Search Results (13)

In this study, a novel fully compliant four-bar-based universal joint is introduced. The difference between the angular positions of the input and output shafts is obtained by two equivalent fully compliant four-bar mechanisms that operate simultaneously by sharing the same input link. During the design phase of the mechanism an iterative method for determining the optimum angular position of the links is proposed and applied. The proposed design is a single-piece mechanism that is produced from polypropylene and compatible with both additive manufacturing and injection molding techniques. The scalability of compliant mechanisms allows for a wide range of size options during the design process. An extensive survey of the current literature reveals that the design proposed is without precedent, marking it as both novel and inventive. In this study, the design procedure of the proposed universal joint, stress analysis of the links, the torque capacity of the joint, and an experimental setup are presented. The produced prototype demonstrates the functionality of the proposed design. In addition, it should be noted that the prototype production of the proposed design was conducted using the additive manufacturing method. This production technique is a significant motivation behind the design of the mechanism as a single piece. Additionally, the proposed mechanism in its current form is also suitable for production using the injection molding method which is widely used in the industry. Full article

DIN 16MnCr5 is commonly used in mechanical engineering contact applications such as gears, joint parts, shafts, gear wheels, camshafts, bolts, pins, and cardan joints, among others. This study examined the microstructural and mechanical properties and tribological behavior of different surface treatments applied to DIN 16MnCr5 steel. The samples were hardened at 870 °C for 15 min and then quenched in water. The surface conditions evaluated were as follows: quenched and tempered DIN 16MnCr5 steel samples without surface treatments (control group), quenched and tempered DIN 16MnCr5 steel samples with gas-nitriding at 560 °C for 6 h, quenched and tempered DIN 16MnCr5 steel samples with pack boriding at 950 °C for 4 h, and quenched and tempered DIN 16MnCr5 steel samples with duplex gas-nitriding and pack boriding. Microstructure characterization was carried out using metallographic techniques, optical microscopy, scanning electron microscopy with energy-dispersive spectroscopy, and X-ray diffraction. The mechanical properties were assessed through microhardness and elastic modulus tests using nanoindentation. The tribological behavior was evaluated using pin-on-disc tests following the ASTM G99-17 standard procedure under dry sliding conditions. The results indicated that the surface treated with duplex gas-nitriding and pack boriding exhibited the highest wear resistance and a reduced coefficient of friction due to improved mechanical properties, leading to increased hardness and elastic modulus. Full article

This study presents the design and evaluation of a prototype snake-like robot that possesses an actuation system based on shape memory alloys (SMAs). The device is constructed based on a modular structure of links connected by two degrees of freedom links utilizing Cardan joints, where each degree of freedom is actuated by an agonist–antagonist mechanism using the SMA spring-shaped actuators to generate motion, which can be easily replaced once they reach a degradation point. The methodology for programming the spring shape into the SMA material is described in this work, as well as the instrumentation required for the monitoring and control of the actuators. A simplified design is presented to describe the way in which the motion is performed and the technical difficulties faced in manufacturing. Based on this information, the way in which the design is adapted to generate a feasible robotic system is described, and a mathematical model for the robot is developed to implement an independent joint controller. The feasibility of the implementation of the SMA actuators regarding the motion of the links is verified for the case of a joint, and the change in the shape of the snake robot is verified through the implementation of a set of tracking references based on a central pattern generator. The generated tracking results confirm the feasibility of the proposed mechanism in terms of performing snake gaits, as well as highlighting some of the drawbacks that should be considered in further studies. Full article

The necessity of early warning systems to ensure people’s safety requires the usage of real-time monitoring instrumentation. To meet the required real-time monitoring performance, in-place inclinometer systems represent one of the most common solutions to obtain accurate measures over time. This paper presents the results of a laboratory tests campaign performed on the prototypes and preproduction samples of an in-place inclinometer chain for structural and geotechnical monitoring applications. First, each element sensor has been calibrated to reach a proper level of measure accuracy. Eventually, laboratory tests are carried out on both a single instrument (element) and on the complete measurement chain (system). The adopted centering device, obtained as a combination of a Cardan joint and four spring plungers avoids bending of elements by preventing fictitious displacement measurements and permits the creation of a kinematic chain that accommodates the displacements of a grooveless tube. A specially designed and constructed test set-up that permits assigning a movement to each node has been employed to test a specifically designed centering device and check the system stability over time. Different scenarios have been investigated to determine the accuracy and repeatability of the measures in replicating real cases. The results demonstrated the necessity of validating a measurement chain by analyzing its overall behavior and not limiting the study on the performances of a single element. Full article

Accurate prediction of the dynamic behavior of coupled shafts in a fluid medium is crucial to accurately estimate equipment life and enable safe operation. However, this task is far from trivial due to the vibrations induced by the highly nonlinear nature of the machine system. This paper presents an experimental analysis of a cardan shaft under the influence of viscous hydrodynamic forces. An experimental setup was created using a cardan shaft rig installed in a plexiglas tank, with a self-aligned crack simulator supporting the driveshaft for crack extraction. Adequate instrumentation was used to measure the rotor’s fluctuation under industrial viscous fluid at various motor speeds. By analyzing the changes of unwanted high vibration, the obtained results demonstrated that the characteristics of the cracks in the fluid medium can be efficiently extracted from multiple tests using the wavelet synchrosqueezing transform and energy spectrum. This latter aspect, in particular, implies that the responses that can be observed in practice are highly sensitive to the values of the system parameters: average flow velocity, mass eccentricity, and shaft stiffness, among others. Finally, the study provides conclusions on practical applications for the reliable identification of cracks in a viscous fluid to validate the recently published theoretical study. Full article

This article presents an analysis of the driveline operation of a high-mobility Jelcz 442.32 wheeled vehicle, which uses rigid drive axles connected to drive shafts with two universal joints (another name for the Cardan joints) due to the occurrence of kinematic incompatibility. The conditions for the correct connection of the drive shafts with two universal joints (Cardan joints) were presented, and the kinematic ratio of the complete drive shaft was defined. In the analysis of kinematic incompatibility regarding (but not limited to) the method of loading the vehicle, selected characteristic conditions of vehicle movement and the initial values of the angular setting of the rigid driving axles in relation to the vehicle body were presented. It has been shown that, in the analyzed vehicle, the kinematic incompatibility in the driveline is constantly present, and the value of this incompatibility, represented by the temporary ratio of drive shafts, depends on, among other things, the ways of loading the vehicle, the existing conditions of vehicle movement, and the type of ground. Moreover, the value of the arising kinematic incompatibility was noticed to be highly influenced by the correct manufacturing and assembly of the vehicle springs. Full article

A correlation between patellar kinematics and anterior knee pain is widely accepted. However, there is no consensus on how they are connected or what profile of patellar kinematics would minimize anterior knee pain. Nevertheless, answering this question by merging existing studies is further complicated by the variety of ways to describe patellar kinematics. Therefore, this study describes the most frequently used conventions for defining patellar kinematics, focusing on the rotations. The similarities and differences between the Cardan sequences and angles calculated by projecting axes are analyzed. Additionally, a tool is provided to enable the conversion of kinematic data between definitions in different studies. The choice of convention has a considerable impact on the absolute values and the clinical characteristics of the patello-femoral angles. In fact, the angles that result from using different mathematical conventions to describe a given patello-femoral rotation from our analyses differ up to a Root Mean Squared Error of 111.49° for patellar flexion, 55.72° for patellar spin and 35.39° for patellar tilt. To compare clinical kinematic patello-femoral results, every dataset must follow the same convention. Furthermore, researchers should be aware of the used convention’s implications to ensure reproducibility when interpreting and comparing such data. Full article

Cardan joints are used in transmissions between misaligned shafts, as in all-wheel-drive (AWD) cars and railway applications. Their functioning is accompanied by heavy cyclical loads, with the cardan cross spindles subjected to intensive abrasive wear and pitting. In this paper, a solution to the mentioned issue is proposed, thin anti-wear coatings of Metco 32 and Metco 72 metallic powders deposited by atmospheric plasma spray (APS) on cylindrical samples cut from spindles of two cardan crosses made of 40Cr10 and RUL2 steel. The morphological analysis of the coated surfaces was realized by scanning electron microscopy (SEM), and the elemental composition of the tested samples was elaborated by energy-dispersive X-ray spectroscopy (EDS). To investigate the wear resistance of the coated samples in dry and grease-lubricated conditions, tests at constant load and constant speed were carried out using an AMSLER tribometer. The results of greased tests proved that the expulsion of the lubricant from the tribological contact occurred no matter the combination of coated or uncoated samples. During grease-lubricated tests of ten minutes, the least coefficient of friction was measured for uncoated specimens with better surface finishing; but in dry friction tests, the lowest values of the mean friction coefficients were obtained for the Metco 72 coatings. The porous coatings may act as lubricant reservoirs in long-lasting tests, providing a solution to the expulsion phenomenon of the lubricant to the boundary outside the area of the larger-diameter roller. Full article

Dynamic computer tomography (CT) is an emerging modality to analyze in-vivo joint kinematics at the bone level, but it requires manual bone segmentation and, in some instances, landmark identification. The objective of this study is to present an automated workflow for the assessment of three-dimensional in vivo joint kinematics from dynamic musculoskeletal CT images. The proposed method relies on a multi-atlas, multi-label segmentation and landmark propagation framework to extract bony structures and detect anatomical landmarks on the CT dataset. The segmented structures serve as regions of interest for the subsequent motion estimation across the dynamic sequence. The landmarks are propagated across the dynamic sequence for the construction of bone embedded reference frames from which kinematic parameters are estimated. We applied our workflow on dynamic CT images obtained from 15 healthy subjects on two different joints: thumb base (n = 5) and knee (n = 10). The proposed method resulted in segmentation accuracies of 0.90 ± 0.01 for the thumb dataset and 0.94 ± 0.02 for the knee as measured by the Dice score coefficient. In terms of motion estimation, mean differences in cardan angles between the automated algorithm and manual segmentation, and landmark identification performed by an expert were below 1°. Intraclass correlation (ICC) between cardan angles from the algorithm and results from expert manual landmarks ranged from 0.72 to 0.99 for all joints across all axes. The proposed automated method resulted in reproducible and reliable measurements, enabling the assessment of joint kinematics using 4DCT in clinical routine. Full article

Beginning with the classic methods, a mathematical model of an electromechanical system is developed that consists of a deep bar cage induction motor that, via a complex motion transmission with distributed mechanical parameters, drives a working machine, loading the drive system with a constant torque. The electromagnetic field theory serves to create the motor model, which allows addressing the displacement of current in the rotor cage bars. Ordinary and partial differential equations are used to describe the electromechanical processes of energy conversion in the motor. The complex transmission of the drive motion consists of a long shaft with variable geometry cardan joints mounted on its ends. Non-linear electromechanical differential equations are presented as a system of ordinary differential equations combined with a mixed problem of Dirichlet first-type and Poincaré third-type boundary conditions. This system of equations is integrated by discretising partial derivatives by means of the straight-line methods and successive integration as a function of time using the Runge–Kutta fourth-order method. Starting from there, complicated transient processes in the drive system are analysed. Results of computer simulations are presented in the graphic form, which is analysed. Full article

The vibrational behaviour of misaligned rotating machinery is described and analysed in this paper. The model, constructed based on the equations of vehicle dynamics, considered the dynamic excitation of a single Hooke’s joint. The system adopted the breathing functions from a recent publication to approximate the actual breathing mechanism of a cracked driveshaft. The study aimed to understand the transmission of a nonlinear signal from the unbalanced and cracked driveshaft to an unbalanced driven shaft via a Hooke’s joint. The governing equation of the system was established based on the energy principle and the Lagrangian approach. The instantaneous frequency (IF) identification of the cracked driveshaft was extracted based on the synchrosqueezing wavelet technique. To correlate the results, the nonlinear synchrosqueezing wavelet transforms combined with the classical waves techniques were experimentally used in various scenarios for dynamic analysis of the Cardan shaft system. The variations in the dynamic response in the form of a rising trend of higher harmonics of rotational frequency and increased level of sub-harmonic peaks in both shafts were presented as significant crack indicators. The synchrosqueezing response showed breathing crack excitation played a crucial role in the mixed faults response and caused divergence of the vibration amplitudes in the rotor’s deflections. The simulation and test results demonstrated that the driveshaft damage features impacted the transfer motion to the driven shaft and the Hooke’s joint coupling was the principal source of instability in the system. The proposed model offers new perspectives on vibration monitoring and enhancement analysis to cover complex Cardan shaft systems. Full article

Dynamic analysis of a combination of misaligned rotors, the disturbance of the Cardan joint and the rotor–stator rubbing within a restricted clearance space in a viscous fluid is complex and can result in persistent vibration anomalies that are often misunderstood. It becomes increasingly important to gain some insights into how the transmission of coupled motion responds dynamically under a variety of conditions. This paper introduces an efficient simulation of the misaligned multi-degree-of-freedom rotor’s model, which was developed to predict the transient dynamic behaviours of a driveshaft deflection. The model accounts for tight clearance as a function of contact deformation according to nonlinear Hertzian contact theory. The paper also examines recent research by considering the influence of parameters such as eccentric masses, applied torques and flexible coupling joint perturbation introduced in the proposed rotor system. The simulation results indicated that the viscous fluid surrounding the driveshaft had sufficient torsional flexibility to dampen the rubbing impact to the driven shaft displacement. In addition, the torsional fluctuations of the flexible coupling abruptly increased, and then significantly impacted the vibration of the submerged driveshaft. Parametric studies involving the interconnected rotor models indicated that the effects of fluid on a close-bounds contact area can create partial disturbance reduction. The high rubbing contact is shown to be lost through the Hooke’s joints during power transmission. The speed-frequency spectrum maps provide valuable information on all the modelled excitations over the frequency of the twice-running speed resonance in a viscous medium. Further, nonlinear characteristics are reconstructed through orbit shapes and can be adopted in the condition monitoring of rotors in engineering practice. Full article

In this paper, to maximize the energy efficiency (EE) in the two-hop multi-relay cooperative decoding and forwarding (DF) system for simultaneous wireless information and power transmission (SWIPT), an optimal power allocation algorithm is proposed, in which the relay energy harvesting (EH) adopts a nonlinear model. Under the constraints, including energy causality, the minimum transmission quality of information and the total transmission power at the relays, an optimization problem is constructed to jointly optimize the transmit power and power-splitting (PS) ratios of multiple relays. Although this problem is a nonlinear fractional programming problem, an iterative algorithm is developed to obtain the optimal power allocation. In particular, the joint power allocation at multiple relays is first decoupled into a single relay power allocation, and then single-relay power allocation is performed by the Dinkelbach iteration algorithm, which can be proven that it is a convex programming problem. Its closed form solutions for different polylines of EH models are obtained by using mathematical methods, such as monotonicity, Lagrange multipliers, the KKT condition and the Cardan formula. The simulation results show the superiority of the power allocation algorithm proposed in this paper in terms of EE. Full article