Mechanics Unloading Analysis and Experimentation of a New Type of Parallel Biomimetic Shoulder Complex

The structure design for high ratio of carrying capacity to deadweight is one of the challenges for the bionic mechanism,while the problem concerning high carrying capacity has not yet be solved for the existing shoulder complex.A new type biomimetic shoulder complex,which adopts 3-PSS/S（P for prismatic pair,S for spherical pair） spherical parallel mechanism（SPM）,is proposed.The static equilibrium equations of each component are established by using the vector method and the equations for constrain forces with certain load are solved.Then the constrain force on the middle limb and that on the side limbs are compared in order to verify the unloading performance of the mechanism.In addition,the prototype mechanism of the shoulder complex is developed,and the force feedback experiment is conducted to verify the static analysis,which indicates that the middle limb suffers most of the external force and the effect of mechanics unloading is achieved.The 3-PSS/S spherical parallel mechanism is presented for the shoulder complex,and the realization of mechanics unloading is benefit for the improvement of the carrying capacity of the shoulder complex.

Experimental investigation on deformation characteristics and permeability evolution of rock under confining pressure unloading conditions

Deformation behavior and hydraulic properties of rock are the two main factors that influence safety of excavation and use of rock engineering due to in situ stress release.The primary objective of this study is to explore deformation characteristics and permeability properties and provide some parameters to character the rock under unloading conditions.A series of triaxial tests with permeability and acoustic emission signal measurement were conducted under the path of confining pressure unloading prior to the peak stress.Deformation behavior and permeability evolution in the whole stress–strain process based on these experimental results were analyzed in detail.Results demonstrate that,under the confining pressure unloading conditions,a good correspondence relationship among the stress–axial strain curve,permeability–axial strain curve and acoustic emission activity pattern was obtained.After the confining pressure was unloaded,the radial strain grew much faster than the axial strain,which induced the volumetric strain growing rapidly.All failures under confining pressure unloading conditions featured brittle shear failure with a single macro shear rupture surface.With the decrease in deformation modulus during the confining pressure unloading process,the damage variable gradually increases,indicating that confining pressure unloading was a process of damage accumulation and strength degradation.From the entire loading and unloading process,there was a certain positive correlation between the permeability and volumetric strain.

Computational Model for the Underlying Mechanisms Regulating Bone Loss by Mechanical Unloading and Estrogen Deficiency

The objective of this paper is to investigate the different effects of disuse and estrogen deficiency on bone loss and the underlying mechanisms.A mechanical-biological factors coupled computational model was built to simulate different patterns of bone loss induced in female rats by hind limb unloading,ovariectomy,or both in an animal study.A remodeling analysis was performed on a representative cross section of 6 mm2 of cancellous bone in the distal femoral metaphysis of the rats.The BMU activation frequency,the refilling rate,and the principal compressive strain in the state of mechanical unloading and estrogen deficiency were simulated to interpret the underlying mechanisms.Simulated bone loss patterns due to mechanical unloading,estrogen deficiency,or both all corresponded with the experimental observations.The results show that mechanical unloading and estrogen deficiency cause different bone loss patterns;moreover,mechanical unloading induces a greater degree of bone loss than estrogen deficiency,which can lead to improved treatment and prevention strategies for osteoporosis.