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We explored the settling dynamics of vertically aligned particles in a quiescent, stratified two-layer fluid using particle tracking velocimetry. Glass spheres of$$d=4\,{\rm mm}$$diameter were released at frequencies of 4, 6 and 8 Hz near the free surface, traversing through an upper ethanol layer ($$H_1$$), whereHis height or layer thickess, varying from$$10d$$to$$40d$$and a lower oil layer. Results reveal pronounced lateral particle motion in the ethanol layer, attributed to a higher Galileo number ($$Ga = 976$$, ratio of buoyancy–gravity to viscous effects), compared with the less active behaviour in the oil layer ($$Ga = 16$$). The ensemble vertical velocity of particles exhibited a minimum just past the density interface, becoming more pronounced with increasing$$H_1$$, and suggesting that enhanced entrainment from ethanol to oil resulted in an additional buoyancy force. This produced distinct patterns of particle acceleration near the density interface, which were marked by significant deceleration, indicating substantial resistance to particle motion. An increased drag coefficient occurred for$$H_1/d = 40$$compared with a single particle settling in oil; drag reduced as the particle-release frequency ($$\,f_p$$) increased, likely due to enhanced particle interactions at closer proximity. Particle pair dispersions, lateral ($$R^2_L$$) and vertical ($$R^2_z$$), were modulated by$$H_1$$, initial separation$$r_0$$and$$f_p$$. The$$R^2_L$$dispersion displayed ballistic scaling initially, Taylor scaling for$$r_0 < H_1$$and Richardson scaling for$$r_0 > H_1$$. In contrast,$$R^2_z$$followed a$$R^2_z \sim t^{5.5}$$scaling under$$r_0 < H_1$$. Both$$R^2_L$$and$$R^2_z$$plateaued at a distance from the interface, depending on$$H_1$$and$$f_p$$.
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Design of a wearable shoulder exoskeleton robot with dual-purpose gravity compensation and a compliant misalignment compensation mechanism
Abstract This paper presents the design and validation of a wearable shoulder exoskeleton robot intended to serve as a platform for assistive controllers that can mitigate the risk of musculoskeletal disorders seen in workers. The design features a four-bar mechanism that moves the exoskeleton’s center of mass from the upper shoulders to the user’s torso, dual-purpose gravity compensation mechanism located inside the four-bar’s linkages that supports the full gravitational loading from the exoskeleton with partial user’s arm weight compensation, and a novel 6 degree-of-freedom (DoF) compliant misalignment compensation mechanism located between the end effector and the user’s arm to allow shoulder translation while maintaining control of the arm’s direction. Simulations show the four-bar design lowers the center of mass by$$ 11 $$ cm and the kinematic chain can follow the motion of common upper arm trajectories. Experimental tests show the gravity compensation mechanism compensates gravitational loading within$$ \pm 0.5 $$ Nm over the range of shoulder motion and the misalignment compensation mechanism has the desired 6 DoF stiffness characteristics and range of motion to adjust for shoulder center translation. Finally, a workspace admittance controller was implemented and evaluated showing the system is capable of accurately reproducing simulated impedance behavior with transparent low-impedance human operation.
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- Award ID(s):
- 1925110
- PAR ID:
- 10590125
- Publisher / Repository:
- Cambridge University Press
- Date Published:
- Journal Name:
- Wearable Technologies
- Volume:
- 5
- ISSN:
- 2631-7176
- Format(s):
- Medium: X
- Sponsoring Org:
- National Science Foundation
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- Free Publicly Accessible Full Text
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Accepted Manuscript1.0
- Journal Article:
- https://doi.org/10.1017/wtc.2024.1
