Dynamic Models of Cyclic Mechanical Systems

2014 ◽  
pp. 17-39
Author(s):  
Iosif Vulfson
Keyword(s):  
Dynamic Models ◽  
Mechanical Systems

Linearized Dynamic Models for Robot Manipulators With Varying Link Parameters

1991 ◽  
Author(s):  
Chang-Jin Li ◽  
T. S. Sankar ◽  
A. Hemami
Keyword(s):  
Computational Complexity ◽  
Degrees Of Freedom ◽  
Dynamic Models ◽  
Robot Manipulator ◽  
Robot Manipulators ◽  
Mechanical Systems ◽  
Computational Algorithms ◽  
Inverse Dynamic ◽  
Dynamic Link

Abstract In this paper, two fast computational algorithms are developed for effective formulation for the linearized dynamic robot models with varying (kinematic and dynamic) link parameters. The proposed algorithms can generate complete linearized (inverse) dynamic models for robot manipulators, taking variations (e.g., inexactness, inconstancy, or uncertainty) of the kinematic and dynamic link parameters into account. They can be applied to any robot manipulator with rotational and/or translational joints, and can be utilized, also, for sensivitity analysis of similar mechanical systems. The computational complexity of these algorithms is only of order O(n), where n is the number of degrees-of-freedom of the robot manipulator.

Bi-Mobile Leg Mechanism Dynamic Model

2015 ◽  
Vol 811 ◽  
pp. 273-278
Author(s):  
Adriana Comanescu ◽  
Dinu Comanescu ◽  
Ileana Dugaesescu ◽  
Liviu Marian Ungureanu
Keyword(s):  
Dynamic Analysis ◽  
Dynamic Model ◽  
Dynamic Models ◽  
Mechanical Systems ◽  
Motion Equation ◽  
Active Group ◽  
Mobile Platform ◽  
Robot Arms ◽  
Classic Theory

The paper brings into attention the dynamic analysis of a bi-mobile mechanism selected from the literature and used for the leg of a mobile platform. Two solutions of bi-mobile mechanical systems applied in such purpose are found. In the classic theory of mechanisms the dynamic models for the mono-mobile mechanisms are known. Through the motion equation these put into evidence the variation of the reduced moment or reduced force applied to the input link for an entire cycle in the permanent regime functioning of the mechanism. In the case of the leg bi-mobile mechanism the approached dynamic model is based on the bi-mobile RTRTR active group firstly applied for a real technique solution in robotics. The mechanism may be also used for robot arms.

Modeling Low Velocity Impacts in Mechanical Systems Involving Rigid and Flexible Bodies

2008 ◽  
Author(s):  
Ahmet S. Yigit ◽  
Andreas P. Christoforou
Keyword(s):  
Dynamic Models ◽  
A Priori ◽  
Mechanical Systems ◽  
Suitable Model ◽  
Low Velocity ◽  
Flexible Bodies ◽  
Dimensional Parameters ◽  
Maximum Impact Force ◽  
Relationship Of ◽  
The Impact

This paper presents the preliminary results of an ongoing computational and experimental study of common impact situations in mechanical systems involving both rigid and flexible bodies. It is demonstrated that a characterization diagram that shows the relationship of three non-dimensional parameters with the normalized maximum impact force, can be used to fully describe the impact response. The governing non-dimensional parameters can be obtained a priori by analytical, experimental, or computational means. Impact situations having the same non-dimensional parameters, have dynamic similarity and have the same non-dimensional response. Furthermore, they can be placed in appropriate dynamic regions in which simplified dynamic models can be used to predict the response. Therefore, the characterization methodology has the potential to identify the most suitable model for a given impact situation.

Synchronization of Networked Mechanical Systems With Communication Delays and Human Input

2013 ◽  
Vol 135 (4) ◽  
Author(s):  
Yen-Chen Liu ◽  
Nikhil Chopra
Keyword(s):  
Time Delays ◽  
Dynamic Models ◽  
Mechanical Systems ◽  
Constant Time ◽  
Human Operator ◽  
Regular Graphs ◽  
Communication Delays ◽  
Closed Loop System ◽  
Synchronization Errors ◽  
Strongly Connected

The problem of controlling a group of networked mechanical systems to synchronize and follow a common trajectory is studied in this paper. We first address the results for networked mechanical systems to achieve synchronization when the interagent communication graph is balanced and strongly connected with communication delays. Subsequently, a control law is developed to guarantee synchronization and trajectory tracking for networked mechanical systems communicating on regular graphs when there are constant time delays in communication and the interconnection topology is time-varying. The case when a human operator input is introduced in the closed-loop system is also considered. It is demonstrated that a bounded human operator input results in bounded tracking and synchronization errors, even when there are constant time delays in communication. The simulation and experimental results are presented by utilizing the kinematic and dynamic models of PHANToM Omni derived in this paper.

Dynamics of Mechanical Systems Solved by Quadratic Programming

1994 ◽  
Author(s):  
Deshi Wang ◽  
Xin Chen ◽  
Xindu Chen ◽  
Jun Yu ◽  
Ji Zhou
Keyword(s):  
Quadratic Programming ◽  
Software Package ◽  
Dynamic Models ◽  
Mechanical Systems ◽  
Complex Motion ◽  
Cad Systems ◽  
Gauss Principle ◽  
Quadratic Programming Problems ◽  
Dynamical Control ◽  
Analytical Dynamic

Abstract A new method for dynamics of mechanical systems has been established and the new use of the optimum software has been shown in this paper. Gauss’ principle in the theory of mechanics has been employed to transform the dynamical control and simulation into the quadratic programming problems, which makes it possible that the optimum software developed in CAD systems is applied to obtain the dynamics of mechanical systems. Such a method is significant for systems which contain complex motion and constraints, since there is no longer necessity of reducing the analytical dynamic models, which are tedious and even impossible to obtain. Morever, it gives a new way of applying the optimum software package. The dynamics of a robot with sliding and revolving joints has been demonstrated in detail.

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