ABSTRACT
A simulation model and the results of experimental tests of a vibration generator in applications for the hot-dip galvanizing process are presented. The parameters of the work of the asynchronous motor forcing the system vibrations were determined, as well as the degree of unbalance enabling the vibrations of galvanized elements weighing up to 500 kg to be forced. Simulation and experimental tests of the designed and then constructed vibration generator were carried out at different intensities of the unbalanced rotating mass of the motor. Based on the obtained test results, the generator operating conditions were determined at which the highest values of the amplitude of vibrations transmitted through the suspension system to the galvanized elements were obtained.
ABSTRACT
Although it is well-established that exoskeletons as robots attached to the extremities of the human body increase their strength, limited studies presented a computer and mathematical model of a human leg hydraulic exoskeleton based on anthropometric data. This study aimed to examine lower limb joint angles during walking and running by using Inertial Measurement Units. The geometry and kinematic parameters were calculated. Twenty-six healthy adults participated in walking and running experiments. The geometric model of a human leg hydraulic exoskeleton was presented. Joint angle data acquired during experiments were used in the mathematical model. The position and velocity of exoskeleton actuators in each phase of movement were calculated using the MATLAB package (Matlab_R2017b, The MathWorks Company, Novi, MI, USA). The highest velocity of the knee actuator during walking and running was in the swing phase, 0.3 and 0.4 m/s, respectively. For the ankle and hip joints, the highest velocity of actuators occurred during the push-off phase. The results with 26 healthy subjects demonstrated that the system's compliance can be effectively adjusted while guiding the subjects walking in predefined trajectories. The developed mathematical model makes it possible to determine the position of lower limb segments and exoskeleton elements. The proposed model allows for calculating the position of the human leg and actuators' characteristic points.
