Design of traction transmission and suspension systems for an omni-directional mobile robot

This project aims to design and manufacture a mobile robot with two Universal Robot UR10 mainly used indoors. In order to obtain omni-directional maneuverability, the mobile robot is constructed with Mecanum wheels. The Mecanum wheel can move in any direction with a series of rollers attached to itself. These rollers are angled at 45º about the hub’s circumference. This type of wheels can be used in both driving and steering with their any-direction property. This paper is focused on the design of traction system and suspension system, and the velocity control of Mecanum wheels in the close-loop control system. The mechanical design includes selection of bearing housing, couplers which are act as connection between shafts, motor parts, and other needed components. The 3D design software SolidWorks is utilized to assemble all the components in order to get correct tolerance. The driving shaft is designed based on assembled structure via the software as well. The design of suspension system is to compensate the assembly error of Mecanum wheels to guarantee the stability of the robot. The control system of motor drivers is realized through the Robot Operating System (ROS) on Ubuntu Linux. The purpose of inverse kinematics is to obtain the relationship among the movements of all Mecanum wheels. Via programming and interacting with the computer, the robot could move with required speed and direction.

Survey of suspension systems on pickup trucks used to carry slide-in campers II - volume 16. Final report.

National Highway Traffic Safety Administration, Washington, D.C.

Survey of suspension systems on vehicles towing travel trailers II. Volume 15. Final report.

National Highway Traffic Safety Administration, Washington, D.C.

Survey of suspension systems on pickup trucks used to carry slide-in campers. Volume II. Final report.

National Highway Traffic Safety Administration, Washington, D.C.

Survey of suspension systems on pickup trucks used to carry slide-in campers. Volume III. Final report.

National Highway Traffic Safety Administration, Washington, D.C.

Survey of suspension systems on pickup trucks used to carry slide-in campers. Volume IV. Final report.

National Highway Traffic Safety Administration, Washington, D.C.

Survey of suspension systems on pickup trucks used to carry slide-in campers. Volume V. Final report.

National Highway Traffic Safety Administration, Washington, D.C.

The efficiency of four transtibial suspension systems: a malformation case study

This work was developed in the form of a case study to measure the efficiency of gait and conclude if the tested suspension systems differ in the efficiency in a various tested transtibial prostheses,based on the data provided by radiologic images, indirect calorimetry and perception of the patient. Introduction - The suspension system and the stump adjustment to the socket plays an important role in the functionality of the prosthesis, the mobility of the amputee and overall satisfaction with the device. The comfort and functional effectiveness of the prosthesis are closely related. The harmony between the residual limb and prosthesis is crucial to that this meets its function and enable effective March and allow the amputated the continuity of their Daily day activities, keeping the stump functional. Comfort and functional effectiveness of the prosthesis are closely related, suspension systems should prevent excessive longitudinal and rotational transverse displacement of the stump within the socket, these systems should help stabilize and enhance the connection of the prosthesis to the residual limb, reducing the pistonning, increased proprioception and providing a more natural gait.

Fixed-point DSP implementation of nonlinear H(infinity) controller for large gap electromagnetic suspension system

Electromagnetic suspension systems are inherently nonlinear and often face hardware limitation when digitally controlled. The main contributions of this paper are: the design of a nonlinear H(infinity) controller. including dynamic weighting functions, applied to a large gap electromagnetic suspension system and the presentation of a procedure to implement this controller on a fixed-point DSP, through a methodology able to translate a floating-point algorithm into a fixed-point algorithm by using l(infinity) norm minimization due to conversion error. Experimental results are also presented, in which the performance of the nonlinear controller is evaluated specifically in the initial suspension phase. (C) 2009 Elsevier Ltd. All rights reserved.

Application of active and passive suspension techniques to improve high speed ground vehicle performance - phase II. Final report.

Transportation Department, Office of University Research, Washington, D.C.

Projecto suspensão formula student

Trabalho Final de Mestrado para obtenção do grau de Mestre em Engenharia Mecânica

Estudo de caso de malformação congénita, com quantificação do êmbolo em 4 sistemas de suspensão para próteses endosqueléticas transtibiais com encaixe TSB

Introdução – O efeito de êmbolo é um dos principais problemas relacionados com a eficácia de uma prótese. Uma diminuição do mesmo pode levar a uma marcha mais natural através do aumento da propriocetividade. Objetivos – Verificar se existe diferença de valores do efeito de êmbolo entre vários sistemas de suspensão para próteses transtibiais com a utilização de Liners e testar a aplicação de testes de imagiologia na análise da melhor solução protésica para um determinado indivíduo. Metodologia – Foi obtida uma radiografia da prótese em carga na posição ortostática, mantendo o peso do indivíduo igualmente distribuído pelos dois pés. Seguidamente foi realizada outra radiografia no plano sagital com o joelho com 30° de flexão, com a prótese suspensa e um peso de 5kg aplicado na extremidade distal da mesma durante 30 seg. Através destes dois exames efetuaram-se as medições do êmbolo para cada tipo de sistema de suspensão. Resultados – Dos quatro sistemas estudados apenas três apresentam valores de êmbolo, visto que um dos sistemas não criou suspensão suficiente para suportar o peso colocado na extremidade distal da prótese. Através das medições realizadas nos exames imagiológicos dos três sistemas pudemos encontrar variações de efeito de êmbolo que vão dos 47,91mm aos 72,55mm. Conclusão – Através da realização do estudo imagiológico verificaram-se diferenças a nível do efeito de êmbolo nos vários sistemas de suspensão, provando que esta é uma ferramenta viável na avaliação do mesmo. Também através da análise dos resultados ficou notório que o sistema de suspensão Vacuum Assisted Suspention System (VASS) é o que apresenta menos êmbolo.

Choosing best components for an amputee: a methodology for the best decision-making

The harmony between the stump and the prosthesis is critical to allow it to fulfill its function enabling an efficient gait. A well fitted socket, with an efficient and comfortable suspension, allows the amputee to continue their daily living activities, maintaining the stump functional, making this correlation between socket and suspension very important in the functionality of the prosthesis, mobility and overall satisfaction with the device. Of our knowledge, the quantitative correlation between all of these factors as not yet been assessed. Aim of study: Verify and confirm the process of decision-making for four different trans-tibial prostheses with suspension systems: Hypobaric(A), PIN(B), Classic Suction(C) and Vacuum Active –VASS(D) according data provided by gait efficiency (mlO2/kg/m) imagiology (pistonning) and amputee perception.

Estudo e conceção de um sistema de encaixe rápido e simples para próteses de membros inferiores

Dissertação de mestrado integrado em Engenharia Biomédica