TENTH INTERNATIONAL CONGRESS ON SOUND AND VIBRATION , ICSV 10 DESIGN AND ANALYSIS OF A PARALLEL MECHANISM FOR THE GOLF INDUSTRY
Previous work done in the study of golf club dynamics professes dissatisfaction with robotic testing used to evaluate and compare golf equipment. The main complaint is that the club dynamics measured during a robot swing do not correlate with the same data in a human swing. This paper presents the design and analysis of an alternative to the current robotic testing systems. The viability of a parallel kinematic (two-arm) concept as a robotic testing machine for golf clubs and balls is demonstrated. Human biometric data was used as the basis for determining link geometry as well as motion planning for the swing. Models, simulations, and correlations with human test data were used for validating the design. A demonstration prototype was built to show the interactions and motions of the various components.
Impedance Control for a Golf Swing Robot to Emulate Different-Arm-Mass Golfers
Various golfers can play different golf swing motions even if they hold the same golf club. This phenomenon casts light on the significance of the dynamic interaction between the golfer's arm and golf club. The dynamic interaction results in different swing motions, even if the robot has the same input torque of the shoulder joint as that of a golfer. Unfortunately, such influence has not been considered in the conventional control of a golf swing robot. An impedance control method is proposed for a golf swing robot to emulate different-arm-mass golfers in consideration of the dynamic interaction between human arm and golf club. Based on the Euler-Lagrange principle and assumed modes technique, a mathematical model of golf swing considering the shaft bending flexibility is established to simulate the swing motions of different-arm-mass golfers. The impedance control method is implemented to a prototype of golf swing robot composed of one actuated joint and one passive joint. The comparison of the swing motions of the robot and different-arm-mass golfers is made and the results show that the proposed golf swing robot with the impedance control method can emulate different-arm-mass golfers.
SMC composites waste management as reinforcing fillers in polypropylene by combination of mechanical and chemical recycling processes
A new process of management of waste of composite materials from Sheet Moulding Compounds (SMC), as reinforcing fillers for thermoplastic materials, including both mechanical and chemical processes is proposed in this paper. Communited SMC being composed of coated glass fibres intimately mixed with calcium carbonate powder, their reinforcing power is low. First, the fibrous part was increased by partial dissolution of calcium carbonate present in the crushed products SMC. Second, a process of partial solvolysis was developed aiming at strong increasing the interfacial mechanical properties by functionalising of SMC load incorporated into polypropylene/grafted maleic anhydride polypropylene (PP/PPgma). At this effect, we investigated a treatment with a hot triamine (diethylenetriamine, DETA) in order to create a functionalisation, after scission of the bond ester of unsaturated polyester, as bridging amino-succinimide.The effect of this recycling way by partial solvolysis was checked from the mechanical properties of the resulting reinforced PP/PPgma material: Although a lower of Young modulus, better yield stress and especially resilience were observed.