Dynamic Analysis and Control of Fully-Constrained Cable Robots with Elastic Cables: Variable Stiffness Formulation

Safe interactions between humans and robots are needed in several industrial processes and service tasks. Compliance design and control of mechanisms is a way to increase safety. This article presents a compliant revolute joint mechanism using a biphasic media variable stiffness actuator. The actuator has a member configured to transmit motion that is connected to a fluidic circuit, into which a biphasic control fluid circulates. Stiffness is controlled by changing pressure of control fluid into distribution lines. A mathematical model of the actuator is presented, a model-based control method is implemented to track the desired position and stiffness, and equations relating to the dynamics of the mechanism are provided. Results from force loaded and unloaded simulations and experiments with a physical prototype are discussed. The additional information covers a detailed description of the system and its physical implementation.

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Computer-Aided Dynamic Analysis and Simulation of Multibody Manufacturing Systems

Applied Mechanics and Materials ◽

10.4028/www.scientific.net/amm.764-765.757 ◽

2015 ◽

Vol 764-765 ◽

pp. 757-761 ◽

Cited By ~ 3

Author(s):

Yunn Lin Hwang ◽

Jung Kuang Cheng ◽

Van Thuan Truong

Keyword(s):

Dynamic Analysis ◽

Computer Aided Design ◽

Manufacturing Systems ◽

Robot Arm ◽

Effective Factors ◽

Driving System ◽

Computer Aided ◽

Numerical Tools ◽

Aided Design ◽

And Control

This paper presents simulation of multibody manufacturing systems with the support of numerical tools. The dynamic and cybernetic characteristics of driving system are discussed. Simple prototype models of robot arm and machine tool’s driving system are quickly established in Computer Aided Design (CAD) software inwhich the whole specification of material, inertia and so on are involved. The prototypes therefore are simulated in RecurDyn- a Computer Aided Engineering (CAE) software. The models are driven by controllers built in Matlab/Simulink via co-simulation. The results are suitable with theory and able to exploied for expansion of complexly effective factors. The research indicates that dynamic analysis and control could be done via numerical method instead of directly dynamic equation creation for multibody manufacturing systems.

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Analysis and Control of Unknown In-Vehicle Network System

Applied Mechanics and Materials ◽

10.4028/www.scientific.net/amm.184-185.1521 ◽

2012 ◽

Vol 184-185 ◽

pp. 1521-1525

Author(s):

Yu En Wu ◽

Yu Hui Hu ◽

Ya Ying Jin ◽

Jun Qiang Xi

Keyword(s):

Dynamic Analysis ◽

Static Analysis ◽

Effective Control ◽

Hybrid Powertrain ◽

Verification Method ◽

Gateway System ◽

Powertrain System ◽

Analytical Protocol ◽

Key Aspects ◽

And Control

A CAN-Bus protocol analysis and verification method with three key aspects which are static analysis, dynamic analysis and verification &control is put forward. Static analysis ascertains the communication information of each node by bus residual method; Synchronous contrast method is put in use to obtain practical and effective control protocol in the dynamic analysis; Verification &control is to verify the correctness of the analytical protocol and to achieve the control of the critical subsystems by bus gateway system. This scheme has been used to analyze a foreign parallel hybrid powertrain system, and it proves the correctness of the designed static analysis and dynamic analysis, the applicability of verification &control.

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