A non-associated plasticity model with anisotropic and nonlinear kinematic hardening for simulation of sheet metal forming

A material model for more thorough analysis of plastic deformation of sheet materials is presented in this paper. This model considers the following aspects of plastic deformation behavior of sheet materials: (1) the anisotropy in yield stresses and in work hardening by using Hill's 1948 quadratic yield function and non-constant stress ratios which leads to different flow stress hardening in different directions, (2) the anisotropy in plastic strains by using a quadratic plastic potential function and non-associated flow rule, also based on Hill's 1948 model and r-values, and (3) the cyclic hardening phenomena such as the Bauschinger effect, permanent softening and transient behavior for reverse loading by using a coupled nonlinear kinematic hardening model. Plasticity fundamentals of the model were derived in a general framework and the model calibration procedure was presented for the plasticity formulations. Also, a generic numerical stress integration procedure was developed based on backward-Euler method, so-called multi-stage return mapping algorithm. The model was implemented in the framework of the finite element method to evaluate the simulation results of sheet metal forming processes. Different aspects of the model were verified for two sheet metals, namely DP600 steel and AA6022 aluminum alloy. Results show that the new model is able to accurately predict the sheet material behavior for both anisotropic hardening and cyclic hardening conditions. The drawing of channel sections and the subsequent springback were also simulated with this model for different drawbead configurations. Simulation results show that the current non-associated anisotropic hardening model is able to accurately predict the sidewall curl in the drawn channel sections.

Formulation and simulation of a 3D mechanical model of embryos for microinjection

The understanding of cell manipulation, for example in microinjection, requires an accurate model of the cells. Motivated by this important requirement, a 3D particlebased mechanical model is derived for simulating the deformation of the fish egg membrane and the corresponding cellular forces during microrobotic cell injection. The model is formulated based on the kinematic and dynamic of spring- damper configuration with multi-particle joints considering the visco-elastic fluidic properties. It simulates the indentation force feedback as well as cell visual deformation during microinjection. A preliminary simulation study is conducted with different parameter configurations. The results indicate that the proposed particle-based model is able to provide similar deformation profiles as observed from a real microinjection experiment of the zebrafish embryo published in the literature. As a generic modelling approach is adopted, the proposed model also has the potential in applications with different types of manipulation such as micropipette cell aspiration.

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.

A kinematic based evaluation of upper extremity movement smoothness for tele-rehabilitation

Tele-rehabilitation has been widely studied in recent year, although a number of crucial issues has not been addressed. Quantitatively assessing exercise performance is vital in monitoring the progress in exercise based rehabilitation. This allows physiotherapists not only to refine rehabilitation plans, but also provides instant feedback to patients and facilitate the exercise performance in non-clinical setting. In this paper, we propose to evaluate the performance of upper extremity reaching tasks with in a kinematic perspective by assessing the smoothness of motion trajectories with the entropy of shape model, including curvature and torsion. The simulation result confirms that approximate entropy of shape model is consistent with the change of the smoothness in motion trajectory while it is capable of classifying six levels of the ability to perform upper extremity reaching tasks with higher accuracy.