Dynamic Analysis and Simulation of 4R 3-DOF Wrists

2016 ◽  
Vol 693 ◽  
pp. 93-100
Author(s):  
Xu Hao Wang ◽  
Da Wei Zhang ◽  
Chen Zhao
Keyword(s):  
Dynamic Analysis ◽  
Dynamic Equation ◽  
Open Loop ◽  
Lagrangian Formulation ◽  
Inertia Force ◽  
Loop Chain ◽  
Inertia Forces

In this paper, a systematic algorithm for the dynamic analysis of 4R 3-DOF wrists is presented. Based on the theory of graph, kinematics is completed. Links are divided into primary links and secondary links. The generalized inertia force of the system results from the motions of primary links and secondary links. The concept of virtual 3R 3-DOF open-loop chain and additional link are introduced to describe the primary links. The generalized inertia forces of 3R 3-DOF open-loop chain, additional link and secondary links are derived by Lagrangian formulation, respectively, based on their location in the wrist. Then the dynamic equation of 4R 3-DOF wrists is got by making a combining. A simulation is performed to illustrate the efficiency of the algorithm.

Multirate Integration for Multibody Dynamic Analysis With Decomposed Subsystems

1999 ◽  
Author(s):  
Sung-Soo Kim ◽  
Jeffrey S. Freeman
Keyword(s):  
Dynamic Analysis ◽  
Multibody System ◽  
Equations Of Motion ◽  
Low Frequency ◽  
Inertia Force ◽  
Integration Scheme ◽  
Integration Algorithm ◽  
Multibody Dynamic ◽  
Higher Order Derivative ◽  
Derivative Information

Abstract This paper details a constant stepsize, multirate integration scheme which has been proposed for multibody dynamic analysis. An Adams-Bashforth Moulton integration algorithm has been implemented, using the Nordsieck form to store internal integrator information, for multirate integration. A multibody system has been decomposed into several subsystems, treating inertia coupling effects of subsystem equations of motion as the inertia forces. To each subsystem, different rate Nordsieck form of Adams integrator has been applied to solve subsystem equations of motion. Higher order derivative information from the integrator provides approximation of inertia force computation in the decomposed subsystem equations of motion. To show the effectiveness of the scheme, simulations of a vehicle multibody system that consists of high frequency suspension motion and low frequency chassis motion have been carried out with different tire excitation forces. Efficiency of the proposed scheme has been also investigated.

Kinetic and Dynamic Modeling of Single ActuatorWave-Like Robot

Robotica ◽  
2019 ◽  
Vol 37 (11) ◽  
pp. 1971-1986
Author(s):  
Ruoyu Feng ◽  
Peng Zhang ◽  
Junfeng Li ◽  
Hexi Baoyin
Keyword(s):  
Power Consumption ◽  
Dynamic Analysis ◽  
Dynamic Modeling ◽  
Dynamic Equation ◽  
Kinematic Model ◽  
Theoretical Models ◽  
Equation Of Motion ◽  
Kinematics And Dynamics ◽  
Inverse Dynamic ◽  
Inverse Dynamic Analysis

SummaryIn this study, the kinematics and dynamics of a single actuator wave (SAW)-like robot are explored. Comprising a helical spine and links, SAW has the potential for miniaturization. A kinematic model for SAW is firstly established, and the dynamic equation of motion is derived based on Kane’s method. For validation, the motion of SAW is simulated using both MATLAB and ADAMS, and the comparison of results demonstrates the effectiveness of the theoretical models. Then the inverse dynamic analysis is performed to reveal the power consumption. Finally, robot prototypes are developed and tested to confirm the robot velocity predicted by simulations.

scholarly journals Dynamic analysis and open-loop start-up of an integrated radiant syngas cooler and steam methane reformer

AIChE Journal ◽  
2017 ◽  
Vol 63 (5) ◽  
pp. 1602-1619
Author(s):  
Jaffer H. Ghouse ◽  
Dominik Seepersad ◽  
Thomas A. Adams
Keyword(s):  
Dynamic Analysis ◽  
Open Loop ◽  
Steam Methane ◽  
Start Up

A New Method and Automatic Generation for Dynamic Analysis of Complex Planar Mechanisms Based on the Ordered Single-Opened-Chains

1994 ◽  
Author(s):  
Jian-Qing Zhang ◽  
Ting-Li Yang
Keyword(s):  
Dynamic Analysis ◽  
Dynamic Equation ◽  
Automatic Generation ◽  
The Other ◽  
New Method ◽  
Complex Mechanism ◽  
Planar Mechanisms ◽  
Spatial Mechanisms ◽  
General Dynamic

Abstract This work presents a new method for kinetostatic analysis and dynamic analysis of complex planar mechanisms, i.e. the ordered single-opened-chains method. This method makes use of the ordered single-opened chains (in short, SOC,) along with the properties of SOC, and the network constraints relationship between SOC,. By this method, any planar complex mechanism can be automatically decomposed into a series of the ordered single-opened chains and the optimal structural decomposition route (s) can be automatically selected for dynamic analysis, the paper present the dynamic equation which can be used to solve both the kinetostatic problem and the general dynamic problem. The main advantage of the proposed approach is the possibility to reduce the number of equations to be solved simultaneously to the minimum, and its high automation as well. The other advantage is the simplification of the determination of the coefficients in the equations, and thus it maybe result in a much less time-consuming algorthem. The proposed approach is illustrated with three examples. The presented method can be easily extended to the dynamic analysis of spatial mechanisms.

Analysis and Synthesis of Linear Transmission Mechanisms: Coupled Mechanisms and Mechanisms Wth Prismatic Joints

1994 ◽  
Author(s):  
Sun-Lai Chang
Keyword(s):  
Open Loop ◽  
Joint Motion ◽  
Transmission Mechanisms ◽  
Synthesis Of Mechanisms ◽  
Analysis And Synthesis ◽  
Prismatic Joints ◽  
Application Potential ◽  
Loop Chain

Abstract The characteristics of linear transmission mechanisms are studied. Using the characteristics, the kinematic and synthesis of linear transmission mechanisms are expanded. First, the synthesis of mechanisms with prismatic joints in the equivalent open-loop chain is developed. Then the kinematics and synthesis of mechanisms with coupled joint motion are also derived. Two coupled mechanisms are used as examples to demonstrate the application potential in the industry.

Recursive Method for the Dynamic Analysis of Open-Loop Flexible Multibody Systems

2003 ◽  
Author(s):  
Yunn-Lin Hwang
Keyword(s):  
Dynamic Analysis ◽  
Multibody Systems ◽  
Equations Of Motion ◽  
Open Loop ◽  
Flexible Multibody Systems ◽  
Recursive Method ◽  
Flexible Bodies ◽  
System Equations ◽  
Generalized Newton ◽  
Time Invariant

The main objective of this paper is to develop a recursive method for the dynamic analysis of open-loop flexible multibody systems. The nonlinear generalized Newton-Euler equations are used for flexible bodies that undergo large translational and rotational displacements. These equations are formulated in terms of a set of time invariant scalars, vectors and matrices that depend on the spatial coordinates as well as the assumed displacement fields, and these time invariant quantities represent the dynamic coupling between the rigid body motion and elastic deformation. The method to solve for the equations of motion for open-loop systems consisting of interconnected rigid and flexible bodies is presented in this investigation. This method applies recursive method with the generalized Newton-Euler method for flexible bodies to obtain a large, loosely coupled system equations of motion. The solution techniques used to solve for the system equations of motion can be more efficiently implemented in the vector or digital computer systems. The algorithms presented in this investigation are illustrated by using cylindrical joints that can be easily extended to revolute, slider and rigid joints. The basic recursive formulations developed in this paper are demonstrated by two numerical examples.

The Non-Recursive Newton-Euler Formulation of the Dynamic Equation for Robotic Mechanisms

1986 ◽  
Vol 10 (1) ◽  
pp. 16-20
Author(s):  
You-Sun Li ◽  
Anastasios Kessaris
Keyword(s):  
Computer Simulation ◽  
Dynamic Equation ◽  
Kinematic Chain ◽  
Open Loop ◽  
Dynamic Equations ◽  
Design Stage ◽  
Real Time Control ◽  
Time Control ◽  
Dynamic Computer Simulation ◽  
New Formulation

A new formulation of the dynamic equations of an open loop kinematic chain is presented in this paper. This new method is based upon the composite link system concept and the dynamic equations are derived using vectorial analysis. In comparison with conventional methods, the method presented in this paper is more efficient and more explicit, hence it is applicable to both real time control and dynamic computer simulation during the design stage of new robotic mechanisms.

Dynamic Analysis of Self-excited SRG Operating in Open Loop

2019 ◽  
Author(s):  
Lucas Jose Lemes ◽  
Victor Regis Bernardeli ◽  
Luciano Coutinho Gomes ◽  
Darizon Alves de Andrade ◽  
Ghunter Paulo Viajante ◽  
...  
Keyword(s):  
Dynamic Analysis ◽  
Open Loop

Surface Deformation and Convection in Electrostatically-Positioned Droplets of Immiscible Liquids Under Microgravity

2005 ◽  
Vol 128 (6) ◽  
pp. 520-529 ◽  
Author(s):  
Y. Huo ◽  
B. Q. Li
Keyword(s):  
Surface Tension ◽  
Fluid Flow ◽  
Free Surface ◽  
Electric Field ◽  
Outer Layer ◽  
Thermal Gradient ◽  
Surface Deformation ◽  
Inertia Force ◽  
Weighted Residuals ◽  
Inertia Forces

A numerical study is presented of the free surface deformation and Marangoni convection in immiscible droplets positioned by an electrostatic field and heated by laser beams under microgravity. The boundary element and the weighted residuals methods are applied to iteratively solve for the electric field distribution and for the unknown free surface shapes, while the Galerkin finite element method for the thermal and fluid flow field in both the transient and steady states. Results show that the inner interface demarking the two immiscible fluids in an electrically conducting droplet maintains its sphericity in microgravity. The free surface of the droplet, however, deforms into an oval shape in an electric field, owing to the pulling action of the normal component of the Maxwell stress. The thermal and fluid flow distributions are rather complex in an immiscible droplet, with conduction being the main mechanism for the thermal transport. The non-uniform temperature along the free surface induces the flow in the outer layer, whereas the competition between the interfacial surface tension gradient and the inertia force in the outer layer is responsible for the flows in the inner core and near the immiscible interface. As the droplet cools into an undercooled state, surface radiation causes a reversal of the surface temperature gradients along the free surface, which in turn reverses the surface tension driven flow in the outer layer. The flow near the interfacial region, on the other hand, is driven by a complimentary mechanism between the interfacial and the inertia forces during the time when the thermal gradient on the free surface has been reversed while that on the interface has not yet. After the completion of the interfacial thermal gradient reversal, however, the interfacial flows are largely driven by the inertia forces of the outer layer fluid.

Dynamic Analysis of a Biglide Parallel Grinder

2005 ◽  
Vol 291-292 ◽  
pp. 495-500
Author(s):  
Ping Zou
Keyword(s):  
Machine Tool ◽  
Dynamic Analysis ◽  
Degrees Of Freedom ◽  
Jacobian Matrix ◽  
Lagrangian Formulation ◽  
Dynamic Equations ◽  
Six Degrees Of Freedom ◽  
Moving Platform ◽  
Drill Point ◽  
Joint Velocity

In this paper, the moving platform of the biglide parallel grinder with six degrees of freedom will keep moving horizontally at any time using parallelograms. Besides grinding the helical drill point, this grinder also can work as drilling and welding machine tool as well as a CMM. The joint-velocity Jacobian matrix is calculated. Moreover, the dynamic equations are derived by applying the Lagrangian formulation.

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