CN110319915A - Vibration and sound wave integration sensing system and method - Google Patents
Vibration and sound wave integration sensing system and method Download PDFInfo
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- CN110319915A CN110319915A CN201910227621.6A CN201910227621A CN110319915A CN 110319915 A CN110319915 A CN 110319915A CN 201910227621 A CN201910227621 A CN 201910227621A CN 110319915 A CN110319915 A CN 110319915A
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- 230000010354 integration Effects 0.000 title claims abstract description 22
- 238000000034 method Methods 0.000 title claims abstract description 18
- 238000009434 installation Methods 0.000 claims abstract description 8
- 230000001133 acceleration Effects 0.000 claims description 22
- 238000001914 filtration Methods 0.000 claims description 4
- 230000005540 biological transmission Effects 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 6
- 230000005856 abnormality Effects 0.000 description 3
- 230000006698 induction Effects 0.000 description 3
- 239000011159 matrix material Substances 0.000 description 3
- 230000002159 abnormal effect Effects 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- 239000000126 substance Substances 0.000 description 2
- 230000003321 amplification Effects 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 238000005520 cutting process Methods 0.000 description 1
- 238000013500 data storage Methods 0.000 description 1
- 230000002950 deficient Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000005553 drilling Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000003199 nucleic acid amplification method Methods 0.000 description 1
- 230000000737 periodic effect Effects 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01H—MEASUREMENT OF MECHANICAL VIBRATIONS OR ULTRASONIC, SONIC OR INFRASONIC WAVES
- G01H1/00—Measuring characteristics of vibrations in solids by using direct conduction to the detector
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01H—MEASUREMENT OF MECHANICAL VIBRATIONS OR ULTRASONIC, SONIC OR INFRASONIC WAVES
- G01H11/00—Measuring mechanical vibrations or ultrasonic, sonic or infrasonic waves by detecting changes in electric or magnetic properties
- G01H11/02—Measuring mechanical vibrations or ultrasonic, sonic or infrasonic waves by detecting changes in electric or magnetic properties by magnetic means, e.g. reluctance
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01H—MEASUREMENT OF MECHANICAL VIBRATIONS OR ULTRASONIC, SONIC OR INFRASONIC WAVES
- G01H11/00—Measuring mechanical vibrations or ultrasonic, sonic or infrasonic waves by detecting changes in electric or magnetic properties
- G01H11/06—Measuring mechanical vibrations or ultrasonic, sonic or infrasonic waves by detecting changes in electric or magnetic properties by electric means
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M13/00—Testing of machine parts
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M17/00—Testing of vehicles
- G01M17/007—Wheeled or endless-tracked vehicles
- G01M17/0078—Shock-testing of vehicles
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M3/00—Investigating fluid-tightness of structures
- G01M3/02—Investigating fluid-tightness of structures by using fluid or vacuum
- G01M3/04—Investigating fluid-tightness of structures by using fluid or vacuum by detecting the presence of fluid at the leakage point
- G01M3/24—Investigating fluid-tightness of structures by using fluid or vacuum by detecting the presence of fluid at the leakage point using infrasonic, sonic, or ultrasonic vibrations
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M3/00—Investigating fluid-tightness of structures
- G01M3/02—Investigating fluid-tightness of structures by using fluid or vacuum
- G01M3/04—Investigating fluid-tightness of structures by using fluid or vacuum by detecting the presence of fluid at the leakage point
- G01M3/24—Investigating fluid-tightness of structures by using fluid or vacuum by detecting the presence of fluid at the leakage point using infrasonic, sonic, or ultrasonic vibrations
- G01M3/243—Investigating fluid-tightness of structures by using fluid or vacuum by detecting the presence of fluid at the leakage point using infrasonic, sonic, or ultrasonic vibrations for pipes
-
- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C23/00—Non-electrical signal transmission systems, e.g. optical systems
- G08C23/02—Non-electrical signal transmission systems, e.g. optical systems using infrasonic, sonic or ultrasonic waves
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Measurement Of Mechanical Vibrations Or Ultrasonic Waves (AREA)
Abstract
The present invention provides a kind of vibrate and sound wave integration sensing system and method, including an at least vibration-sensing module, installation is located in an at least selected location for a subject matter, an at least vibration-sensing module includes a vibrating diaphragm component, to sense an at least vibrational energy for a subject matter and generate an at least vibration signal accordingly and sense an at least acoustic wave energy for subject matter and/or ambient sound waves energy and generate an at least acoustic signals accordingly.Vibrating diaphragm component includes a diaphragm.One signal processing circuit, including a vibration signal circuit are connected to an at least vibrating diaphragm component, to receive and transmit an at least vibration signal；One acoustic signals circuit is connected to an at least vibrating diaphragm component, to receive and transmit an at least acoustic signals.
Description
Technical field
The present invention is about a kind of signal sensing technology, espespecially a kind of integration sensing system for sense vibrations and sound wave
And method.
Background technique
In order to which in response to various industrial field demands, dealer develops a variety of different machine designs.Due to every industry skill
Art is constantly in progress, and dealer is intended to be attained by accurate, perfect, easy requirement.Therefore, how to design can be to machinery equipment
Or the technology that parts are accurately detected, become the critically important project of dealer.
For the mechanical arm used in the current various industries, when processed to the progress of target article using mechanical arm
Cheng Zhong, it is possible to it can cause entirely to process to lead to the problem of because of condition change arround the exception or environment of machinery itself, into
And article is made to become defective products.In another example vehicle is in traveling, if vehicle parts itself are abnormal, hit object or by him accidentally
The various situations such as vehicle collision.
In the prior art, to detect various situations above-mentioned, usually reached by manual periodic inspection, maintenance, though
Right industry also favorably detects abnormal shape with such as thermometer, galvanometer, phasometer, ultrasonic, infrared ray or other detectors
Condition, but still can not be in response to actual demand.In particular for certain micro variations, the sensing aspect of audio range, it is even more at present
Lack.
Therefore, it is necessary to a kind of sensing system and method that can be used to sense vibrations and sound wave is provided, to solve the prior art
In the presence of the problem of.
Summary of the invention
A purpose of the invention i.e. be to provide it is a kind of vibration with sound wave integration sensing system, to when the present invention installation combine
When subject matter, the operating state itself and context of the subject matter can be detected.
The present invention provides a kind of vibrate and sound wave integration sensing system, including an at least vibration-sensing module, installation positioning
In a subject matter, which includes a vibrating diaphragm component, to sense an at least vibrational energy for a subject matter
It measures and generates an at least vibration signal accordingly and sense at least acoustic wave energy and/or ambient sound waves energy of the subject matter
And an at least acoustic signals are generated accordingly.The vibrating diaphragm component includes a diaphragm.One signal processing circuit, including a vibration signal
Circuit is connected to an at least vibrating diaphragm component, to receive and transmit an at least vibration signal；One acoustic signals circuit, even
It is connected to an at least vibrating diaphragm component, to receive and transmit an at least acoustic signals.
The present invention by the different selected locations of one or more vibration-sensing module senses subject matters different vibrational energies
Amount and acoustic wave energy and/or ambient sound waves energy can also be with to be accurately detected the operating state or abnormality of the subject matter
The state of subject matter context is detected, for executing subsequent treatment procedures.The present invention can be applicable to various different applications
Field, such as mechanical arm, toolroom machine, cutting machine, drilling machine, buck, movable fixture, vehicle, household products etc. are various not
Same subject matter.
The present invention applies compressor operating state, cistern or water pipe in the non-normal switching-off of such as refrigerator doors to continue
Leak, caused long-time is different from usual vibration or sound, as long as the operation simply attached can reach the purpose of detection.
Detailed description of the invention
Fig. 1 is the circuit block diagram of first embodiment of the invention；
Fig. 2 shows the schematic diagram of an embodiment pattern of vibration-sensing component in Fig. 1；
Fig. 3 shows the schematic diagram of another embodiment pattern of vibration-sensing component in Fig. 1；
Fig. 4 is the circuit block diagram of second embodiment of the invention；
Fig. 5 shows application examples one of the invention；
Fig. 6 shows application examples two of the invention；
Fig. 7 shows flow chart of the invention.
Description of symbols
1 vibration-sensing module；
11 matrixes；
111 openings；
12 vibrating diaphragm components；
13 diaphragms；
14 induction coils；
15 magnetic substances；
16 backboards；
2 signal processing circuits；
21 vibration signal circuits；
211 vibration signal amplifying circuits；
212 vibration signal filter circuits；
213 analog-to-digital converters；
22 acoustic signals circuits；
221 acoustic signals amplifying circuits；
222 acoustic signals filter circuits；
223 analog-to-digital converters；
23 processing units；
24 acceleration sensors；
25 angular acceleration sensors；
3 electric energy units；
31 switching devices；
4 wireless transmitters；
5 subject matters；
S1 vibration signal；
S2 acoustic signals；
S3 acceleration signal；
S4 angular acceleration signal；
U1 acoustic wave energy；
U2 ambient sound waves energy；
V vibrational energy.
Specific embodiment
As shown in fig.1, it shows the circuit block diagram of first embodiment of the invention vibration and sound wave integration sensing system.
Vibration of the invention is made of with sound wave integration sensing system one or more vibration-sensing modules 1.Each vibration sense
Surveying module 1 has a matrix 11, suitable for installing the selected location for being located in a subject matter.
In the matrix 11 and position is arranged in 111 positions of opening opened up corresponding to the matrix 11 in one vibrating diaphragm component 12
Place.Vibrating diaphragm component 12 include a diaphragm 13, to sense subject matter vibrational energy V and accordingly generate a vibration signal S1, with
And ambient sound waves energy U2 arround acoustic wave energy U1 caused by sensing the subject matter itself and/or the subject matter position
And an at least acoustic signals S2 is generated accordingly.
One signal processing circuit 2 is connected to the vibrating diaphragm component 12.It include a vibration signal circuit in signal processing circuit 2
21, to receive and transmit vibration signal S1.Vibration signal circuit 21 includes a vibration signal amplifying circuit 211, is connected to
The vibrating diaphragm component 12, to receive the vibration signal S1 for the subject matter that the vibrating diaphragm component 12 senses；The filtering of one vibration signal
Circuit 212 is connected to the vibration signal amplifying circuit 211, to this, at least a vibration signal S1 is filtered；One simulation is extremely
Digital quantizer 213 is connected to the vibration signal filter circuit 212, the filtered vibration signal S1 to be converted into
The digital vibration signal of digital forms.
It include still an acoustic signals circuit 22 in signal processing circuit 2, to receive and transmit acoustic signals S2.The sound
Wave signal circuit 22 includes an acoustic signals amplifying circuit 221, the vibrating diaphragm component 12 is connected to, to receive the vibrating diaphragm component 12
An at least acoustic signals S2 for the context sensed；One acoustic signals filter circuit 222 is connected to acoustic signals amplification
Circuit 221, to carry out designated frequency range filtering to an at least acoustic signals S2；One analog-to-digital converter 223, even
It is connected to the acoustic signals filter circuit 222, the filtered acoustic signals S2 to be converted into the digital sound of digital forms
Wave signal.
It further include a processing unit 23 in the signal processing circuit 2, which is connected to the vibration signal circuit
21 and the acoustic signals circuit 22, to receive vibration signal S1 and acoustic signals S2.
It may include an electric energy unit 3 in vibration and sound wave integration sensing system, give vibrating diaphragm component to supply work energy
12, processing unit 23 and other circuit units.According to the pattern of application or the demand of user, electric energy unit 3 can also change by outside one
Boundary's electric energy is via the electrical lead for being connected to vibration-sensing module 1 for should work energy.
Vibrating diaphragm component 12 is the component that extraneous vibration energy and acoustic energy can be sensed via diaphragm 13.Example
Such as, Fig. 2 shows that vibrating diaphragm component 12 may include an induction coil 14 and a corresponding magnetic substance 15, when diaphragm 13 senses extraneous vibration
An induced electricity force feed can be generated when energy and acoustic energy by induction coil 14 to signal processing circuit 2.
Fig. 3 shows that the vibrating diaphragm component 12 of another pattern may include the backboard 16 of one with the configuration of 13 parallel interval of diaphragm, when
When diaphragm 13 senses extraneous vibration energy and acoustic energy, micro capacitance variations are generated between diaphragm 13 and backboard 16 and are generated
One induced electricity force feed is to signal processing circuit 2.
As shown in fig.4, it shows the circuit block diagram of second embodiment of the invention vibration and sound wave integration sensing system.
The circuit composition component of the present embodiment is roughly the same with first embodiment, therefore identity unit indicates identical device number, with this
It is corresponding.In the present embodiment, signal processing circuit 2 further includes an acceleration sensor 24, is electrically connected to the processing unit 23,
When the acceleration sensor 24 senses an acceleration signal S3 of subject matter, one enabling signal of generation to the processing unit 23,
Controlling a switching device 31 by processing unit 23 again can so reach to start the vibrating diaphragm component 12 and signal processing circuit 2
To the purpose of power saving.
In addition, signal processing circuit 2 also may include an angular acceleration sensor 25, it is electrically connected to the processing unit 23,
When the angular acceleration sensor 25 senses an angular acceleration signal S4 of subject matter, an enabling signal is generated to the processing unit
23, then a switching device 31 is controlled by processing unit 23, to start the vibrating diaphragm component 12 and signal processing circuit 2.
For the present invention according to the pattern of application or the demand of user, acceleration sensor 24 and angular acceleration sensor 25 can be with
It inside build in vibration and sound wave integration sensing system, also can be only fitted to the outside of vibration Yu sound wave integration sensing system.
Processing unit 23 can be stored up after receiving vibration signal S1 and acoustic signals S2 with existing data storage device
It deposits or is exported in a manner of wire/wireless to an external device (such as central control board, computer, hand-held device, remote service
Device, network memory etc.).For example, processing unit 23 can connect a wireless transmitter 4, it can be by vibration signal S1 and sound wave
Signal S2 is sent out in a manner of Wireless transceiver.
It in both of the aforesaid embodiment, is received and passes respectively with separated vibration signal circuit 21 and sound wave signal circuit 22
Vibration signal and acoustic signals are sent, it, can also the entire vibration signal circuit 21 and sound wave signal circuit 22 in actual fabrication
As a single circuit to receive and transmit vibration signal and acoustic signals, then received vibration is believed then at processing unit 23
Number and acoustic signals distinguished and handled with software programming technique.
Fig. 5 shows application examples one of the invention.In this application examples, subject matter 5 is a robotic arm, in subject matter 5
At one or more selected locations, one vibration-sensing module 1 of installation settings, is integrated respectively with the vibration and sound wave that form of the invention
Sensing system.By the different vibrational energy V and sound wave of the different selected locations of each vibration-sensing module 1 sensing subject matter 5
Energy U1 and/or ambient sound waves energy U2, can detect that the subject matter 5 operating state or abnormality (such as parts therefore
Barrier), it can detecte out the state of 5 context of subject matter, also for executing subsequent treatment procedures.Embodiment shown in fig. 5
In, a vibration-sensing module 1 is installed respectively in three different locations of subject matter 5, and the peace of three vibration-sensing modules 1
Dress angle makes the diaphragm 13 in three vibration-sensing modules 1 be respectively directed to three directions of X, Y, Z axis, can so sense the mark respectively
Object 5 tri- axial directions of X, Y, Z vibration state and be directed toward sound wave.
Fig. 6 shows application examples two of the invention.In this application examples, subject matter 5 is a moveable vehicle, in subject matter
At 5 one or more selected locations, difference one vibration-sensing module 1 of installation settings, to form vibration and sound wave of the invention
Integration sensing system.By each vibration-sensing module 1 sensing subject matter 5 different selected locations different vibrational energy V and
Acoustic wave energy U1 and/or ambient sound waves energy U2, can detect that the subject matter 5 operating state or abnormality (for example whether
It is collided), it can detecte out the state of 5 context of subject matter, also for executing subsequent treatment procedures.
Fig. 7 shows flow chart of the invention.When executing vibration and the sensing of sound wave, step includes: the present invention
Step 101: a preparation at least vibration-sensing module, at least a vibration-sensing module include a chaffy vibrating diaphragm of tool
Component and signal processing circuit with a vibration signal circuit and an acoustic signals circuit；
Step 102: the installation of an at least vibration-sensing module is positioned to an at least selected location for subject matter；
Step 103: by the vibrational energy of vibrating diaphragm component sensing subject matter, and generating a vibration signal accordingly；
Step 104: the environment as arround the acoustic wave energy of vibrating diaphragm component sensing subject matter and/or the subject matter position
Acoustic wave energy, and an at least acoustic signals are generated accordingly；
Step 105: vibration signal being transmitted by vibration signal circuit and at least an acoustic signals pass through sound wave by this
Signal circuit transmission.
Step 106: receiving the vibration signal and the acoustic signals, and exported in a wired or wireless fashion to an extraneous reception
Device (such as central control board, computer, hand-held device, remote server, network memory etc.).
Above embodiments are only that structure design of the invention is illustrated, and is not intended to limit the present invention.It is any it is ripe in
The personage of this skill can modify to above-described embodiment and change under structure of the invention design and spirit, these
Change in the claims for still belonging to of the invention.
Claims (9)
1. a kind of vibration and sound wave integration sensing system, which is characterized in that vibrational energy of the system to sense a subject matter
Ambient sound waves energy arround acoustic wave energy caused by amount and the subject matter and/or the subject matter position, it is described
System includes an at least vibration-sensing module, and installation is located in the subject matter, and an at least vibration-sensing module includes:
One vibrating diaphragm component is located in a selected location of the subject matter, to sense an at least vibrational energy for the subject matter
Measure and generate accordingly an at least vibration signal and sense the subject matter an at least acoustic wave energy and/or the ambient sound
Wave energy simultaneously generates an at least acoustic signals accordingly, and the vibrating diaphragm component includes a diaphragm；
One signal processing circuit, comprising:
One vibration signal circuit is connected to an at least vibrating diaphragm component, to receive and transmit an at least vibration signal；
One acoustic signals circuit is connected to an at least vibrating diaphragm component, to receive and transmit an at least acoustic signals.
2. vibration according to claim 1 and sound wave integration sensing system, which is characterized in that the vibration signal circuit packet
It includes:
One vibration signal amplifying circuit is connected to the vibration-sensing module, arrives to receive the vibration-sensing module senses
The subject matter vibration signal；
One vibration signal filter circuit is connected to the vibration signal amplifying circuit, to an at least vibration signal into
Row filtering；
One analog-to-digital converter is connected to the vibration signal filter circuit, to by the filtered vibration
Signal is converted into the digital vibration signal of digital forms.
3. vibration according to claim 1 and sound wave integration sensing system, which is characterized in that the acoustic signals circuit packet
It includes:
One acoustic signals amplifying circuit is connected to the vibration-sensing module, arrives to receive the vibration-sensing module senses
An at least acoustic signals；
One acoustic signals filter circuit is connected to the acoustic signals amplifying circuit, to an at least acoustic signals into
The filtering of row designated frequency range；
One analog-to-digital converter is connected to the acoustic signals filter circuit, to by the filtered sound wave
Signal is converted into the digital sound wave signal of digital forms.
4. vibration according to claim 1 and sound wave integration sensing system, which is characterized in that the signal processing circuit is also
Including a processing unit, the processing unit is connected to the vibration signal circuit and the acoustic signals circuit, to receive
The vibration signal and the acoustic signals.
5. vibration according to claim 1 and sound wave integration sensing system, which is characterized in that the signal processing circuit is more
Include: an acceleration sensor, be electrically connected to the processing unit, the acceleration sensor senses the one of the subject matter
When acceleration signal, an enabling signal is generated to the signal processing circuit, to start the signal processing circuit.
6. vibration according to claim 1 and sound wave integration sensing system, which is characterized in that the signal processing circuit is also
Include: an angular acceleration sensor, be incorporated in the subject matter, and is electrically connected to the processing unit, the angular acceleration
When sensor senses an angular acceleration signal of the subject matter, an enabling signal is generated to the signal processing circuit, is used
To start the signal processing circuit.
7. a kind of vibration and sound wave integration sensing method, which is characterized in that vibrational energy of the method to sense a subject matter
Ambient sound waves energy arround acoustic wave energy caused by amount and the subject matter and/or the subject matter position, it is described
Method includes:
(a) an at least vibration-sensing module is prepared, an at least vibration-sensing module includes a chaffy vibrating diaphragm component of tool
And the signal processing circuit with a vibration signal circuit and an acoustic signals circuit；
(b) at least vibration-sensing module installation is positioned to an at least selected location for the subject matter；
(c) vibrational energy of the subject matter is sensed by the vibrating diaphragm component, and generates a vibration signal accordingly；
(d) acoustic wave energy and/or the ambient sound waves energy of the subject matter are sensed by the vibrating diaphragm component, and are generated accordingly
An at least acoustic signals；
(e) vibration signal is transmitted by the vibration signal circuit and an at least acoustic signals is passed through into institute
State the transmission of acoustic signals circuit.
8. vibration according to claim 7 and sound wave integration sensing method, which is characterized in that the method also includes with one
Acceleration sensor senses an acceleration signal of the subject matter, starts the vibration-sensing module to generate an enabling signal
And the signal processing circuit.
9. vibration according to claim 7 and sound wave integration sensing method, the method also includes with an angular acceleration sense
It surveys device and senses an angular acceleration signal of the subject matter, start the vibration-sensing module and described to generate an enabling signal
Signal processing circuit.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| TW107111467 | 2018-03-31 | ||
| TW107111467A TWI681371B (en) | 2018-03-31 | 2018-03-31 | Vibration and sound wave integrated sensing system and method |
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| Publication Number | Publication Date |
|---|---|
| CN110319915A true CN110319915A (en) | 2019-10-11 |
Family
ID=68112979
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910227621.6A Pending CN110319915A (en) | 2018-03-31 | 2019-03-25 | Vibration and sound wave integration sensing system and method |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN110319915A (en) |
| TW (1) | TWI681371B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113442128A (en) * | 2020-03-27 | 2021-09-28 | 财团法人工业技术研究院 | Method for reducing vibration of mechanical arm |
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