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oleodinamica dispense executive master oleodinamica dispense modulo 1 prof oleodinamica dispense esercizi di oleodinamica 1 docsity. Dipartimento di Ingegneria Meccanica, Matematica e Management. Study courses: Appunti/dispense del corso in formato elettronico sul sito del DEI: [4] Nervegna N.: “Oleodinamica e pneumatica”, vol I e II – Politeko AA. VV. Corso di Laurea Magistrale in Ingegneria Meccanica – Torino Testi richiesti o raccomandati: letture, dispense, altro materiale didattico (Prof. M. Rundo). Will be made Gilardino, L.: Esercizi di Oleodinamica, Clut, Torino – Fluid Power.

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Moreover, for the SPM model, the mean value of each secondary variable green lines coincides approximately with the corresponding value of the optimized mechanism red lines ; on the ESM2 SPM Figure 2. Variable displacement vane pump PHV Thus, mechanisms affected by random geometrical errors were obtained on the whole for each optimized mechanism, and the global mean square error of the secondary variables was calculated as follows: Other devices use different coupling mechanisms to couple the movement of human finger joints and other systems leave some joints free i.

Effect of partially distributed load on w t. Dalpiaz 33 Analysis of the evolution of the pressure forces in variable displacement vane pumps using different approaches R.

The exoskeleton architecture is modular and based on custom-made flexible robotic joints, each comprising a geared transmission with large reduction ratio and an integrated joint-torque sensor.

Control volumes on the xy plane. Performing manipulation tasks related to ADLs e.

Gestione Didattica – Politecnico di Torino

As a mat er of fact, in this type of pumps the variable pressure forces are the main sources exciting casing vibration; these forces can be estimated through the presented models and the reduction of the amount and rate of force variation can general y involve a reduction of casing vibration and noise emissions. Final y in some systems, the force exerted to the human fingers is computed and control ed by measuring and control ing the current draining of the electric motors.

Due to the effectiveness demonstrated by the L-EXOS architecture in performing rehabilitative tasks [9], the same kinematics has been replicated on the RehabExos. However, students are strongly invited to integrate the material with their own notes. Further exercises, more complicated, can possibly be executed in order to al ow the patient to recover the ability in activities of daily living ADLs.


No additional point will be awarded for the homework. ESPI lower frequency limit is set to 20Hz in the acquisition system electronics; the hi-speed cameras used for DIC could not go over fps, which was the sampling frequency in this image-based case. The main disadvantage of these HEs is that their placement wil decrease the workspace of the exoskeleton and makes complete grasping impossible.

In this sight, the pressure evolution for a complete shaft rotation can be analytical y synthesized as a function of the main pump operational and geometrical parameters. Effect of parameter v on w t. The elements of the 5xm matrix H are shown in Fig. The geometrical parameter first estimate was refined by means of an optimization procedure in order to calculate the parameters which best approximate the experimental data.

However a few mismatches between the experimental quantities and the simulated ones can be noticed, as the ripple shape, the peak amplitude in a vane space at the beginning of the high pressure zone and the instant when the pressure increases and decreases. Much work has still to be done on the variation of torsion and flexion in the workspace of the manipulator.

Meccanica applicata – Quarta giornata di studio Ettore Funaioli

dispeense Then, the pump system must be divided in several control volumes. In more detail, further work wil be needed in order to combine the pressure excitation forces and the structural frequency response functions of the pump casing.

Normalized pressure evolution for a complete shaft rotation in a vane space a and in a hole b referred to pump PHV An objective function that estimates the error between the calculated and the experimental motion was defined as follows: Relevant work was also done for 22 Figure 5: Testi richiesti o raccomandati: The codes implemented in the RT processor are responsible for the processing of the information provided by the user at the PC Host level e.

ISO standardfluid properties, functional blocks. One of the problems a designer must solve in the frame of a noise and vibration opti- mization of such components is the reduction of pressure ripple, crucial y important because the pressure ripple generates variable forces and body vibrations. In addition to the input command sensors, exoskeletons need some position sensors and force sensors to implement proper motion control strategies typical y position control or force control or a combination of both.


Thus, during contact with the environment, it becomes impossible to recognize the user’s intention. Then, at subsequent steps, the elements of this model, that have been considered as rigid until this point, are considered elastic and the remaining articular structures are added to the model, thus allowing static and dynamic problems to be solved.

Meccanica applicata – Quarta giornata di studio Ettore Funaioli

Nella oleovinamica di destra sono evidenziati i not- tolini per la programmazione dei caratteri da scrivere. This homework must be downloaded and solved individually, according to explicit rules, by all students.

Mantici, disegno del Taccola Mariano di Jaco- pocirca [3]; sotto: An interesting 3-DOF PMs is the 3-UPU translational parallel manipulator that provides a pure translational motion of the platform with respect to the base: Vincenzi On shaft-hub hybrid couplings G.

Criteri, regole e procedure per l’esame Prof. Actuation Group 1 AG1: Chez les Auteurs, Paris. EMG-signals gained from human muscles [2, 8, 20, 21] or the movements measured on the other hand using the so-cal ed self motion control, [6] or the force exerted on the HE itself [22]. The rehabilitation HEs typical y use pneumatic actuators or electric actuators whereas no hydraulic systems were found in the literature.

Aim of the course is to acquaint students with methods for the analysis and critical evaluation of fluid power components and systems. In particular, in rehabilitation field, it is very important to have mathematical models that replicate the anatomical motion of the knee.

As far as the vibro-acoustic characterization is concerned, only preliminary results were retrieved and actual y were used for the set up of the test rig and the definition of the vibro- acoustic test procedures and algorithms. This classification is helpful to understand the reason of proposing certain solutions for the dif erent applications and the advantages and drawbacks of the dif erent designs proposed in the literature. Si advantage of this analysis, this third region has been synthesized as a Fourier series, considering only such three high amplitude order harmonics vane harmonics: