Braided pneumatic artificial muscles, and in particular the better known type with a double helical braid usually called the McKibben muscle, seem to be at present the best means for motorizing robotarms with artificial muscles. Their ability to develop high maximum force associated with lightness and a compact cylindrical shape, as well as their analogical behavior with natural skeletal muscle were very well emphasized in the 1980s by the development of the Bridgestone "soft robot" actuated by "rubbertuators". Recent publications have presented ways for modeling McKibben artificial muscle as well as controlling its highly non-linear dynamic behavior. However, fewer studies have concentrated on analyzing the integration of artificial muscles with robot-arm architectures since the first Bridgestone prototypes were designed. In this paper we present the design of a 7R anthropomorphic robot-arm entirely actuated by antagonistic McKibben artificial muscle pairs. The validation of the robot-arm architecture was performed in a teleoperation mode. KEY WORDS-anthropomorphic robot-arm, artificial muscle, McKibben muscle robot arms so that they interact with human subjects in total safety. A promising secure way of developing robot-arms adapted to proximity with humans consists of using artificial muscle actuators for which compliance is identical to that of human joints. If chemo-mechanical artificial muscles are still too far removed from practical applications (Hebert, Kant, and De Gennes 1997; Martin and Anderson 1999; Bar-Cohen 2002; Kaneko, Jian Ping Gong, and Osada 2002), pneumatic artificial muscles, notably braided ones, for which the so-called McKibben artificial muscle is the most interesting representative, have proved efficient (

Bolted bearing connections are one of the most important connections in some industrial structures, and manufacturers are always looking for a quick calculation model for a safe design. In this context, all the analytical and numerical models reduce the global study to the study of the most critical sector. Therefore, the main inputs for these models are the maximal equivalent contact load and the corresponding contact angle. Thus, a load distribution calculation model that takes all the important parameters, such as the stiffness of the supporting structure and the variation in the contact angle, into consideration is needed. This paper presents a 3D finite element (FE) simplified analysis of load distribution and contact angle variation in a slewing ball bearing. The key element of this methodology, which is based on the Hertz theory, is modeling the rolling elements under compression by nonlinear traction springs between the centers of curvature of the raceways. The contact zones are modeled by rigid shells to avoid numerical singularities. Each raceway curvature center is coupled to the corresponding contact zone by rigid shells. The main contribution of this method is not only the evaluation of the contact loads with a relatively reduced calculation time but also the variation in the contact angle from the deformed coordinates of the curvature centers. Results are presented for several loading cases: axial loading, turnover moment, and a combined loading of axial force and turnover moment. The influence of the most important parameters such as the contact angle, the stiffness of the bearings, and the supporting structure is discussed. Finally, a preliminary experimental validation is conducted on a standard ball bearing. The results presented in this paper seem encouraging. The FE study shows an important influence of several parameters and a good correlation with experimental results. Consequently, this model can be extended to other types of slewing bearings such as roller bearings. Moreover, it can be implemented in complex industrial structures such as cranes and lifting devices to determine the corresponding load distributions and contact angles and, consequently, the most critical sector.

In aeronautical structures, assemblies with thin laminates are becoming increasingly usual, especially for fuselage design. In these structures, out-of-plane loads can appear in bolted joints and can lead to progressive punching of the fastener's head in the laminate resulting, in some cases, in a failure mode called pull-through [1]. This complex phenomenon, which occurs in assemblies, was studied firstly by using a simplified ''circular'' pull-through test method. Qualitative micrographic examinations showed damage very similar to that observed in impacted specimens. The research presented here extends the Discrete Ply Model Method (DPM) developed by Bouvet et al. [2] to this case. The finite elements model is based on a particular mesh taking ply orientations into account. Cohesive elements are placed at the interfaces between solid elements to represent matrix cracks and delamination, thus allowing the natural coupling between these two damage modes to be represented. The model shows good correlation with test results, in terms of load/displacement curve, and correct prediction of the damage map until failure, including the splitting phenomenon.

In this paper, an original approach is proposed to calculate the static load distribution and the axial stiffness of a planetary roller screw (PRS) mechanism. Assuming that the external loading is shared equally over an arbitrary number of rollers, only a sector of the system is represented to save on computing time. The approach consists in using a structure of bars, beams, and nonlinear springs to model the different components of the mechanism and their interactions. This nonlinear model describes the details of the mechanism and captures the shape of the nut as well as the bending deformation of the roller. All materials are assumed to operate in the elastic range. The load distribution and the axial stiffness are determined in three specific configurations of the system for both compressive and tensile loads. Further, the influence of the shape of the nut is studied in the case of the inverted PRS. The results obtained from this approach are also compared to those computed with a three-dimensional finite-element (3D FE) model. Finally, since the calculations appear to be very accurate, a parametric study is conducted to show the impact of the bending of the roller on the load distribution.

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In the field of structural stress analysis and especially in transitory dynamics (crash and impact simulations), study/design accuracy requires increasingly predictive models. A compromise between cost and precision entails modelling and simplification of all the link elements. Riveting is a particularly sensitive case. The characteristics needed to ensure effective modelling are indeed difficult to measure. This paper presents adjustment of a numerical model simulating a riveted link using a number of different approaches. The results analysis considerably improve knowledge about the riveting process and behaviour of riveted links. This study will pave the way for resistance tests to be conducted in order to numerically characterise riveted links under load. The aim is to develop an approach that reduces the model size and calculation time without adversely affecting the validity of the simulation results, and to show the effect of strains and residual stresses on the link in post-riveting.

The paper examines the static behavior of the inverted planetary roller screw (PRS) through numerical and experimental studies. The numerical analysis of the inverted PRS is first presented to capture the global and local deformations in different configurations. Using a three-dimensional finite element (3D FE) method, a sectorial model of the mechanism is built involving an entire roller. The model describes the static behavior of the system under a heavy load and shows the state of the contacts and the in-depth stress zones. The current work also investigates the axial stiffness (AS) and the load distribution (LD) under both compressive and tensile loadings. It is shown that the LDs are not the same at each contact interface of the roller and that they depend on the configuration of the system. Also, the nut is less stressed than the screw shaft because of their contact curvatures. In parallel, complementary experiments are carried out to measure the axial deflection of the screw shaft and the rollers in five cases with different numbers of rollers. In each situation, the mechanism is under the same equivalent axial and static load. The tests reveal that rollers do not have the same behavior, the difference certainly being due to manufacturing and positioning errors that directly affect the number of effective contacts in the device. This stresses the fact that the external load is unequally shared over rollers and contacting threads. By introducing the notion of an equivalent roller, the results are used to validate the previous numerical model of an inverted PRS. As they provide a better understanding of the inverted PRS, these investigations are useful to improve the existing analytical models of the device.

A high-pressure device, reaching an axial pressure of 1000 MPa, intended to the extraction of the pore solution of rigid and slightly porous materials, has been developed to improve the efficiency of extraction. This paper gives an application of fluid extraction from mortars made with Portland cement. It includes an experimental study of the performance of the apparatus, and an analysis of the results in terms of efficiency of extraction, repeatability of measurement, and effect of the squeezing pressure on the pore solution composition. Results shows that: (1) the squeezing efficiency using our apparatus is higher than those found in the literature; (2) the measurement uncertainty ranges between 1.5% and 14%; (3) no significant effect of pressure (up to 1000 MPa) is observed for concentrations of Ca, Na, K, and Si. This paper suggests conducting extraction at 1000 MPa, especially on old concrete or concrete made with low W/C ratios.