Análise da falha do suporte de mancal de um eixo cardan utilizado num veículo pesado

Pós-graduação em Engenharia Mecânica - FEG

Contribuições na modelagem dinâmica e no controle neural de um braço robótico com elos flexíveis

Em geral, estruturas espaciais e manipuladores robóticos leves têm uma característica similar e inerente que é a flexibilidade. Esta característica torna a dinâmica do sistema muito mais complexa e com maiores dificuldades para a análise de estabilidade e controle. Então, braços robóticos bastantes leves, com velocidade elevada e potencia limitada devem considerar o controle de vibração causada pela flexibilidade. Por este motivo, uma estratégia de controle é desejada não somente para o controle do modo rígido mas também que seja capaz de controlar os modos de vibração do braço robótico flexível. Também, redes neurais artificiais (RNA) são identificadas como uma subespecialidade de inteligência artificial. Constituem atualmente uma teoria para o estudo de fenômenos complexos e representam uma nova ferramenta na tecnologia de processamento de informação, por possuírem características como processamento paralelo, capacidade de aprendizagem, mapeamento não-linear e capacidade de generalização. Assim, neste estudo utilizam-se RNA na identificação e controle do braço robótico com elos flexíveis. Esta tese apresenta a modelagem dinâmica de braços robóticos com elos flexíveis, 1D no plano horizontal e 2D no plano vertical com ação da gravidade, respectivamente. Modelos dinâmicos reduzidos são obtidos pelo formalismo de Newton-Euler, e utiliza-se o método dos elementos finitos (MEF) na discretização dos deslocamentos elásticos baseado na teoria elementar da viga. Além disso, duas estratégias de controle têm sido desenvolvidas com a finalidade de eliminar as vibrações devido à flexibilidade do braço robótico com elos flexíveis. Primeiro, utilizase um controlador neural feedforward (NFF) na obtenção da dinâmica inversa do braço robótico flexível e o calculo do torque da junta. E segundo, para obter precisão no posicionamento... (Resumo completo, clicar acesso eletrônico abaixo)

A MICROSTRAIN COMPARISON OF PASSIVELY FITTING SCREW-RETAINED AND CEMENTED TITANIUM FRAMEWORKS

Statement of problem. An imprecise fit between frameworks and supporting dental implants in loaded protocols increases the strain transferred to the periimplant bone, which may impair healing or generate microgaps.Purpose. The purpose of this study was to investigate the microstrain between premachined 1-piece screw-retained frameworks (group STF) and screw-retained frameworks fabricated by cementing titanium cylinders to the prefabricated framework (group CTF). This procedure was developed to correct the misfit between frameworks and loaded implants.Material and methods. Four internal hexagon cylindrical implants were placed 10 mm apart in a polyurethane block by using the surgical guides of the corresponding implant system. Previously fabricated titanium frameworks (n=10) were divided into 2 groups. In group STF, prefabricated machined frameworks were used (n=5), and, in group CTF, the frameworks were fabricated by using a passive fit procedure, which was developed to correct the misfit between the cast titanium frameworks and supporting dental implants (n=5). Both groups were screw-retained under torque control (10 Ncm). Six strain gauges were placed on the upper surface of the polyurethane block, and 3 strain measurements were recorded for each framework. Data were analyzed with the Student t test (alpha=.05).Results. The mean microstrain values between the framework and the implants were significantly higher for group STF (2517 me) than for group CTF (844 me) (P<.05).Conclusions. Complete-arch implant frameworks designed for load application and fabricated by using the passive fit procedure decreased the strain between the frameworks and implants more than 1 piece prefabricated machined frameworks.

Influence of immediate loading on healing of implants installed with different insertion torques - an experimental study in dogs

Objective: To evaluate the influence of different insertion torques on healing of implants loaded immediately or left unloaded.Material and methods: In six Labrador dogs, all mandibular premolars and molars were extracted. After 4 months of healing, flaps were elevated, and two implant sites were prepared at each side of the mandible. The distal sites were prepared conventionally while the mesial sites were underprepared by 0.3 mm. As a consequence, different final insertion torques of about 30 Ncm at the distal and >70 Ncm at the mesial sites were recorded. Healing abutments were applied to the left and transmucosal abutments to the right side. Flaps were sutured, crown preparation of the upper right second and third premolars was performed, and impressions were taken. Within 24 h, crowns were cemented both to implants and teeth in the right side of the mouth. After 4 months, the animals were sacrificed and ground sections obtained for histological evaluation.Results: A higher buccal bony crestal resorption and a more apical position of the coronal level of osseointegration were found at the loaded compared with the unloaded sites. MBIC% and percentages of peri-implant mineralized tissue (MB%) were higher at the loaded compared with the unloaded sites. Moreover, a higher MBIC% was found at the lower compared with the higher final insertion torque.Conclusions: Immediate loading does not seem to have a negative effect on osseointegration. High torque values for the immediate loading procedures were not necessary. Probably, low torque values, were sufficient to obtain primary stability and hence may provide better osseointegration than high torque value.

Postactivation Potentiation Biases Maximal Isometric Strength Assessment

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Moderate intensity and volume downhill run does not impair knee joint stability at early and late phases of quadriceps/hamstrings contraction

Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)

Taxa de desenvolvimento de força em diferentes contrações musculares

O objetivo deste estudo foi comparar a taxa de desenvolvimento de força (TDF) nas contrações isométrica e isocinéticas concêntrica a 60°.s-1 e 180°.s-1. Quatorze indivíduos do gênero masculino (idade = 23,1±2,8 anos; estatura = 174±31,3 cm e; massa corporal = 81±12 kg) participaram deste estudo. Na primeira visita foi realizada uma familiarização ao equipamento isocinético. Posteriormente, os indivíduos realizaram em ordem randômica 5 contrações isocinéticas máximas para os extensores do joelho em 60°.s-1 e 180°.s-1 para determinar o torque máximo concêntrico (TMC) e 2 contrações isométricas máximas de 3 s para determinar o torque máximo isométrico (TMI). O TMI (301,4±56,0 N.m) foi maior do que o TMC a 60°.s-1 (239,8±42,2 N.m) e 180°.s-1 (175,0±32,5 N.m). O TMC a 60°.s-1 foi maior do que o TMC a 180°.s-1. Para os intervalos de 0-30ms e 0-50ms, a TDF na condição isométrica (1196,6±464,6 e 1326,5±514,2 N.m.s-1, respectivamente) foi similar à TDF a 60°.s- 1 (1035,4±446,2 e 1134,3±448,4 N.m.s-1) e maior do que a 180°.s-1 (656,7±246,6 e 475,2±197,9 N.m.s-1), sendo ainda que a TDF na contração concêntrica rápida foi menor do que na lenta. No intervalo 0-100ms, a TDF da contração isométrica (1248,8±417,4 N.m.s-1) foi significantemente maior que a obtida na contração isocinética rápida (909,2±283,4 N.m.s- 1). A TDF obtida na contração isocinética lenta (1005,4±247,7 N.m.s-1) foi similar à obtida na contração isométrica e na concêntrica isocinética rápida. No intervalo 0-150ms, a TDF isométrica (1084,2±332,1 N.m.s-1) foi maior do que as concêntricas (60°.s-1 e 180°.s-1) (834,8±184,2 e 767,6±201,8 N.m.s-1, respectivamente), não existindo diferenças entre estas duas últimas. Conclui-se que a TDF é...(Resumo completo, clicar acesso eletrônico abaixo)

Influência da aplicação de cargas estáticas axias e não axais em próteses parciais fixas de três elementos, análise pela extensometria

Um bloco de poliuretano recebeu três implantes de hexagono externo, no posicionamento compensado. Para cada implante foi conectado o pilar protético microunit. Foram realizados cinco enceramentos com três coifas plásticas cada um, que foram fundidos em monobloco numa liga de cobalto-cromo. Foram colados quatro extensomêtros tangenciando cada implante, sendo dois extensomêtros para o implante central. Após o acabamento, as estruturas foram fixadas nos respectivos locais com o parafuso de retenção com torque de 10 Ncm, obtidos com um torquímetro. Para aplicação de carga sobre os corpos-de-prova foram selecionados cinco pontos de aplicação de carga. O dispositivo de aplicação de carga–DAC foi utilizado 30 kg de cargas verticais estáticas, empregando uma ponta esférica de 2 mm de diamêtro, durante 10 segundos em cada um dos pontos estabelecidos, sendo, neste instante registradas as micro deformações de cada extensômetro. Foi utilizado o teste de análise de variância T Student e o nível de significância foi o valor convencional de 5%. Para cada implante foi analisada a microdeformação ocorrida. Os resultados obtidos mostraram que houve uma diferença estatisticamente significativa entre os pontos não-axiais D e E (t = 5,21 df = 4, p = 0,006 < 0,05) e não foi estatisticamente significativa para os dados axial entre os pontos B e C (t = 6, 57, df = 4, p = 0,003 < 0,05 / 3). Conclui-se que,a aplicação de carga ao redor de três implantes de hexágono externo no posicionamento compensado,mostra que os pontos não-axiais sofrem maior micro deformação do que os pontos axiais

Projeto de um dispositivo para prensar bobinas polares de pólos salientes para hidrogeradores

The increasing demand for productivity and quality in companies has converged to a common point: reducing costs. In this context the present work aims at the development of a mechanical press which is designed for pressing polar hydrogenerators coils with salient pole in field facilitating the assembly of the poles in the plant, as well as reforms especially in hydrogenerators, reducing significantly the transport costs. With security in mind as well as reduced costs, a study was made of the materials to be used as it was applied a methodology for calculating the correct choice of safety factor to be used in the device. Through mechanical calculations were dimensioned critical items of the device as the diameter of the rods as well as the minimum thickness of the base of the device must have so that it does not break threaded shear in the region by applying the total load of traction on the risers implementation of the pressing. All compression loading device will be through the application of torque on the nuts of bolts in this way was defined by calculations the required torque for each nut so that you can reach the pressure specified in the design specifies. The modeling of the device was made using the INVENTOR™ program in conjunction with the program ANSYS ™. These programs have created designs in three dimensions, assembly and simulation of stress analysis in components of the device

Efeito protetor após sessões de exercício excêntrico: comparação entre membros superiores e inferiores

The objective of the present study was to compare in which part (lower limb or upper limb) the repeated bout effect has the greatest magnitude. Twelve males individuals with no recent (6 months) experience with resisted training participated in this study. The subjects were randomly divided into two groups (legs and arms) and came to the laboratory 5 times. 1st) adaptation to the dynamometer. 2nd) to perform one bout of eccentric exercise (EE) and provide markers such as isometric peak torque (IPT), delayed onset muscle soreness (DOMS) (both collected before and after the bout) and concentration of the creatine kinase (CK) enzyme in the blood (only before the bout). 3rd) 48 after the first bout the same markers were collected again. After 14 days, the methodologies used in the 2nd and 3rd visits to the laboratory were repeated respectively to determine the repeated bout effect. A significant decrease of IPT and a significant increase of CK and DOMS were found immediately after and 48 hours after the first bout of EE for the arms group. The legs group showed a significant increase in CK (48 hours after the EE) and DOMS (immediately after the EE) resulting from the first bout. In the arms group, the second bout did not cause significant increase in CK or DOMS on any of the situations, however, it provoked a decrease in force production immediately after the EE. The legs group showed a significant increase of DOMS immediately after the second bout of EE, which caused no significant increase in CK. The only marker in which the repeated bout effect happened for both groups was CK. No significant difference was found between the protections for both groups. Taking into account the results, it’s been discussed whether there is a relation between the susceptibility to muscle damage and the repeated bout effect, and also...(Complete abstract click electronic access below)

Análise cinemática e dinâmica para conversão de um VW saveiro em veículo elétrico

This work aims to kinematic and dynamic analysis of a VW Saveiro in order to estimate the power requested to the engine with the imposed movement conditions. Thus, the study will be the basis to the specification of the electric engine, on the conversion of the internal combustion vehicle into electric one. First of all, a literature review was done in order to understand the state of the art for this issue and come up with the technical features of the vehicle in question. The next step is the identification and calculation of all forces acting on the prototype in motion, from 0 to 120 km/h, in intervals of 10 km/h, under the defined conditions of path and time. Then, were determined the values of the torque and rotation of the components from the transmission system, as well as the engine power, for each speed range. The results show the most influential forces on the resistence of the movement in each speed range, and the behavior of the torque curve is verified. Finally, it was also analyzed the implementation of pinwheels on the frontal area of the vehicle, in order to convert wind energy into electrical energy to supply the lighting subsystem of the vehicle and the proposal was validated. Limiting the maximum speed of the vehicle to 90 km/h, it was finally concluded that the power of the electric engine should be 40 HP

Efeitos do treinamento isocinético e isométrico sobre a taxa de desenvolvimento de força máxima

The objective of the present study was to compare the effects of a high speed isokinetic training (180°.s-1) and an isometric training (75°) on the maximum rate of force development (RFDmax) measured in the isokinetic and isometric modes. Twenty seven male non active subjects participated of this study (Mean + SD = body mass 78.6 + 14.1 kg; stature 175.1 + 8.9 cm; age 22.6 + 3.8 years). They were randomly divided into three groups: Control (GC); Isokinetic training (GISOC) and; Isometric training (GISOM). The subjects were submitted in different days to the following pre training protocols: 1) Familiarization to the isokinetic dynamometer tests; 2) Five maximum concentric isokinetic contractions of the knee extensors (180°.s-1) to access the maximum concentric torque (TMC) and the concentric RFDmax; 3) Two maximum isometric contractions of the knee extensors (75°) to access the maximum isometric torque (TMI) and the isometric RFDmax. The same tests were repeated after the training period, but without the familiarization session. Eighteen training sessions were performed (3 times per week). The GISOC performed the entire training whit concentric isokinetic contractions whit the speed of 180°.s-1. The GISOM performed the entire training whit isometric contractions whit the angle between the thigh end the leg being 75° (0° = full knee extension). TMI, TMC, concentric RFDmax, isometric RFDmax values of the GC was not different between pre and post training. GISOM increased only the TMI and the GSIOC increased the TMC, concentric RFDmax and isometric RFDmax. Furthermore, the GISOC had a higher percentage increase of the isometric RFDmax than the isokinetic RFDmax. Based on these results, it is possible to conclude that the increase in maximum strength corresponded to the training specificity theory, unlike to the RFDmax. Thus the use of isometric contraction ...(Complete abstract click electronic access below)

Um Estudo de caso sobre a fabricação de engrenagens

Human evolution has always been linked to personal or group needs. This statement is based on observations of the day to day. With time, we can now choose from among many excellent techniques and materials that can be employed in the construction of this part of the machinery so important to the functionality of machines and equipment. When we look at a machine, we see that this is usually designed by combining a set of pre-determined in your project. Among the many pieces that we can highlight one of them is of fundamental importance, the gear. Gears are an example of the mechanical devices used by the older man, and are currently the most important components in the transmission technique. This is responsible for transmitting rotary motion from one shaft to another. Gears are one of the best among the various means available for the transmission of motion. Gears are the most important components of modern technique of transmission. The main purpose of a transmission gear is precisely transmit torque and speed. The requirements have increased significantly due to pollution and energy conservation. Nowadays, gear transmissions are required to transmit high strength through all his life together with the high demand on performance and sound properties. An optimal design for the gear you need a set of the most modern fabrication machines and cutting tools. In the following work is studied on the manufacture of gears, making the monitoring of a case study of the try out the installation of a gear grinding machine

Projeto, desenvolvimento e construção de um redutor/multiplicador de velocidades de baixo custo

This paper aims to present the design, development and construction of a reducer / multiplier speeds low cost, sturdy and easy operation. The beginning of the project was given to research on issues related to mechanisms and machine elements, and these theories of fundamental importance in the development of items of equipment which, together with the aid of AutoCAD software, enabled the construction of it. Parallel to the sizing of equipment, were also investigated and taken into account the costs of materials used in the project. Made to mount the reducer / multiplier speeds it was at the evidence through experiments involving the use of torque wrench, tachometer and weights, getting proven applicability in situations that are small or medium loads required

Treinamento de força unilateral: efeitos sobre a taxa de desenvolvimento de força do membro contralateral

The aim of this study was to analyze the effects of unilateral isokinetic strength training at high speed (180°.s-1) of the dominant leg on the rate of force development (RFD) of the contralateral limb. The study included 18 male individuals, apparently healthy, with an average of 23 years, and without regular practice of physical activities. The subjects were divided randomly into two groups: control group (GC) and isokinetic group (GISOC). Assessments were made of the values of peak isometric torque (PT isom) and RFD of both lower limbs in the pre-training. So, the GISOC underwent an isokinetic strength training with high speed (180°.s-1) for 6 weeks, with the dominant leg only and then reassessed. It was found that there was no significant improvement in value of PT isom (p> 0.05), and the RFD for the dominant limb had a significant improvement (p< 0.05) compared to the pre-training and that there was no transfer of values to the contralateral side (p> 0.05). It can be concluded that the isokinetic training at high speed was not enough for significant cross education