This paper has been done on study kinematic problem of Persian joint in a general way. In this study, instead of using simulation analysis method as in the previous researches, the 3D rotation matrix method is applied...This paper has been done on study kinematic problem of Persian joint in a general way. In this study, instead of using simulation analysis method as in the previous researches, the 3D rotation matrix method is applied to present the relationship of angular velocities of input shaft and output shaft. The result shows that when the angle between intersecting shafts changes from 0 to 135°, the angular velocity is maintained constant. This new result completely matches with analysis from kinematic simulation of this mechanism. The obtained result is an important base to solve dynamic problem in order to develop the applicability of this joint in reality.展开更多
Desktop 3D printers have revolutionized how designers and makers prototype and manufacture certain products.Highly popular fuse deposition modeling(FDM)desktop printers have enabled a shift to low-cost consumer goods ...Desktop 3D printers have revolutionized how designers and makers prototype and manufacture certain products.Highly popular fuse deposition modeling(FDM)desktop printers have enabled a shift to low-cost consumer goods markets,through reduced capital equipment investment and consumable material costs.However,with this drive to reduce costs,the computer numerical control(CNC)systems implemented in FDM printers are often compromised by poor accuracy and contouring errors.This condition is most critical as users begin to use 3D-printed components in load-bearing applications or to perform mechanical functions.Improved methods of low-cost 3D printer calibration are needed before their open-design potential can be realized in applications,including 3D-printed orthotics and prosthetics.This paper applies methodologies associated with high-precision CNC machining systems,namely,kinematic error modeling and compensation coupled with standardized test methods from ISO230-4,such as the ballbar for kinematic and dynamic error measurements,to examine the influence and feasibility for use on low-cost CNC/3D printing platforms.Recently,the U.S.Food and Drug Administration's"Technical considerations for additive manufactured medical devices"highlighted the need to develop standards specific to additive manufacturing in regulated manufacturing environments.This paper shows the benefits of the methods described within ISO230-4 for error assessment,alongside applying kinematic error modeling and compensation to the popular kinematic configuration of an Ultimaker 3D printer.A Renishaw ballbar QC10 is used to quantify the Ultimaker's errors and thereby populate the error model.This method quantifies machine errors and populates these in a mathematical model of the CNC system.Then,a post-processor can be used to compensate the printing code.Subsequently,the ballbar is used to demonstrate the dramatic impact of the error compensation model on the accuracy and contouring of the Ultimaker printer with 58%reduction in overall circularity error and 90%reduction in squareness error.展开更多
Background: Bone fracture frequencies and survival rates are essential parameters in skeleton evolution, but information on the functional consequences of naturally healed fractures is scarce. No leg bone fracture hea...Background: Bone fracture frequencies and survival rates are essential parameters in skeleton evolution, but information on the functional consequences of naturally healed fractures is scarce. No leg bone fracture healing in the wild has been reported so far from long-legged Charadriiformes(waders), which depend on bipedal locomotion for feeding.Methods: We documented a healed but malaligned tarsometatarsus fracture in a wild Willet(Tringa [Catoptrophorus]semipalmata), and a malaligned tibiotarsus fracture in a Curlew(Numenius arquata) skeleton from a museum collection. Functional consequences of the malalignments were evaluated by kinematic analyses of videos(Willet) and in silico 3D modeling(Curlew).Results: The Willet's left tarsometatarsus exhibited an angular malalignment of 70°, resulting in a limping gait that was less pronounced at high than at low walking speed. The bird seemed unable to club the toes of the left foot together, apparently a secondary effect of the deformity. The Curlew's tibiotarsus showed an angular and an axial malalignment, causing the foot to rotate outwards when the intertarsal joint was flexed. Despite the severe effects of their injuries, the birds had survived at least long enough for the fractures to heal completely.Conclusions: Somewhat unexpectedly, leg fractures are not necessarily fatal in long-legged waders, even if deformities occur in the healing process. Bipedal locomotion on vegetated grounds must have been impeded due to the bone malalignments in both analyzed cases. The birds probably alleviated the impact of their handicaps by shifting a larger proportion of their activities to vegetation-free habitats.展开更多
文摘This paper has been done on study kinematic problem of Persian joint in a general way. In this study, instead of using simulation analysis method as in the previous researches, the 3D rotation matrix method is applied to present the relationship of angular velocities of input shaft and output shaft. The result shows that when the angle between intersecting shafts changes from 0 to 135°, the angular velocity is maintained constant. This new result completely matches with analysis from kinematic simulation of this mechanism. The obtained result is an important base to solve dynamic problem in order to develop the applicability of this joint in reality.
基金supported by Science Foundation Ireland through the I-Form Advanced Manufacturing Research Centre 16/RC/3872
文摘Desktop 3D printers have revolutionized how designers and makers prototype and manufacture certain products.Highly popular fuse deposition modeling(FDM)desktop printers have enabled a shift to low-cost consumer goods markets,through reduced capital equipment investment and consumable material costs.However,with this drive to reduce costs,the computer numerical control(CNC)systems implemented in FDM printers are often compromised by poor accuracy and contouring errors.This condition is most critical as users begin to use 3D-printed components in load-bearing applications or to perform mechanical functions.Improved methods of low-cost 3D printer calibration are needed before their open-design potential can be realized in applications,including 3D-printed orthotics and prosthetics.This paper applies methodologies associated with high-precision CNC machining systems,namely,kinematic error modeling and compensation coupled with standardized test methods from ISO230-4,such as the ballbar for kinematic and dynamic error measurements,to examine the influence and feasibility for use on low-cost CNC/3D printing platforms.Recently,the U.S.Food and Drug Administration's"Technical considerations for additive manufactured medical devices"highlighted the need to develop standards specific to additive manufacturing in regulated manufacturing environments.This paper shows the benefits of the methods described within ISO230-4 for error assessment,alongside applying kinematic error modeling and compensation to the popular kinematic configuration of an Ultimaker 3D printer.A Renishaw ballbar QC10 is used to quantify the Ultimaker's errors and thereby populate the error model.This method quantifies machine errors and populates these in a mathematical model of the CNC system.Then,a post-processor can be used to compensate the printing code.Subsequently,the ballbar is used to demonstrate the dramatic impact of the error compensation model on the accuracy and contouring of the Ultimaker printer with 58%reduction in overall circularity error and 90%reduction in squareness error.
文摘Background: Bone fracture frequencies and survival rates are essential parameters in skeleton evolution, but information on the functional consequences of naturally healed fractures is scarce. No leg bone fracture healing in the wild has been reported so far from long-legged Charadriiformes(waders), which depend on bipedal locomotion for feeding.Methods: We documented a healed but malaligned tarsometatarsus fracture in a wild Willet(Tringa [Catoptrophorus]semipalmata), and a malaligned tibiotarsus fracture in a Curlew(Numenius arquata) skeleton from a museum collection. Functional consequences of the malalignments were evaluated by kinematic analyses of videos(Willet) and in silico 3D modeling(Curlew).Results: The Willet's left tarsometatarsus exhibited an angular malalignment of 70°, resulting in a limping gait that was less pronounced at high than at low walking speed. The bird seemed unable to club the toes of the left foot together, apparently a secondary effect of the deformity. The Curlew's tibiotarsus showed an angular and an axial malalignment, causing the foot to rotate outwards when the intertarsal joint was flexed. Despite the severe effects of their injuries, the birds had survived at least long enough for the fractures to heal completely.Conclusions: Somewhat unexpectedly, leg fractures are not necessarily fatal in long-legged waders, even if deformities occur in the healing process. Bipedal locomotion on vegetated grounds must have been impeded due to the bone malalignments in both analyzed cases. The birds probably alleviated the impact of their handicaps by shifting a larger proportion of their activities to vegetation-free habitats.
