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Simulation and numerical parameter identification of a biologically inspired bipedal robot with passive elements

100%

Förg D. , Ulbrich H. , Förg D. , Ulbrich H.

tom 57

nr 2

An object-oriented approach to simulating human gait motion based on motion tracking

85%

Tändl M. , Stark T. , Erol N. , Löer F. , Kecskeméthy A.

nr 3

469-483

Accurate bone motion reconstruction from marker tracking is still an open and challenging issue in biomechanics. Presented in this paper is a novel approach to gait motion reconstruction based on kinematical loops and functional skeleton features extracted from segmented Magnetic Resonance Imaging (MRI) data. The method uses an alternative path for concatenating relative motion starting at the feet and closing at the hip joints. From the evaluation of discrepancies between predicted and geometrically identified functional data, such as hip joint centers, a cost function is generated with which the prediction model can be optimized. The method is based on the object-oriented multibody library M ⃢ BILE, which has already been successfully applied to the development of industrial virtual design environments. The approach has been implemented in a general gait visualization environment termed Mobile Body.

Analysis of the backlash in the single stage cycloidal gearbox

57%

Król R.

tom LXIX, nr 4

693--711

In this paper the analysis of backlash influence on the spectrum of torque at the output shaft of a cycloidal gearbox has been performed. The model of the single stage cycloidal gearbox was designed in the MSC Adams. The analysis for the excitation with the torque and the analysis with constant angular velocity of the input shaft were performed. For these analyses, the amplitude spectrums of the output torque for different backlashes was solved using FFT algorithm. The amplitude spectrums of the combined sine functions composed of the impact to impact times between the cycloidal wheel and the external sleeves were computed for verification. The performed studies show, that the backlash has significant influence on the output torque amplitude spectrum. Unfortunately the dependencies between the components of the spectrum and the backlash could not be expressed by linear equations, when vibrations of the output torque in the range of (350 Hz – 600 Hz) are considered. The gradual dependence can be found in the spectrum determined for the combined sine functions with half-periods equal impact-to-impact times. The spectrum is narrower for high values of backlash.