scholarly journals Dynamic Analysis and Motion Control of Hydraulic Crane for Men Lifting Using Modeling and Simulations

2016 ◽  
pp. 0693-0700
Author(s):  
Ilir Doci ◽  
Mirlind Bruqi ◽  
Nexhat Qehaja
Keyword(s):  
Dynamic Analysis ◽  
Motion Control ◽  
Modeling And Simulations ◽  
Hydraulic Crane

Dynamic Analysis on a Cable-Driven Interventional Active Catheter Using Kane's Method Combined with Screw Theory

2014 ◽  
Vol 527 ◽  
pp. 140-145
Author(s):  
Da Xu Zhao ◽  
Bai Chen ◽  
Guo Zhong Shou ◽  
Yu Qi Gu
Keyword(s):  
Mathematical Model ◽  
Dynamic Analysis ◽  
Motion Control ◽  
Screw Theory ◽  
Driving Forces ◽  
Structure Design ◽  
Kinematics And Dynamics ◽  
Existing Problems ◽  
Blind Area ◽  
The Mathematical Model

In view of the existing problems of traditional interventional catheters, particularly poor activity, operation difficulty and mass blind area, a novel interventional catheter with a cable-driven active head-end is proposed, and a prototype was built to verify the performance. This paper deals with the kinematics and dynamics of the cable-driven prototype, a dynamic model based on Kanes method combined with screw theory was presented in this paper. According the mathematical model and the prototypes structure, the analysis of kinematics and dynamics of active head-end-end is done in the environment of Mathematica. The needed driving forces of every joint when the system moving along planned trajectory are calculated. The results can provide a basis for the structure design and motion control of the interventional active catheter.

scholarly journals Dynamic analysis and motion control of spinning tether system during its Earth to Mars flight

2021 ◽  
Vol 5 (1) ◽  
pp. 27-34
Author(s):  
H. Lu ◽  
C. Wang ◽  
Yu. M. Zabolotnov
Keyword(s):  
Dynamic Analysis ◽  
Motion Control ◽  
Center Of Mass ◽  
Angular Speed ◽  
Artificial Gravity ◽  
Jet Engines ◽  
Interplanetary Trajectory ◽  
Material Points ◽  
Spinning Tether ◽  
Interplanetary Mission

The dynamic analysis and motion control of a spinning tether system for an interplanetary mission to Mars is considered. The space system consists of two spacecraft connected by a tether with thrusts to control its movement. The movements of the tether system in the sphere of action of the Earth, on the interplanetary trajectory and in the sphere of action of Mars are consistently analyzed. In near-Earth orbit, the transfer of the system into rotation with the help of jet engines installed on the end spacecrafts is considered. The spin of the system is used to create artificial gravity during the interplanetary flight. The tether system spins in the plane perpendicular to the plane of the orbital motion of the center of mass of the system. To describe spatial motion of the system, a mathematical model is used, in which the tether is represented as a set of material points with viscoelastic unilateral mechanical connections. When calculating the movement of the system, an approach based on the method of spheres of action is used. Spacecrafts are considered as material points. The level of gravity and spin of tether system is controlled by thrusters. The structure of the controller for controlling the angular speed of rotation of the tether system is proposed. The simulation results are presented to confirm the effectiveness of the proposed control algorithm, which provides a given level of artificial gravity for th e interplanetary mission under consideration.

scholarly journals Novel Concept for Electro-Hydrostatic Actuators for Motion Control of Hydraulic Manipulators

Energies ◽  
2021 ◽  
Vol 14 (20) ◽  
pp. 6566
Author(s):  
Konrad Johan Jensen ◽  
Morten Kjeld Ebbesen ◽  
Michael Rygaard Hansen
Keyword(s):  
Motion Control ◽  
Hydraulic Manipulators ◽  
Path Control ◽  
Differential Flow ◽  
Hydraulic Cylinders ◽  
Hydraulic Crane ◽  
Flow Compensation ◽  
Novel Concept ◽  
Four Quadrant ◽  
Similar Dynamic

Self-contained hydraulic cylinders have gained popularity in the recent years but have not been implemented for high power articulated hydraulic manipulators. This paper presents a novel concept for an electro-hydrostatic actuator applicable to large hydraulic manipulators. The actuator is designed and analyzed to comply with requirements such as load holding, overload handling, and differential flow compensation. The system is analyzed during four quadrant operation to investigate energy efficiency and regenerative capabilities. Numerical simulation is carried out using path control and 2DOF anti-swing of a hydraulic crane as a load case to illustrate a real world scenario. A comparison with traditional valve-controlled actuators is conducted, showing significantly improved efficiency and with similar dynamic response, as well as the possibility for regenerating energy.

scholarly journals ADAMS-MATLAB co-simulation for kinematics, dynamics, and control of the Stewart–Gough platform

2017 ◽  
Vol 14 (4) ◽  
pp. 172988141771982 ◽  
Author(s):  
Deira Sosa-Méndez ◽  
Esther Lugo-González ◽  
Manuel Arias-Montiel ◽  
Rafael A García-García
Keyword(s):  
Dynamic Analysis ◽  
Motion Control ◽  
Multibody Systems ◽  
Parallel Robot ◽  
Computational Approach ◽  
Systems Software ◽  
Programming Effort ◽  
Dynamics And Control ◽  
Stewart Gough Platform ◽  
And Control

The mechanical structure known as Stewart–Gough platform is the most representative parallel robot with a wide variety of applications in many areas. Despite the intensive study on the kinematics, dynamics, and control of the Stewart–Gough platform, many details about these topics are still a challenging problem. In this work, the use of automatic dynamic analysis of multibody systems software for the kinematic and dynamic analysis of the Stewart–Gough platform is proposed. Moreover, a co-simulation automatic dynamic analysis of multibody systems (ADAMS)-MATLAB is developed for motion control of the Stewart–Gough platform end-effector. This computational approach allows the numerical solution for the kinematics, dynamics, and motion control of the Stewart–Gough platform and a considerable reduction on the analytical and programming effort. The obtained results in the three topics (kinematics, dynamics, and control) are validated by comparing them with analytical results reported in the literature. This kind of computational approach allows for the creation of virtual prototypes and saves time and resources in the development of Stewart–Gough platform-based robots applications.

Dynamic Analysis And Motion Control Of The Multibody Space Crane

1994 ◽  
Vol 14 (2) ◽  
pp. 56-64
Author(s):  
K. H. Hwang ◽  
S. Cetinkunt ◽  
A. A. Shabana
Keyword(s):  
Dynamic Analysis ◽  
Motion Control

Driving Dynamic Analysis and Motion Control for Biped-Imitating Walking Mechanism

2012 ◽  
Vol 510 ◽  
pp. 211-217
Author(s):  
Xiao Yi Wang ◽  
Hui Xing Shi ◽  
Fu Qiang Chen ◽  
Zhi Zhen Qiu
Keyword(s):  
Dynamic Analysis ◽  
Motion Control ◽  
Lagrange Equation ◽  
Motor Speed ◽  
Driving Dynamic ◽  
Theoretical Derivation ◽  
Adams Software ◽  
Walking Mechanism ◽  
Driving Torque

According to the asymmetry characteristics of animal motion, a new walking mechanism called Biped-Imitating Walking Mechanism (BIWM) which can generate asymmetry motion was presented. Based on introducing the assembly relation and walking principle of BIWM, the driving torque of driving shaft was deduced by Lagrange Equation under three walking conditions:flat, upgrade, and downgrade walking. In addition, the peak of driving torque could be decreased to the minimum by optimizing motor speed, by which the power and size of motor coulde be further reduced. A case study by ADAMS software is finally given to verify the accuracy of theoretical derivation and optimization of motion control. The above research results would provide some helpful advices for BIWM application.

Optimized Depth Control of Underwater Vehicle with Fins

2011 ◽  
Vol 66-68 ◽  
pp. 328-333
Author(s):  
Ye Li ◽  
Yong Jie Pang ◽  
Shu Ling Huang ◽  
Peng Yun Chen
Keyword(s):  
Dynamic Analysis ◽  
Motion Control ◽  
Underwater Vehicle ◽  
Resistance Coefficient ◽  
Linear Mapping ◽  
Current Speed ◽  
Axial Motion ◽  
Ocean Engineering ◽  
Natural Area ◽  
Depth Control

Underwater vehicle plays an important role in ocean engineering. Depth control by fin is one of the difficulties for underwater vehicle in motion control. Depth control is indirect due to the freedom coupling between trim and axial motion. It is included the method of dynamic analysis and lift-resistance-coefficient experiment and theory algorithm. Considering the current speed and depth deviation, comprehensive interpretation is used in object-planning instruction. Expected depth is transformed into expected trim. Dynamic output fluctuation can be avoided, which is caused by linear mapping of deviation. It is steady and accurate for the motion of controlled underwater vehicle. The feasibility and efficiency are testified in the pool and natural area for experiments.

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