Friction changes during compression tests using tool rotation technique

A compression test with rotating dies was employed to estimate the friction factor between aluminum samples and steel tooling during large plastic deformations. A cylindrical workpiece was compressed under dry and cold conditions. The magnitudes of torque and normal force were measured and
the average friction factor was calculated using the Coulomb friction law. It was found that under certain conditions the friction increased with increasing angular velocity of the die. This finding led to the conclusion that the choice of die rotation speed is important in interpreting the results from the twist compression test.

Internal representation of movement in children with developmental coordination disorder : a mental rotation task

Recent studies show that children with developmental coordination disorder (DCD) have difficulties in generating an accurate visuospatial representation of an intended action, which are shown by deficits in motor imagery. This study sought to test this hypothesis further using a mental rotation paradigm. It was predicted that children with DCD would not conform to the typical pattern of responding when required to imagine movement of their limbs. Participants included 16 children with DCD and 18 control children; mean age for the DCD group was 10 years 4 months, and for controls 10 years. The task required children to judge the handedness of single-hand images that were presented at angles between 0° and 180° at 45° intervals in either direction. Results were broadly consistent with the hypothesis above. Responses of the control children conformed to the typical pattern of mental rotation: a moderate trade-off between response time and angle of rotation. The response pattern for the DCD group was less typical, with a small trade-off function. Response accuracy did not differ between groups. It was suggested that children with DCD, unlike controls, do not automatically enlist motor imagery when performing mental rotation, but rely on an alternative object-based strategy that preserves speed and accuracy. This occurs because these children manifest a reduced ability to make imagined transformations from an egocentric or first-person perspective.

Influences of steady and cyclic die rotation on the compression of aluminium

A series of experiments are reported for compression of an aluminum cylinder with monotonic and cyclic die rotation. When the die is monotonically rotated, a higher angular velocity or a lower compression speed of the tool leads to a greater load reduction in comparison of that seen with a stationary die. The test results also show that cyclic die rotation causes a cyclic fluctuation in the load-displacement curve. During the die deceleration phase, the compression load increases until it reaches the level obtained in conventional compression with stationary dies. However, the compression load is observed to reduce to levels lower than those obtained in monotonic rotating compression tests during the die acceleration phase. The frequency of rotating direction change seems to affect the position of load peaks only, not the amplitude of the peaks.

Influence of posture on the range of axial rotation and coupled lateral flexion of the thoracic spine

Objective
This study examines the influence of posture on the range of axial rotation of the thorax and the range and direction of the coupled lateral flexion.

Methods
The ranges of mid thoracic axial rotation and coupled lateral flexion were measured in 52 asymptomatic subjects (aged 18-43 years) using an optical motion analysis system. To examine the influence of posture on primary and coupled motion, we initiated axial rotation from a neutral sitting posture and from end-range thoracic flexion and extension.

Results
There was a significant decrease in the range of thoracic rotation in flexion compared with the neutral and extended postures (P < .001). The mean range of coupled lateral flexion was 8.9% of the axial rotation range in the neutral posture and increased to 14.3% and 23.2% in the extended and flexed postures, respectively. Patterns of coupled motion varied between subjects, but an ipsilateral pattern was more common in the flexed posture, whereas a contralateral pattern was more common in the neutral and extended postures.

Conclusions
The ranges and patterns of coupled motion of the thorax appear to be strongly influenced by the posture from which the movement is initiated. This has important implications in relation to the interpretation of clinical tests of thoracic motion and in consideration of mechanisms of development of thoracic pain disorders.

Parallel manipulators with a rotation-symmetric arm system

Parallel manipulators with a rotation-symmetric arm system possess all the typical advantages of parallel robots, such as high acceleration and high-accuracy positioning. Contrary to the majority of proposed parallel manipulators, the rotation-symmetric arm system leads to a large workspace in relation to the footprint of the manipulator. This paper focuses on a subclass of these manipulators with additional favorable qualities, including low inertia and high eigenfrequencies. These qualities are achieved using only 5-DOF lower arm links and by mounting all actuators on the nonmoving base column of the manipulator. The common feature of all previously proposed manipulators in this subclass is identified and several novel 3-DOF and 4-DOF members are introduced.

Kinematic analysis and workspace determination of hexarot-a novel 6-DOF parallel manipulator with a rotation-symmetric arm system

Parallel mechanisms possess several advantages such as the possibilities for high acceleration and high accuracy positioning of the end effector. However, most of the proposed parallel manipulators suffer from a limited workspace. In this paper, a novel 6-DOF parallel manipulator with coaxial actuated arms is introduced. Since parallel mechanisms have more workspace limitations compared to that of serial mechanisms, determination of the workspace in parallel manipulators is of the utmost importance. For finding position, angular velocity, and acceleration, in this paper, inverse and forward kinematics of the mechanism are studied and after presenting the workspace limitations, workspace analysis of the hexarot manipulator is performed by using MATLAB software. Next, using the obtained cloud of points from simulation, the overall borders of the workspace are illustrated. Finally, it is shown that this manipulator has the important benefits of combining a large positional workspace in relation to its footprint with a sizable range of platform rotations.

Workspace and sensitivity analysis of a novel nonredundant parallel SCARA robot featuring infinite tool rotation

As demonstrated by the exceptionally successful Delta robot, parallel kinematics Schönflies motion generators (PKSMG) exhibit several advantages over their serial counterparts. Despite its success, the Delta robot suffers from several shortcomings, including a bulky framework and a small workspace-to-footprint ratio. Another drawback is that the kinematic chain generating tool rotation suffers from low torsional stiffness. This letter presents a novel architecture for a nonredundant PKSMG providing infinite tool rotation and an extensive positioning workspace. The workspace and kinematic performance of the proposed architecture are analysed in detail.