wearable exoskeletons. However, a large proportion of existing wearable exoskeletons monitor and sense the delivered force and torque through an indirect-measure method, in which the torque is estimated by the motor current. Direct force/torque measuring through low-cost and compact wearable sensors remains an open problem. This paper presents a compact soft sensor system for wearable gait assistance exoskeletons. The contact force is converted into a voltage signal by measuring the air pressure within a soft pneumatic chamber. The developed soft force sensor system was implemented on a robotic hip exoskeleton, and the real-time interaction force between the human thigh and the exoskeleton was measured through two differential soft chambers. The delivered torque of the hip exoskeleton was calculated based on a characterization model. Experimental results suggested that the sensor system achieved direct force measurement with an error of 10.3 ± 6.58%, and torque monitoring for a hip exoskeleton which provided an understanding for the importance of direct force/torque measurement for assistive performance. Compared with traditional rigid force sensors, the proposed system has several merits, as it is compact, low-cost, and has good adaptability to the human body due to the soft structure.
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Kinoshita, Hiroshi, Lars Bäckström, J. Randall Flanagan, and Roland S. Johansson. "Tangential Torque Effects on the Control of Grip Forces When Holding Objects With a Precision Grip." Journal of Neurophysiology 78, no. 3 (September 1, 1997): 1619–30. http://dx.doi.org/10.1152/jn.1997.78.3.1619.
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Kinoshita, Hiroshi, Lars Bäckström, J. Randall Flanagan, and Roland S. Johansson. Tangential torque effects on the control of grip forces when holding objects with a precision grip. J. Neurophysiol. 78: 1619–1630, 1997. When we manipulate small objects, our fingertips are generally subjected to tangential torques about the axis normal to the grasp surface in addition to linear forces tangential to the grasp surface. Tangential torques can arise because the normal force is distributed across the contact area rather than focused at a point. We investigated the effects of tangential torques and tangential forces on the minimum normal forces required to prevent slips (slip force) and on the normal forces actually employed by subjects to hold an object in a stationary position with the use of the tips of the index finger and thumb. By changing the location of the object's center of gravity in relation to the grasp surface, various levels of tangential torque (0–50 N⋅mm) were created while the subject counteracted object rotation. Tangential force (0–3.4 N) was varied by changing the weight of the object. The flat grasp surfaces were covered with rayon, suede, or sandpaper, providing differences in friction in relation to the skin. Under zero tangential force, both the employed normal force and the slip force increased in proportion to tangential torque with a slope that reflected the current frictional condition. Likewise, with pure tangential force, these forces increased in proportion to tangential force. The effects of combined tangential torques and tangential forces on the slip force were primarily additive, but there was a significant interaction of these variables. Specifically, the increase in slip force for a given increment in torque decreases as a function of tangential force. A mathematical model was developed that successfully predicted slip force from tangential torque, tangential force, and an estimate of coefficient of static friction in the digit-surface interface. The effects of combined tangential torques and forces on the employed normal force showed the same pattern as the effects on the slip force. The safety margin against frictional slips, measured as the difference between the employed normal force and the slip force, was relatively small and constant across all tangential force and torque levels except at small torques (<10 N⋅mm). There was no difference in safety margin between the digits. In conclusion, tangential torque strongly influences the normal force required for grasp stability. When controlling normal force, people take into account, in a precise fashion, the slip force reflecting both tangential force and tangential torque and their interaction as well as the current frictional condition in the object-digit interface.
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Liu, Cheng, Chen Jin, Meng Guo, Qingdong Yan, and Wei Wei. "Research on the Influence of Charging Oil Conditions on the Axial Force of Hydraulic Torque Converter." Machines 11, no. 7 (July 11, 2023): 730. http://dx.doi.org/10.3390/machines11070730.
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The hydraulic torque converter is a critical component in high-power tracked vehicles such as bulldozers or bridge machines. Its axial force has a significant impact on the reliability and load-carrying capacity of the transmission system, which is greatly influenced by the charging oil conditions. To investigate the axial force characteristic of the torque converter and its charging oil effects, a computational fluid dynamics (CFD) method is established by considering inner and outer leakage regions, as well as inlet and outlet channels. Additionally, a novel axial force-testing method is proposed, and the axial force testing and validation experiments on the torque converter prototype have been completed. The research findings reveal that changes in oil viscosity resulting from variations in charging oil temperature have a considerable impact on the axial force of the torque converter. The axial force of the pump and turbine decreases as the temperature increases due to varying pressure sensitivity among different components. The influence of charging oil pressure on axial force follows a linear relationship, with its magnitude determined by the axial unbalanced area of the hydraulic torque converter during its design and development. In addition, a formula for the axial force of the hydraulic torque converter is proposed under different charging oil pressures. Furthermore, a novel suppression of axial force has been proposed without altering the structure, which has been validated as an effective method. The results lay a theoretical foundation for the research and suppression of axial forces in hydraulic torque converters, and they also have an engineering application value in the design of high-reliability and long-life converters.
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Perell, K. L., R. J. Gregor, J. A. Buford, and J. L. Smith. "Adaptive control for backward quadrupedal walking. IV. Hindlimb kinetics during stance and swing." Journal of Neurophysiology 70, no. 6 (December 1, 1993): 2226–40. http://dx.doi.org/10.1152/jn.1993.70.6.2226.
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1. Hindlimb step-cycle kinetics of forward (FWD) and backward (BWD) walking in adult cats were assessed. The hindlimb was modeled as a linked system of rigid bodies and inverse-dynamics techniques were used to calculate hip, knee, and ankle joint kinetics. For swing, net torque at each joint was divided into three components: gravitational, motion dependent, and a generalized muscle torque. For stance, vertical and horizontal components of the ground-reaction force applied at a point on the paw (center of pressure) were added to the torque calculations. Muscle torque profiles were matched to electromyograms (EMGs) recorded from hindlimb muscles. 2. Torque profiles for BWD swing were the approximate time reversal of those for FWD swing. At each joint, the net torque during swing was small because the mean motion-dependent and muscle torque components counteracted each other. At the hip a flexor muscle torque persisted except for a brief extensor muscle torque late in FWD swing and at the onset of BWD swing. At the knee the muscle torque was relatively negligible except for a peak flexor muscle torque late in FWD swing and early in BWD swing. At the ankle there was a midswing transition from a flexor to an extensor muscle torque during FWD swing and the reverse was true for BWD swing. 3. The vertical ground-reaction force was greater for the forelimbs than the hindlimbs during FWD stance; the reverse was true for BWD stance. Thus the hindlimbs bore a greater percentage (66%) of body weight than the forelimbs during BWD stance, and the forelimbs bore a greater percentage (59%) during FWD stance. For most of FWD stance, the hindlimb exerted a small propulsive ground-reaction force, but for BWD stance the hindlimb first exerted a braking force and then a propulsive force, with the transition occurring after midstance (59% of stance). 4. At the hip the ground-reaction force vector was oriented anteriorly and then posteriorly to the estimated joint center with a midstance transition during FWD stance. The muscle torque and joint power patterns showed similar transitions, changing from extensor and power generation to flexor and power absorption, respectively. For most of BWD stance the ground-reaction force vector was oriented anteriorly to the joint center and was counter-balanced by a large extensor muscle torque; nonetheless, power was absorbed because the hip flexed.(ABSTRACT TRUNCATED AT 400 WORDS)
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Alam, K., R. Muhammad, A. Shamsuzzoha, A. AlYahmadi, and N. Ahmed. "Quantitative Analysis of Force and Torque in Bone Drilling." Journal of Engineering Research [TJER] 14, no. 1 (March 1, 2017): 39. http://dx.doi.org/10.24200/tjer.vol14iss1pp39-48.
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Bone drilling is an important and the most frequent operation in orthopaedics and other bone surgical procedures. Prediction and control of drilling force and torque are critical to safe and efficient surgeries. This paper studies the drilling force and torque arising from bone drilling process. Drilling parameters such as drilling speed, feed rate, drill size and drill condition (sharp and worn) were changed to measure the force and torque in the direction of the drill penetration. Experimental results demonstrated lower drilling force using a sharp drill compared to a worn drill for similar drilling conditions. Contrary to the drilling force, lower torque was measured using a worn drill compared to a sharp drill. The drilling force was found to decrease with increase in drill speed and increased with rise in the feed rate using both types of drills. A linear drop in drilling torque was measured with increase in drilling speed. This study provided scientific information to orthopaedic surgeons and technicians to use appropriate surgical drill and cutting parameters to avoid overstressing of the bone tissue and drill breakage during drilling operations.
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Lu, Chengling, Zebin Yang, Xiaodong Sun, and Qifeng Ding. "Design and Multi-Objective Optimization of a Composite Cage Rotor Bearingless Induction Motor." Electronics 12, no. 3 (February 3, 2023): 775. http://dx.doi.org/10.3390/electronics12030775.
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To improve the quality of starting torque and suspension force, a composite cage rotor bearingless induction motor (CCR-BIM) is designed, which adopts a composite cage rotor structure that combines an inner rotor and an outer rotor. First, the overall structure of the CCR-BIM is designed, the composite cage rotor of the CCR-BIM is specially designed and analyzed for the induction principle, and the mathematical model of suspension force and torque is deduced. Second, the initial structural parameters are determined, and motor qualities, such as starting torque quality and suspension force quality, are compared and analyzed between the proposed motor and BIM using a finite element model (FEM). Third, based on the response surface model (RSM), a multi-objective improved NSGA-II is constructed, and the three optimization objectives of starting torque, suspension force, and suspension force pulsation are optimized. Finally, the results of the experimental setup prove that the starting torque increases by 6.98%, the suspension force increases by 5.45%, and the suspension force pulsation decreases by 18.54%. The effectiveness of the proposed motor and the correctness of the multi-objective optimization strategy are verified.
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Qi, Guoyuan, and Xiyin Liang. "Force Analysis of Qi Chaotic System." International Journal of Bifurcation and Chaos 26, no. 14 (December 30, 2016): 1650237. http://dx.doi.org/10.1142/s0218127416502370.
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The Qi chaotic system is transformed into Kolmogorov type of system. The vector field of the Qi chaotic system is decomposed into four types of torques: inertial torque, internal torque, dissipation and external torque. Angular momentum representing the physical analogue of the state variables of the chaotic system is identified. The Casimir energy law relating to the orbital behavior is identified and the bound of Qi chaotic attractor is given. Five cases of study have been conducted to discover the insights and functions of different types of torques of the chaotic attractor and also the key factors of producing different types of modes of dynamics.
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Wang, Zhengbing, Lubing Shi, Zhongming Liu, Bang Pei, and Yukai Zhao. "Analytical algorithm for time-varying friction force and torque of pitting helical gear." Journal of Physics: Conference Series 2369, no. 1 (November 1, 2022): 012025. http://dx.doi.org/10.1088/1742-6596/2369/1/012025.
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Friction excitation is an important factor affecting gear vibration and noise. This paper analyzes the variation law of sliding friction during helical gear meshing, and the calculation algorithm of friction force and torque of helical gear is derived. The effects of working parameters on the friction force and torque are analyzed based on the time-varying friction factor model. The calculation method of the friction force and friction torque of pitting helical gear is given by establishing the quadrilateral pitting model on the tooth surface of the helical gear. The influence of pitting parameters on the friction force and torque is analyzed, which can provide the research basis for the dynamic response analysis of pitting gear.
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Li, M., and D. Lowther. "Global and distributed torque calculations using the CDSA approach." Archives of Electrical Engineering 60, no. 4 (December 1, 2011): 459–71. http://dx.doi.org/10.2478/v10171-011-0038-z.
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Global and distributed torque calculations using the CDSA approach Accurate force and torque calculations are fundamental to being able to predict the operation of an electromechanical device or system. The Maxwell stress tensor and the virtual work principle are the two major theories for force and torque calculation. However, if local distributions of torque are needed to couple to structural and vibration analyses, the conventional Maxwell stress approach cannot provide this easily. A recently developed approach based on sensitivity analysis has the capability to deliver local stress and torque as well as accurate global results. In addition, this approach divides the total torque into different components which are essential to the design of electrical devices. This paper includes several numerical examples of torque calculations of different electrical machines. The results are verified by a commercial software package using the Maxwell stress based force calculation.
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Cao, Shinan, Pingjuan Niu, Wei Wang, Tiantian Zhao, Qiang Liu, Jie Bai, and Sha Sheng. "Novel Magnetic Suspension Platform with Three Types of Magnetic Bearings for Mass Transfer." Energies 15, no. 15 (August 5, 2022): 5691. http://dx.doi.org/10.3390/en15155691.
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For ultra-precision, large stroke, and high start/stop acceleration, a novel magnetic suspension platform with three types of magnetic bearings is proposed. The structure and working principle of the novel platform are introduced. The passive magnetic bearings are used to compensate for the weight of the actuator. The repulsive force of the passive magnetic bearing model is established and analyzed. The Lorentz force-type magnetic bearings are used to provide driving force and rotational torque in the XY-plane. The driving force model and rotational torque model are established. The electromagnetic suspension bearing is used to provide driving force in the Z-axis and rotational torque along the X-axis and Y-axis. A novel Halbach magnetic array is designed to improve the magnetic flux density in the air gap. The finite element method is used to validate the force model, torque model, and magnetic flux density in the air gap. The results show that the maximum force of the passive magnetic bearing is 79 N, and the rotational torque stiffness is 35 N/A in the XY-plane and 78 N/A along the Z-axis. The driving force stiffness is 91 N/A in the XY-plane and 45 N/A along Z-axis.
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Kim, Jaewoo, and Gi-Hun Yang. "Manipulator Control of the Robotized TMS System with Incurved TMS Coil Case." Applied Sciences 14, no. 23 (December 9, 2024): 11441. https://doi.org/10.3390/app142311441.
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This paper proposes the force/torque control strategy for the robotized transcranial magnetic stimulation (TMS) system, considering the shape of the TMS coil case. Hybrid position/force control is used to compensate for the error between the current and target position of the coil and to maintain the contact between the coil and the subject’s head. The desired force magnitude of the force control part of the hybrid controller is scheduled by the error between the current and target position of the TMS coil for fast error reduction and the comfort of the subject. Additionally, the torque proportional to the torque acting on the coil’s center is generated to stabilize the contact. Compliance control, which makes the robot adaptive to the environment, stabilizes the coil and head interaction during force/torque control. The experimental results showed that the force controller made the coil generate a relatively large force for a short time (less than 10 s) for the fast error reduction, and a relatively small interaction force was maintained for the contact. They showed that the torque controller made the contact area inside the coil. The experiment also showed that the proposed strategy could be used for tracking a new target point estimated by the neuronavigation system when the head moved slightly.
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Nillahoot, Nantida, Branesh M. Pillai, Bibhu Sharma, Chumpon Wilasrusmee, and Jackrit Suthakorn. "Interactive 3D Force/Torque Parameter Acquisition and Correlation Identification during Primary Trocar Insertion in Laparoscopic Abdominal Surgery: 5 Cases." Sensors 22, no. 22 (November 19, 2022): 8970. http://dx.doi.org/10.3390/s22228970.
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Laparoscopic procedures have become indispensable in gastrointestinal surgery. As a minimally invasive process, it begins with primary trocar insertion. However, this step poses the threat of injuries to the gastrointestinal tract and blood vessels. As such, the comprehension of the insertion process is crucial to the development of robotic-assisted/automated surgeries. To sustain robotic development, this research aims to study the interactive force/torque (F/T) behavior between the trocar and the abdomen during the trocar insertion process. For force/torque (F/T) data acquisition, a trocar interfaced with a six-axis F/T sensor was used by surgeons for the insertion. The study was conducted during five abdominal hernia surgical cases in the Department of Surgery, Faculty of Medicine, Ramathibodi Hospital, Mahidol University. The real-time F/T data were further processed and analyzed. The fluctuation in the force/torque (F/T) parameter was significant, with peak force ranging from 16.83 N to 61.86 N and peak torque ranging from 0.552 Nm to 1.76 Nm. The force parameter was observed to positively correlate with procedural time, while torque was found to be negatively correlated. Although during the process a surgeon applied force and torque in multiple axes, for a robotic system, the push and turn motion in a single axis was observed to be sufficient. For minimal tissue damage in less procedural time, a system with low push force and high torque was observed to be advantageous. These understandings will eventually benefit the development of computer-assisted or robotics technology to improve the outcome of the primary trocar insertion procedure.
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Cobb, J. "LOW FORCE DIRECT ANTERIOR HIP ARTHROPLASTY." Orthopaedic Proceedings 105-B, SUPP_12 (June 23, 2023): 83. http://dx.doi.org/10.1302/1358-992x.2023.12.083.
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The trend towards more minimal access has led to a series of instruments being developed to enable adequate access for Direct Anterior Approach (DAA) for hip arthroplasty. These include longer levers, hooks attached to the operating table and a series of special attachments to the operating table to position the leg and apply traction where necessary. The forces applied in this way may be transmitted locally, damaging muscle used as a fulcrum, or the knee and ankle joints when torque has to be applied to the femur through a boot. The arthroplasty surgeon's aim is to minimise the forces applied to both bone and soft tissue during surgery.We surmised that the forces needed for adequate access were related to the extent of the capsular and soft tissue releases, and that they could be measured and optimised. with the aim of minimising the forces applied to the tissues around the hip.Eight fresh frozen specimens from pelvis to mid tibia from four cadavers were approached using the DAA. A 6-axis force/torque sensor and 6-axis motion tracking sensor were attached to a threaded rod securely fastened to the tibial and femoral diaphysis. The torque needed to provide first extension, then external rotation, adequate for hip arthroplasty were measured as the capsular structures were divided sequentially.The Zona Orbicularis (ZO) and Ischiofemoral Ligament(IFL) contributed most of the resistance to both extension (4.0 and 3.1Nm) and external rotation torque (5.8 and 3.9Nm). The contributions of the conjoint tendon (1.5 and 2.4Nm) and piriformis (1.2 and 2.3Nm) were substantially smaller.By releasing the Zona Orbicularis and Ischiofemoral Ligament, the torque needed to deliver the femur for hip arthroplasty could be reduced to less than the torque needed to open a jar (2.9–5.5Nm).
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Hung, Chung-Wen, and Guan-Yu Jiang. "Application of External Torque Observer and Virtual Force Sensor for a 6-DOF Robot." Applied Sciences 13, no. 19 (October 2, 2023): 10917. http://dx.doi.org/10.3390/app131910917.
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A personal-computer-based and a Raspberry Pi single-board computer-based virtual force sensor with EtherCAT communication for a six-axis robotic arm are proposed in this paper. Both traditional mathematical modeling and machine learning techniques are used in the establishment of the dynamic model of the robotic arm. Thanks to the high updating rate of EtherCAT, the machine learning-based dynamic model on a personal computer achieved an average correlation coefficient between the estimated torque and the actual torque feedback from the motor driver of about 0.99. The dynamic model created using traditional mathematical modeling and the Raspberry Pi single-board computer demonstrates an approximate correlation coefficient of 0.988 between the estimated torque and the actual torque. The external torque observer is established by calculating the difference between the actual torque and the estimated torque, and the virtual force sensor converts the externally applied torques calculated for each axis to the end effector of the robotic arm. When detecting external forces applied to the end effector, the virtual force sensor demonstrates a correlation coefficient of 0.75 and a Root Mean Square Error of 12.93 N, proving its fundamental competence for force measurement. In this paper, both the external torque observer and the virtual force control are applied to applications related to sensing external forces of the robotic arm. The external torque observer is utilized in the safety collision detection mechanism. Based on experimental results, the system can halt the motion of the robotic arm using the minimum external force that the human body can endure, thereby ensuring the operator’s safety. The virtual force control is utilized to implement a position and force hybrid controller. The experimental results demonstrate that, under identical control conditions, the position and force hybrid controller established by the Raspberry Pi single-board computer achieves superior control outcomes in a constant force control scenario with a pressure of 40 N. The average absolute error is 9.62 N, and the root mean square error is 11.16 N when compared to the target pressure. From the analysis of the results, it can be concluded that the Raspberry Pi system implemented in this paper can achieve a higher control command update rate compared to personal computers. As a result, it can provide greater control benefits in position and force hybrid control.
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Persson, Erik, and Arne Roloff. "Ultrasonic tightening control of a screw joint: A comparison of the clamp force accuracy from different tightening methods." Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science 230, no. 15 (August 9, 2016): 2595–602. http://dx.doi.org/10.1177/0954406215619648.
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Clamp force and its accuracy are investigated using torque, angle, gradient, and clamp force/elongation control. Phosphated, lightly oiled M14 and M10 bolts are tightened. A PowerMACS 4000 system with a QST62-350CT nutrunner is used in the experimental setup. An ultrasonic signal processing unit using a piezoelectric sensor fitted to the socket is used for signal generation and processing when evaluating clamp force. The ultrasonic clamp force control is based on a novel method for assuring correct echo and high repeatability measurements in the tightening system. Torque and angle are extracted from the tool control system. During the experiments a load cell is used to measure the clamp force in the joint. Combined head and thread friction is calculated at final torque and clamp force. The results show that the lowest scatter (3 s) in clamp force, approximately 2.9% can be obtained using ultrasonic clamp force control and the highest, approximately 18% when using torque control. The results are also compared to tightening factors described in VDI2230.
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Li, Fuxing, Hao Liu, Menglei Li, Jun Guo, Xinjian Lu, Jianhui Zhou, Maohua Xiao, and Weihua Wei. "Driving Torque Model and Accuracy Test of Multilink High-Speed Punch." Mathematical Problems in Engineering 2018 (2018): 1–10. http://dx.doi.org/10.1155/2018/8594737.
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Inertia force is an important factor for operation stability and stamping precision of high-speed punch; adjusting drive torque of high-speed punch can realize effective control of inertia force. In this paper, a kind of 600 KN multilink high-speed punch inertia force balancing mechanism was designed. The calculation model of ideal inertia force was proposed based on conservation of energy and numerical analysis method. In addition, the calculation model of ideal driving torque were analyzed, simplified, and corrected by using numerical calculation and simulation methods, which solved the problem of controlling inertia force from the perspective of driving torque and realized the stability strategy planning of high-speed multilink punch press. Finally, the proposed ideal driving torque calculation model was simulated and verified by ADAMAS and bottom-dead-point accuracy test was carried out.
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Han, Lin, Wentie Niu, Dawei Zhang, and Fujun Wang. "An Improved Algorithm for Calculating Friction Force and Torque in Involute Helical Gears." Mathematical Problems in Engineering 2013 (2013): 1–13. http://dx.doi.org/10.1155/2013/575302.
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Time varying frictional force and torque are one of the main exciting sources of vibration in helical gears. This paper presents an approach to determine the friction force and torque in involute helical gears considering nonuniform load distribution along contact lines. An analytical load distribution model is employed and extended to obtain the load per unit of length along contact lines. Friction force and torque models under nonuniform assumption are derived. Comparisons of the determined friction force and torque with the results from uniform assumption are made. In addition, the differences between constant friction coefficient and varying coefficient are revealed. Moreover, two typical design cases of helical gears are studied. Results show that the fluctuations of friction force and torque under uniform assumption are more significant than those under nonuniform assumption in sample I for a single tooth, but less significant for the sum of those of the three teeth, while in sample II, the fluctuations under uniform assumption are less significant than those under nonuniform assumption. The friction coefficient induced difference is negligible compared with the difference induced by load distribution assumptions.
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Kim, Wan-Soo, Yeon-Soo Kim, and Yong-Joo Kim. "Development of Prediction Model for Axle Torque of Agricultural Tractors." Transactions of the ASABE 63, no. 6 (2020): 1773–86. http://dx.doi.org/10.13031/trans.14012.
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HighlightsA prediction model was developed for estimating the axle torque of an agricultural tractor.The model was developed by complementing and modifying a previously proposed traction equation.Compared to the actual axle torque, the proposed model attained MAPE of 2.1%, RMSE of 29 Nm, and RD of 2.7%.The model predicted axle torque more accurately than the traction force-based prediction model.Abstract. The tractor driving axle torque is an important factor in optimal transmission design and service life evaluation. Axle torque measurement sensor systems are very expensive, and traction force-based axle torque prediction models cannot accurately estimate the axle torque because they do not consider both the conditions of the tractor and the attached implement. Therefore, in this study, a prediction model was developed to estimate the axle torque of an agricultural tractor based on the traction force equation and motion resistance. A load measurement system was established to verify the developed prediction model, and actual field torque data were collected through field tests. The developed prediction model was verified by comparing the results of five reference prediction methods, including weight, engine-rated torque, and three traction equations (Wismer-Luth, ASABE Standard D497.4, and Brixius), using the measured axle torque. Performance evaluation was conducted based on the main variables, including travel speed, tillage depth, and slip ratio. The proposed prediction model was found to be closest to the 1:1 line at all travel speeds, tillage depths, and slip ratios, implying that it can best explain the measured torque values among all prediction models. Compared to the other prediction models, the proposed prediction model’s results under all variable conditions had an R2 of 0.65, MAPE of 2.1%, RMSE of 29 Nm, and RD of 2.7%, indicating excellent prediction of the measured torque. The results show that the developed prediction model can be applied to axle torque prediction by explaining the actual measured axle torque. Keywords: Agricultural tractor, Axle torque, Prediction model, Torque estimation, Traction force.
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Hao, Wenjuan, Gong Zhang, Wenbo Liu, Hui Liu, and Yu Wang. "Methods for Reducing Cogging Force in Permanent Magnet Machines: A Review." Energies 16, no. 1 (December 29, 2022): 422. http://dx.doi.org/10.3390/en16010422.
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Permanent magnet (PM) machines inevitably suffer from cogging force, which does not contribute to the average output torque (force) but contributes as a type of torque (force) ripple. This paper provides an overview of the cogging force reduction methods for different types of PM machines. First, a systematic and comprehensive categorization of different kinds of cogging force reduction methods is given according to the reduction principle. Then, the cogging force reduction methods for different types of PM machines are analyzed and discussed based on the categorization. Finally, according to the versatility and feasibility of the cogging force reduction methods, practical methods are recommended for different types of PM machines. The categorization, analyses, and recommendations presented in the paper are useful for the design of different types of PM machines with the requirement of cogging force reduction or output torque (force) ripple suppression.