Search

Collaborative state recognition is a critical issue for physical human–robot collaboration (PHRC). This paper proposes a contact dynamics-based state recognition method to identify the human–robot collaborative grinding state. The main idea of the proposed approach is to distinguish between the human–robot contact and the robot–environment contact. To achieve this, dynamic models of both these contacts are first established to identify the difference in dynamics between the human–robot contact and the robot–environment contact. Considering the reaction speed required for human–robot collaborative state recognition, feature selections based on Spearman's correlation and random forest recursive feature elimination are conducted to reduce data redundancy and computational burden. Long short-term memory (LSTM) is then used to construct a collaborative state classifier. Experimental results illustrate that the proposed method can achieve a recognition accuracy of 97% in a period of 5 ms and 99% in a period of 40 ms.

This paper presents a new algorithm that approximates the forces that develop between a human hand and the handles of a climbing wall. A hand-to-handle model was developed using this algorithm for the Open Dynamics Engine physics solver, which can be plugged into a full-body climbing simulation to improve results. The model data are based on biomechanical measurements of the average population presented in previously published research. The main objective of this work was to identify maximum forces given hand orientation and force direction with respect to the climbing wall handles. Stated as a nonlinear programming problem, solution was achieved by applying a stochastic Covariance Matrix Adaptation Evolution Strategy (CMA-ES). The algorithm for force approximation works consistently and provides reasonable results when gravity is neglected. However, including gravity results in a number of issues. Since the weight of the hand is small in relation to the hand-to-handle forces, neglecting gravity does not significantly affect the reliability and quality of the solution.

The pin-in-the-slot joint is a common element in machines, and the dynamics of joints with clearances is an actively investigated topic. Important applications of such a joint can be found in Geneva mechanisms, robotized gear selectors, centrifugal vibration absorbers (CPVA) and other important mechanical devices. The paper will review the main analytical steps required to obtain the equations characterizing the different force contact models. Furthermore, a numerical test bench where such models are introduced for modeling the clearances between the pin and slot is proposed. In this regard, the present study will offer a comparison and discussion of the numerical results obtained with the different force contact models herein reviewed.

Based on the theory of rigid-flex coupled multi-body system dynamics,systematic research has conducted on transmission system of a coal winning machine’s cutting part. By using the software of Recur Dyn,the model was established including transmission gears,drive shaft and bearing. Considering the flexible characteristics of drive shaft,the rigid-flexible coupled model was built.Transmission system of a coal winning machine’s cutting part was simulated dynamics analysis before contact parameter setting on the parts of transmission system. The working process of shearer transmission system was described intuitively and dynamically. Results showed that 11 th gear mesh together is the biggest,11272634. 4 N.4 th. The maximum strain,measured at the axes of 4,is 0. 081. It reveals the difference of Gear meshing force curve and its frequency-domain information between Rigid-flexible coupling system and Stiff systems. Results provide a basis for optimum design of the transmission system and prediction of fatigue life.

In this paper,the research of the scraper conveyor is carried out,the force analysis of the adjacent middle pan group and the dumbbell pin is carried out,and the dumbbell pin load data is obtained by the dumbbell pin load test system. The ANSYS/ls-dyna software is used to simulate the nonlinear contact dynamics of the middle pan group and the dumbbell pin under the push-slip condition of the scraper conveyor. The contact stress of the dumbbell pin is the largest,and the maximum contact stress of the dumbbell pin occurs at the abrupt change of the dumbbell pin section,and the maximum contact stress of the dumbbell pin And the contact stress concentration between the two middle slots occurred at the joints of the dumbbell pin and the middle ditch. The simulation results were in accordance with the actual working conditions. This study provides a dumbbell pin load test program,and through the test simulation to verify its correctness and feasibility,while the middle slot and dumbbell pin structure size optimization method.

We are proposing Tulczyjew’s triple for contact dynamics. The most important ingredients of the triple, namely symplectic diffeomorphisms, special symplectic manifolds, and Morse families, are generalized to the contact framework. These geometries permit us to determine so-called generating family (obtained by merging a special contact manifold and a Morse family) for a Legendrian submanifold. Contact Hamiltonian and Lagrangian Dynamics are recast as Legendrian submanifolds of the tangent contact manifold. In this picture, the Legendre transformation is determined to be a passage between two different generators of the same Legendrian submanifold. A variant of contact Tulczyjew’s triple is constructed for evolution contact dynamics.

On the basis of the theory of rigid-flexible coupling multibody dynamics as well as the transmission system of coal winning machine cutting part the transmission principle and structure parameters,the dynamic characteristics of coal winning machine cutting part drive system was researched for the problem about dynamic characteristics of coal winning machine cutting part the transmission system. The rigid-flexible coupling dynamics model of coal winning machine cutting part for gear transmission system was built in Recurdyn software environment. To the cutting force in drum three loads,Transmission Model was under full consideration of the flexible drive shaft in all directions feature and calculated the gear meshing force,strain and bearing junctioncontact. Results showed that 11 th gear mesh together is the biggest,11272634. 4N. The maximum contact force,912317. 98 N,is measured at the place of the shaft 5 bearings 1. Results provide a basis for optimum design of the transmission system and prediction of fatigue life.

The contact force/torque between the end-effector of the space manipulator and the target spacecraft will reduce the efficiency and safety of the capture task. A capture strategy using PD-impedance combined control algorithm is proposed to achieve compliant contact between the chaser and target spacecraft. In order to absorb the impact energy, a spring-damper system is designed at the end-effector, and the corresponding dynamics model is established by Lagrange’s equation. Then a PD-impedance control algorithm based on steady-state force tracking error is proposed. Using this method, a compliant contact between the chaser and target spacecraft is realized while considering the dynamic coupling of the system. Finally, the general equation of the reference trajectory of the manipulator end-effector is derived according to the relative velocity and impact direction. The performance of the proposed capture strategy is studied by a co-simulation of MSC Adams and MATLAB Simulink in this paper. The results show that the contact plane at the end-effector of the manipulator can decelerate and detumble the target spacecraft. Besides, the contact force, relative velocity, and angular velocity all decrease to zero gradually, and the final stable state can be maintained for a prescribed time interval.

CD226 is an activating receptor expressed on natural killer (NK) cells, CD8+ T cells, and other immune cells. Upon binding to its ligands expressed on target cells, CD226 activates intracellular signaling that triggers cytokine production and degranulation in NK cells. However, the role of CD226 in contact dynamics between NK and cancer cells has remained unclear. Our time-lapse images showed that individual wild-type CD226+ NK cells contacted B16F10 melanoma cells for 23.7 min, but Cd226−/− NK cells only for 12.8 min, although both NK cell subsets showed equal contact frequency over 4 h. On the surface of B16F10 cells, CD226+ cells stayed at the same site with oscillating movement (named stable contact), while Cd226−/− NK cells moved around at a velocity of 4 μm/min (named unstable contact). Consequently, Cd226−/− NK cells did not kill B16F10 cells in vitro and did not inhibit their metastasis into the lung in vivo. Taken together, our data demonstrate that CD226 enables prolonged stable interaction between NK and cancer cells, which is needed for efficient killing of cancer cells.

RV reducers contain multi-tooth contact characteristics, with high-impact resistance and a small backlash, and are widely used in precision transmissions, such as robot joints. The main parameters affecting the transmission performance include torsional stiffness and transmission errors (TEs). However, a cycloid tooth profile modification has a significant influence on the transmission accuracy and torsional stiffness of an RV reducer. It is important to study the multi-tooth contact characteristics caused by modifying the cycloid profile. The contact force is calculated using a single contact stiffness, inevitably affecting the accuracy of the result. Thus, a new multi-tooth contact model and a TE model of an RV reducer are proposed by dividing the contact area into several differential elements. A comparison of the contact force obtained using the finite element method and the test results of an RV reducer prototype validates the proposed models. On this basis, the influence of load on the different modification methods is studied, including a TE, the mechanical performance, and the transmission efficiency. In addition, the proposed reverse profile is particularly suitable for situations with a large clearance and torque. This study provides a reliable theoretical basis for a multi-tooth contact analysis of a cycloid profile modification.

Modeling of frictional contact systems with high accuracy needs the knowledge of several contact parameters, which are mainly related to the local phenomena at the contact interfaces and affect the complex dynamics of mechanical systems in a prominent way. This work presents a newer approach for identifying reliable values of the normal contact stiffness between surfaces in contact, in both sliding and sticking conditions. The combination of experimental tests, on a dedicated set-up, with finite element modeling, allowed for an indirect determination of the normal contact stiffness. The stiffness was found to increase with increasing contact pressure and decreasing roughness, while the evolution of surface topography and third-body rheology affected the contact stiffness when sliding.