Fatigue failure analysis of vibrating screen spring by means of finite element simulation: a case study

Vibrating screens are often used in the mining industry to separate mineral particles by size. In many designs, spring arrays are used to provide the system with the necessary stiffness for screens to vibrate in a controlled manner. Naturally, these springs are subjected to varying loading cycles, which can cause their premature fatigue failure. This behavior has been studied by means of finite element analysis and compared with data obtained from a real case scenario, in which a helical spring failed. The 3D computational model was developed using the geometric characteristics and material properties of a fractured spring, as well as the loading characteristics of a specific vibrating screen. The meshing and the simulation tasks were performed in the general purpose software ANSYS Mechanical. Given the nature of the helical springs and the high-cycle loading conditions, for the fatigue analysis it was determined that a stress-life approach with constant amplitude and non-proportional loading best fit the investigated phenomenon. In solving the nonproportional loading case, stress values of two static scenarios were required to determine the upper and lower limits. Then, to perform the fatigue calculations a solution combination was used. In addition, in order to correct the effect of mean stress and calculate the stresses component respectively the Goodman and Von Mises theories were employed. Simulation results showed that spring would present failure below the second turn of the coil when working with the full nominal load during nearly forty million cycles. These results strongly agreed with the data extracted from a vibrating screen where fractured spring had been working. Fatigue analysis also predicted that the nominal load should be reduced to 90% in order for the spring to meet the minimum life requirements before failure occur

Biología reproductiva del Chimango (<i>Polyborus chimango</i>)

En este trabajo se ha estudiado la biología reproductiva del chimango en las provincias de Córdoba y Buenos Aires. En ambos sitios fueron observados grupos de nidos, y una colonia de nidificación (56 nidos en 0,7 ha) fue observada en Córdoba. Como hubo una buena cantidad de árboles apropiados, la disponibilidad de lugar para los nidos no puede explicar la nidificación en grupos; la abundancia de alimento es un factor más probable. El tamaño medio de la postura fue de 2.77 huevos, el período de incubación de 26 a 27 días, y el tiempo de permanencia del pichón en el nido 32 a 34 días. El alimento traído a los pichones incluye insectos ortópteros, anfibios y pequeños mamíferos. Aceptado el 14 de abril de 1986.Reproductive biology of the Chimango Caracara (<i>Polyborus chimango</i>). The reproductive biology of the Chimango Caracara (<i>Polyborus chimango</i> ) was studied in the provinces of Córdoba and Buenos Aires. Champed nesting was observed at both sites, and a dense colony (56 nests in 0.7 ha) was observed in Córdoba. Nest sites at both areas were almost exclusively arboreal. As there were plenty of suitable trees, nest site avaiability cannot explain clumped nesting; abundance of food is a more likely factor. Mean clutch size was 2.77 eggs, the incubation period 26 to 27 days, and the nestling period 32 - 34 days. Food brought to nestlings include orthopteroid insects, amphibians and small mammals

Producing alternating gait on uncoupled feline hindlimbs: Muscular unloading rule on a biomimetic robot

Studies on decerebrate walking cats have shown that phase transition is strongly related to muscular sensory signals at limbs. To further investigate the role of such signals terminating the stance phase, we developed a biomimetic feline platform. Adopting link lengths and moment arms from an Acinonyx jubatus, we built a pair of hindlimbs connected to a hindquarter and attached it to a sliding strut, simulating solid forelimbs. Artificial pneumatic muscles simulate biological muscles through a control method based on EMG signals from walking cats (Felis catus). Using the bio-inspired muscular unloading rule, where a decreasing ground reaction force triggers phase transition, stable walking on a treadmill was achieved. Finally, an alternating gait is possible using the unloading rule, withstanding disturbances and systematic muscular changes, not only contributing to our understanding on how cats may walk, but also helping develop better legged robots.The authors acknouledge the Japanese Research Grant KAKENHI Kiban 23220004 and 25540117.This is the author accepted manuscript. The final version is available from Taylor & Francis via http://dx.doi.org/10.1080/01691864.2013.87049

Realization of three-dimensional walking of a cheetah-modeled bio-inspired quadruped robot

Adaptability of quadruped animals is not solely reached by brain control, but by the interaction between its body, environment, and control. Especially, morphology of the body is supposed to contribute largely to the adaptability. We have tried to understand quadrupedal locomotion by building a bio-inspired quadruped robot named ”Pneupard”, which has a feline-like muscular-skeletal structure. In our previous study, we successfully realized alternative gait of hindlimbs by reflex control based on the sole touch information, which is called an unloading rule, and that of forelimbs as well. In this paper, we finally connect forelimbs and hindlimbs by a rigid spine, and conduct 3D walking experiments only with the simple unloading rule. Through several preliminary experiments, we realize that the touch information on the sole is the most critical for stable 3D walking.This work was partially supported by Grant-in-Aid for Scientific Research on 23220004, 25540117 of Japan.This is the accepted manuscript. The final version is available at http://dx.doi.org/10.1109/ROBIO.2014.7090426

Stable reflex-based walking of forelimbs of a bio-inspired quadruped robot-modeled cheetah

In contrast to the high movement adaptability of quadruped animals in many environmental conditions, it is hard for conventional quadruped robots to operate in complex environment conditions. We investigate the adaptability of animals’ musculo-skeletal systems, by building a bio-inspired quadruped robot named ”Pneupard” which duplicates a feline musculo-skeletal system. In this study, we built Pneupard’s forelimb which has 14 active muscles, 4 passive muscles and 8 degrees of freedom (DOF). We propose sole reflex-based control and verify its effectiveness by conducting walking experiments, in which the robot performed stable walking with a two-dimensional restriction.This work was partially supported by a Grant-in-Aid for Scientific Research(23220004) from the Japanese Ministry of Education, Culture, Sports, Science and Technology.This is the accepted manuscript. The final version is available at http://dx.doi.org/10.1109/ROBIO.2013.673973

Muscle roles on directional change during hopping of a biomimetic feline hindlimb

Cats, from tiny domestic cats (Felix Catus) to big tigers (Panthera Tigris), are well known for their great acrobatic skills and hunting ability. Aiming to better understand how the feline family interacts with the environment, we adopt a biomimetic approach on a hopping feline hindlimb. Using air muscles to simulate the compliance of biological muscles, this robotic hindlimb has seven muscles and changes hopping direction. We individually evaluate and estimate muscles contribution to the jumping direction. Finally, we successfully control the hopping direction using a non-linear curve fitting from experimental results, hopefully contributing to the understanding of our biological counterpart.This work was partially supported by KAKENHI Kiban(S) 23220004This is the accepted manuscript. The final version's available at http://dx.doi.org/10.1109/ROBIO.2012.6491108

Development of a minimalistic pneumatic quadruped robot for fast locomotion

In this paper, we describe the development of the quadruped robot ”Ken” with the minimalistic and lightweight body design for achieving fast locomotion. We use McKibben pneumatic artificial muscles as actuators, providing high frequency and wide stride motion of limbs, also avoiding problems with overheating. We conducted a preliminary experiment, finding out that the robot can swing its limb over 7.5 Hz without amplitude reduction, nor heat problems. Moreover, the robot realized a several steps of bouncing gait by using simple CPG-based open loop controller, indicating that the robot can generate enough torque to kick the ground and limb contraction to avoid stumbling.This work was partially supported by KAKENHI 23220004, KAKENHI 24000012 and KAKENHI 23700233.This is the accepted manuscript. The final version is available at http://dx.doi.org/10.1109/ROBIO.2012.6490984

Quadrupedal locomotion based on a muscular activation pattern with stretch-reflex

Cyclical locomotion, such as walking, hopping and running, is known to be generated at the spinal cord, guiding human and animal strides over different gaits. Over the last years, many researchers concentrated their study on the origin of such signals, replicating them by either controlling joint angles or torques. In this work, we use a quadruped pneumatic robot to reproduce stable walking on a treadmill through a muscular activation pattern. Unlike previous studies, neither angles or torques are taken into consideration. Similarly to biological morphology, with variating moment arms, muscles contract rhythmically and their inherent compliance adapts to the floor. Proportional feedback upon touching the floor (stretch-reflex) is also tested, and its effects are explained. In the future, this methodology can be used to produce adaptive gait and improve current robotic by exploring interaction between control and soft bodies.This work was aided by KAKENHI Kiban(S) 23220004 and 25540117.This is the accepted manuscript. The final version is available at http://dx.doi.org/10.1109/ROBIO.2014.7090425

Effect of nitrogen gas in the agglomeration and photoluminescence of Zn-ZnO nanowires after high-temperature annealing

The effect of anti-agglomeration and enhanced photoluminescence after high-temperature annealing of Zn-ZnO nanowires in nitrogen at-mosphere is reported. The Zn-ZnO nanowires were deposited by the hot filament chemical vapor deposition technique and subsequentlyannealed at 1100±C in oxygen or nitrogen atmospheres. It was found that under both annealing atmospheres, the structure of the nanowireswas completely oxidized. Morphological studies suggest that annealing under oxygen-rich atmosphere, grain growth occurs, resulting in acontinuous surface with a micrograin-shaped structure. However, it seems that nitrogen-rich annealing partially prevents complete agglom-eration and longitudinal structures composed by nanometric grains were observed. Although photoluminescence properties of the annealednanowires are improved in both annealing atmospheres, it was observed that the PL spectrum of nanowires annealed in nitrogen showed astronger UV emission than that of the oxygen annealed nanowires

Exploring muscular contribution during stepping of biomimetic feline hindlimbs

Although robotic locomotion have greatly advanced over the past years, the abyss that separates such locomotion from even the simplest animal locomotions prompt us to approach robotic locomotion taking cues from animals. The animal musculoskeletal structure, often ignored by roboticists due to its high redundancy and complexity, might hold the secret for self-stable locomotion observed in bipeds and quadrupeds. Aiming to better understand how muscles contribute to selfstable locomotion we take the feline structure as a model on a biomimetic approach. Using 6 air muscles per hindlimb to mimic real muscles, this robot walks stably on a treadmill while supported by a slider, simulating forelimbs. We individually evaluate muscle contribution to walking stability, performing a comparison between mono and biarticular synergistic muscles at the ankle and concluding that a higher compliance on the biarticular muscle improved walking stability. A better understanding of such complex phenomena may help on the development of better legged robots in the future, truly taking advantage of concepts developed by nature over the years.This work was partially supported by KAKENHI Kiban(S) 23220004.This is the accepted manuscript. The final version is available at http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=6739573&tag=1