Development of a 6-axis Robot Using Multibody Dynamic Software

Research on the Arc-Teeth Synchronous Belt's Tooth Load Distribution Caused by the Machining Error

Advanced Materials Research ◽

10.4028/www.scientific.net/amr.915-916.248 ◽

2014 ◽

Vol 915-916 ◽

pp. 248-251

Author(s):

Yao Chen Shi ◽

Zhan Guo Li ◽

Hao Li

Keyword(s):

Load Distribution ◽

3D Model ◽

Element Model ◽

Transmission Performance ◽

Machining Error ◽

Machining Errors ◽

Multibody Dynamic ◽

Useful Life ◽

Dynamic Software ◽

The Finite Element Model

This paper aimed at the machining error of the arc-teeth synchronous belts tooth ,the 3D model was established with CATIA ,the finite element model of belt was established by HYPERMESH ,and using the multibody dynamic software RECURDYN, the models with different machining errors were simulated by rigid-flexible coupling technology. Systematically studied the changing rule of the wedged stress and the contact stress under the influence of the machining error. So it has certain value to enhance the loading capacity, transmission performance and useful life.

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Potential Energy Distribution of Redundant Cable-Driven Robot Applied to Compliant Grippers: Method and Computational Analysis

Sensors ◽

10.3390/s19153403 ◽

2019 ◽

Vol 19 (15) ◽

pp. 3403 ◽

Cited By ~ 1

Author(s):

Rodriguez-Barroso ◽

Saltaren ◽

Portilla ◽

Cely ◽

Yakrangi

Keyword(s):

Energy Distribution ◽

Parallel Robot ◽

Parallel Robots ◽

Potential Energy Distribution ◽

End Effector ◽

Tension Distribution ◽

Multibody Dynamic ◽

Compliant Actuators ◽

Dynamic Software ◽

The Relationship

Cable-driven parallel robots with a redundant configuration have infinite solutions for their cable tension distribution to provide a specific wrench to the end-effector. Redundancy is commonly used to increase the workspace and stiffness or to achieve secondary objectives like energetic minimization or additional movements. This article presents a method based on energy distribution to handle the redundancy of cable-driven parallel robots. This method allows the deformation and tension of each link to be related to the total energy available in the parallel robot. The study of energy distribution expression allows deformation, tension, and position to be combined. It also defines the range of tension and deformation that cables can achieve without altering the wrench exerted on the end-effector. This range is used with a passive reconfigurable end-effector to control the position of two grippers attached to some cables which act as compliant actuators. The relationship between the actuators’ energy and their corresponding gripper positions is also provided. In this way, energy measurement from the actuators allows the grasping state to be sensed. The results are validated using multibody dynamic software.

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Computational Aeroelastic method for rotor based on MBDYN

International Journal of Modern Physics B ◽

10.1142/s0217979220400779 ◽

2020 ◽

Vol 34 (14n16) ◽

pp. 2040077

Author(s):

Zhongyun Xiao ◽

Bin Mou ◽

Xiong Jiang ◽

Wei Han

Keyword(s):

Structural Deformation ◽

Governing Equations ◽

Base Function ◽

Finite Element Equation ◽

Elastic Bodies ◽

Aeroelastic Analysis ◽

Multibody Dynamic ◽

Dynamic Software ◽

Radial Base Function ◽

Local Angle

A framework of numerical formulations for the aeroelastic analysis of helicopter rotor is presented in this paper. The blade structural dynamics are modeled by an open source multibody dynamic software MBDYN, which solves finite element equation of elastic bodies in general motions. Then the structural deformation is transformed to blade surface grid by radial base function (RBF) interpolation, and volume grids are regenerated by RBF and TFI methods. Lastly, the fluid governing equations are solved. By integrating the above methods, S76 hovering rotors are simulated and compared to the test data. Results show that elastic torsion decreases local angle of attack. For status at [Formula: see text] and [Formula: see text], the shock and shock-induced separation are reduced on the outboard blade, which has remarkable effects on the prediction of rotor hovering performance.

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Output torque ripple for a cycloidal gear train

Proceedings of the Institution of Mechanical Engineers Part C Journal of Mechanical Engineering Science ◽

10.1177/0954406219841656 ◽

2019 ◽

Vol 233 (21-22) ◽

pp. 7270-7281

Author(s):

M Wikło ◽

R Król ◽

K Olejarczyk ◽

K Kołodziejczyk

Keyword(s):

Test Bench ◽

Torque Ripple ◽

Gear Train ◽

Geometrical Parameters ◽

Output Torque ◽

Multibody Dynamic ◽

Dynamic Software ◽

Control Application ◽

Periodical Change

The article discusses the problem of a torque ripple on the output shaft of a cycloidal gearbox. To investigate the phenomenon, numerical simulations were performed and compared with the experimental results. Simulations were performed with multibody dynamic software—one with rigid and second with flexible elements. The dynamic model of the gearbox for the determination of the amplitude of the torque change was introduced, where the model utilizes periodical change of the stiffness of gear components as well as geometrical parameters, which are the results of machining and assembly tolerances. The test was made on a gearbox that was calculated, designed, and tested by the authors of the article. To perform the test, a test bench was built. The bench included electric motors, torque meters, and a control application.

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