scholarly journals Dynamic modeling and experimental verification of a cable-driven continuum manipulator with cable-constrained synchronous rotating mechanisms

2021 ◽  
Author(s):  
Xudong Zheng ◽  
Taiwei Yang ◽  
Xianjin Zhu ◽  
Zhang Chen ◽  
Xueqian Wang ◽  
...  
Keyword(s):  
Dynamic Modeling ◽  
Experimental Verification ◽  
Continuum Manipulator

scholarly journals Dynamic Modeling and Experimental Verification of Powered Parafoil With Two Suspending Points

IEEE Access ◽  
2020 ◽  
Vol 8 ◽  
pp. 12955-12966
Author(s):  
Panlong Tan ◽  
Mingwei Sun ◽  
Qinglin Sun ◽  
Zengqiang Chen
Keyword(s):  
Dynamic Modeling ◽  
Experimental Verification ◽  
Powered Parafoil

scholarly journals Dynamic Modeling and Experimental Verification of A Cable-Driven Continuum Manipulator With Cable-Constrained Synchronous Rotating Mechanisms

2021 ◽  
Author(s):  
Xudong Zheng ◽  
Taiwei Yang ◽  
Xianjin Zhu ◽  
Zhang Chen ◽  
Xueqian Wang ◽  
...  
Keyword(s):  
Dynamic Modeling ◽  
Friction Model ◽  
Modeling Method ◽  
Stick Slip ◽  
Dynamical Behaviors ◽  
Ale Formulation ◽  
Two Factors ◽  
New Type ◽  
Continuum Manipulator ◽  
Coulomb Friction Model

Abstract The cable-driven segmented manipulator with cable-constrained synchronous rotating mechanisms (CCSRM) is a new type of continuum manipulator, which has large stiffness and less motors, and thus exhibits excellent comprehensive performance. This paper presents a dynamic modeling method for this type of manipulator to analyze the friction and deformation of the cables on the dynamical behaviors of the system. First, the driving cables are modeled based on the ALE formulation, the strategies for detecting stick-slip transitions are proposed by using a trial-and-error algorithm, and the stiff problems of the dynamic equations are released by a model smoothing method. Second, the dynamic modeling method for rigid links is presented by using quaternion parameters. Third, the connecting cables are modeled by torsional spring-dampers and the frictions between the connecting cables and the conduits are considered based on a modified Coulomb friction model. Finally, the numerical results are presented and verified by comparing with experiment results. The study shows that the friction and cable deformation play an important role in the dynamical behaviors of the manipulator. Due to these two factors, the constant curvature bending of the segments does not remain.

Analysis and Experimental Verification for Dynamic Modeling of A Skid-Steered Wheeled Vehicle

2010 ◽  
Vol 26 (2) ◽  
pp. 340-353 ◽  
Author(s):  
Wei Yu ◽  
Oscar Ylaya Chuy ◽  
Emmanuel G. Collins ◽  
Patrick Hollis
Keyword(s):  
Dynamic Modeling ◽  
Experimental Verification ◽  
Wheeled Vehicle

scholarly journals Dynamic Modeling and Experimental Verification of Bus Pneumatic Brake System

2015 ◽  
Vol 9 (1) ◽  
pp. 52-57
Author(s):  
Lu Yi ◽  
Xu Bowen ◽  
Guo Bin
Keyword(s):  
Computer Simulation ◽  
Dynamic Characteristic ◽  
Dynamic Modeling ◽  
Experimental Verification ◽  
Brake System ◽  
Test Bed ◽  
Mathematical Relationship ◽  
Simulation Results ◽  
Mathematical Derivation ◽  
Fitness Analysis

The dynamic characteristic of pneumatic brake system is very important, so the full-parameter model of the pneumatic brake system was established on the base of the technology of computer simulation. Its key brake components include brake valve, relay valve, diaphragm brake chamber and pneumatic circuit. AMESim was first introduced on the basis of mathematical derivation. So the multivariable complexity derivation, nonlinear mathematical relationship can be avoided. The model can be used for the bus brake system multi-parameter simulation and design. A pneumatic brake system test-bed was designed to verify the accuracy of the model. It can measure the dynamic characteristic and the output response coordination of each component. It was showed that the simulation results were fit to the experiment results. For the deviation, the explanation and analysis were also given. The response hysteresis of the brake system is mainly caused by the rubber diaphragm deformation in brake chamber. This research laid the foundation for the further structural optimization of brake components and fitness analysis of the pneumatic brake system.

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