Tilt Analysis and Control in Climbing Process of Tree-Pruning Robot

2014 ◽  
Vol 1039 ◽  
pp. 345-352
Author(s):  
Guang Hua Fu ◽  
Xue Mei Liu ◽  
Jin Yuan
Keyword(s):  
Software Design ◽  
Control Method ◽  
Three Dimensional ◽  
Virtual Prototype ◽  
Prototype Model ◽  
Motor Speed ◽  
Adams Software ◽  
Simulation Results ◽  
And Control ◽  
Tree Pruning

Tree-pruning robot can appear tilt problem in the climbing process because of the trunk shape and mechanical mechanism of its climbing legs. According to the robot's tilt problem, this paper guarantees the level of tree-pruning robot using the method of controlling the motor speed at different locations. This paper establishes a three-dimensional virtual prototype model about tree-pruning robot in ADAMS software, design controller in Matlab software, and conduct ADAMS-Matlab co-simulation. The simulation results and experimental prototypes show that the designed control method can effectively overcome the tilt problem in the crawling process.

Study on Dynamics Simulation of Long Range Rocket Artillery Launch Guider in Firing Process Based on ADAMS

2014 ◽  
Vol 940 ◽  
pp. 95-98
Author(s):  
Qing Bin Cui ◽  
Jian Cheng Wang ◽  
Xin Min Huo ◽  
Hong Fei Luo
Keyword(s):  
Fault Diagnosis ◽  
Long Range ◽  
Structural Design ◽  
Three Dimensional ◽  
Virtual Prototype ◽  
Dynamics Simulation ◽  
Firing Process ◽  
Adams Software ◽  
Simulation Results ◽  
Three Dimensional Models

In this paper, three-dimensional models of the long range rocket artillery launch guider is created by Pro/E software, and the virtual prototype of the long range rocket artillery launch guider is built based on ADAMS software. Finally, the author analyzes the virtual prototype with dynamics simulation, taking the launch guider's firing for exampel. It ends with the variance of characteristics of launch guider under different angular circumstance based on the analysis of simulation results and corresponding charts. The result proves the correctness and feasibility of the virtual prototype of the long range rocket artillery launch guider. It has the great significance to the lifetime prediction, structural design, fault diagnosis of the long range rocket artillery.

Study on Kinematics Simulation of Multi-Joint Robotic Gripper Based on ADAMS

2013 ◽  
Vol 444-445 ◽  
pp. 1384-1388
Author(s):  
Bin Hua ◽  
Yi Lin Chi ◽  
Xue Jun Wang ◽  
Quan Bai ◽  
Wei Zhong
Keyword(s):  
Simulation Analysis ◽  
Geometric Model ◽  
Characteristic Curve ◽  
Three Dimensional ◽  
Virtual Prototype ◽  
Prototype Model ◽  
Three Dimensional Model ◽  
Improve Design ◽  
Kinematics Simulation ◽  
Adams Software

The article describes how we can use the virtual prototyping technology validate mechanism design of multi-joint manipulator and its grabbing performance and loading abilities per minute. It completes the three-dimensional model of virtual prototype with Solid Edge ST5, and be imported into ADAMS software. And then the manipulator kinematics simulation is carried out in ADAMS. Using the kinematics simulation technology of ADAMS, we can get the various joints in a working cycle of the displacement characteristic curve, the velocity and acceleration curves of working conditions. This paper introduces how to establish the geometric model of articulated robot virtual prototype model. And some key technology details such as adding a constraint to model are also described. Kinematics simulation analysis of the manipulator with ADAMS software can greatly shorten the design cycle, improve design accuracy and reduce the cost of product development.

Research for Virtual Prototype Modeling and Simulation of Bridge Crane Based on Pro/E and ADAMS

2011 ◽  
Vol 308-310 ◽  
pp. 1822-1825
Author(s):  
Dong Chen Qin ◽  
Zhu Li Liu ◽  
Qiang Zhu ◽  
Jiang Yi Chen ◽  
Ying Jia Wang
Keyword(s):  
Modeling And Simulation ◽  
Three Dimensional ◽  
Work Conditions ◽  
Virtual Prototype ◽  
Kinematics And Dynamics ◽  
Prototype Model ◽  
Solid Model ◽  
Bridge Crane ◽  
Interface Module ◽  
Simulation Results

According to the crane dynamics theory, the dynamical model of a bridge crane's three main mechanisms is established and the dynamical load is determined under different work conditions in the paper. The three-dimensional solid model of the bridge crane is built by Pro/E, and then which is imported in ADAMS through the interface module of Mech/Pro. The virtual prototype model of the bridge crane is formed in ADAMS when relevant constraints and loads are applied. Based on the model, the bridge crane’s kinematics and dynamics performances are simulated and analyzed, and which shows that the simulation results can provide valuable guidances for design of the bridge crane.

scholarly journals Modeling and control of a new robotic deburring system

Robotica ◽  
2005 ◽  
Vol 24 (2) ◽  
pp. 229-237 ◽  
Author(s):  
Jae H. Chung ◽  
Changhoon Kim
Keyword(s):  
Comparative Study ◽  
Decentralized Control ◽  
Control Method ◽  
Robotic Manipulator ◽  
Coordination Control ◽  
Pneumatic Actuators ◽  
Modeling And Control ◽  
Control Approach ◽  
Simulation Results ◽  
And Control

This paper discusses the modeling and control of a robotic manipulator with a new deburring tool, which integrates two pneumatic actuators to take advantage of a double cutting action. A coordination control method is developed by decomposing the robotic deburring system into two subsystems; the arm and the deburring tool. A decentralized control approach is pursued, in which suitable controllers were designed for the two subsystems in the coordination scheme. In simulation, three different tool configurations are considered: rigid, single pneumatic and integrated pneumatic tools. A comparative study is performed to investigate the deburring performance of the deburring arm with the different tools. Simulation results show that the developed robotic deburring system significantly improves the accuracy of the deburring operation.

Dynamic Simulation Analysis of the Crane Hoisting Process Based on Adams

2014 ◽  
Vol 940 ◽  
pp. 132-135 ◽  
Author(s):  
Yi Fan Zhao ◽  
Ling Sha ◽  
Yi Zhu
Keyword(s):  
Dynamic Simulation ◽  
Simulation Analysis ◽  
Three Dimensional ◽  
Wire Rope ◽  
Dynamics Simulation ◽  
Dimensional Model ◽  
Analysis Model ◽  
Three Dimensional Model ◽  
Adams Software ◽  
Simulation Results

Established the dynamics simulation analysis model of crane hoisting mechanism based on the theory of dynamics in Adams software, and then through the three dimensional model of lifting mechanism dynamics entities, the constraints, load, drive can be added, the motion law can be defined to simulation analysis the change of the force of wire rope, the change of displacement, velocity and acceleration of lifting weight in the lifting process. On the basis of the simulation results, it can make a great improvement for the structure of crane and provide a meaningful theoretical reference for the hoisting machinery innovation design.

Analysis of Commercial Vehicle Thrust Rod Load Simulation

2015 ◽  
Vol 713-715 ◽  
pp. 159-163
Author(s):  
Guo Yu Feng ◽  
Wen Ku Shi ◽  
Jun Ke ◽  
Lu Lu Guo
Keyword(s):  
Dimensional Space ◽  
Three Dimensional ◽  
Time History ◽  
Prototype Model ◽  
Superposition Method ◽  
Adams Software ◽  
Lower Load ◽  
Multi Body ◽  
Load Simulation ◽  
Three Dimensional Space

In order to obtain the accurate thrust rod load, based on the theory of multi body dynamics, establish the complete vehicle virtual prototype model by using ADAMS software, the dynamic simulation of the thrust rod load time history. Combined with MATLAB software to build three-dimensional space pavement model with harmonic superposition method, obtaining the thrust rod load under different conditions, the simulation results show that, the vehicle loaded with uphill turn thrust rod by the load of the largest, and bear in various working upper thrust rod load than the lower load. Consistent with the experimental results, illustrate the modeling method is correct, can quickly and accurately obtain the thrust rod load.

Study on Dynamic Simulation of Wind Turbine Gearbox Based on Pro/E and ADAMS

2014 ◽  
Vol 644-650 ◽  
pp. 442-445
Author(s):  
Wen Zhi Yang ◽  
Ju Feng Cao ◽  
Wei Zhang
Keyword(s):  
Wind Turbine ◽  
Virtual Prototype ◽  
Prototype Model ◽  
Solid Model ◽  
Wind Turbine Gearbox ◽  
Adams Simulation ◽  
Adams Software ◽  
Box Structure ◽  
Virtual Prototyping Technology ◽  
Necessary Constraints

Domestic wind turbines with 1.5MW gearbox as the research object, application of virtual prototyping technology (ADAMS) simulation of dynamics of wind turbine gearbox when braking .According to research gear box structure, size and other parameters, using Pro / E software to create a solid model of wind turbine gearboxes. After importing to the ADAMS software, add the necessary constraints and loads, virtual prototype model of the gearbox is established. The simulation of dynamics of wind turbine gearbox are carried out by using ADAMS, and the angular velocity of the in-out shaft, gear meshing force and the vibration when braking cloud are obtained. That result is match with the theoretical value through analysis and the accuracy of ADAMS simulation is verified. The simulation results show that the design level of wind turbine gearboxes can be improved by using the virtual prototype technology and lay a good foundation for further design.

An Improved Sliding Mode Control Method and its Application

2012 ◽  
Vol 200 ◽  
pp. 459-461
Author(s):  
Jian Zhu ◽  
Chang Fan Zhang ◽  
Mao Zhen Cui ◽  
Gang Huang
Keyword(s):  
Motor Control ◽  
Control Method ◽  
Sliding Mode ◽  
Variable Speed ◽  
Servo Motor ◽  
Motor Speed ◽  
Reaching Law ◽  
Speed Range ◽  
Packaging Industry ◽  
Simulation Results

With the shaftless driving technology used in the packaging industry,servo motor control has become increasingly demanding. Beginning with the reasons of chattering, this article proposes a new sliding mode reaching law,adding a power attenuation term in front of the variable speed item,and then affects the shaftless gravure package printing chromatography system with PMSM as the actuator, improved servo motor speed range and efficency of the shaftless driving system.At last,the simulation results indicate the effectiveness of the proposed approach.

scholarly journals Adaptive Inverse Control Based on Kriging Algorithm and Lyapunov Theory of Crawler Electromechanical System

Complexity ◽  
2018 ◽  
Vol 2018 ◽  
pp. 1-12
Author(s):  
Guanyu Zhang ◽  
Yitian Wang ◽  
Yiyao Fan ◽  
Chen Chen
Keyword(s):  
Electromechanical Coupling ◽  
Control Method ◽  
Coupling Model ◽  
Virtual Prototype ◽  
Lyapunov Theory ◽  
Electromechanical System ◽  
Prototype Model ◽  
Control Effect ◽  
Adaptive Inverse Control ◽  
Inverse Control

The electromechanical system of a crawler is a multi-input, multioutput strongly coupled nonlinear system. In this study, an adaptive inverse control method based on kriging algorithm and Lyapunov theory is proposed to improve control accuracy during adaptive driving. The electromechanical coupling model of the electromechanical system is established on the basis of the dynamic analysis of the crawler. In accordance with the kriging algorithm, the inverse model of the electromechanical system of the crawler is established by offline data. The adaptive travel control law of the crawler is obtained on the basis of Lyapunov theory. Combined with the kriging algorithm, the adaptive driving reverse control method is designed, and the online system is used to update and perfect the inverse system model in real time. Finally, the virtual prototype model of the crawler is established, and the control effect of the adaptive inverse control method is verified by theoretical analysis and virtual prototype simulation.

Virtual Prototype Modeling and Dynamics Analysis of a Large-Scale Wind Turbine’s Gearbox

2011 ◽  
Vol 314-316 ◽  
pp. 1043-1047
Author(s):  
Guo Yu Hu ◽  
Wen Lei Sun
Keyword(s):  
Optimal Design ◽  
Angular Velocity ◽  
Wind Turbine ◽  
Large Scale ◽  
Virtual Prototype ◽  
Design Parameters ◽  
Prototype Model ◽  
Flexible Body ◽  
Dynamics Analysis ◽  
Simulation Results

With the gearbox of a large-scale wind turbine as a study object, the virtual prototype model of gearbox is created based on UG and ADAMS softwares according to its design parameters such as structure and size. By rigid and flexible dynamics analysis for gearbox, the angular velocity and acceleration curves of the in-out shaft are obtained. Gear meshing forces and flexible body stress cloud using ADAMS are also obtained. It is verified that these results are coincided with the theoretical value through analysis and the simulation results of ADAMS are valid. The simulation results show that the design level of wind turbine gearboxes can be improved using the virtual prototype technology and lay a good foundation for further optimal design.

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