Quasi-Generalized Virtual Work Principle and 3-Kind Variable of Generalized Variational Principle in Elastic Theory

1986 ◽  
pp. 261-266
Author(s):  
Rui-Sen Tang
Keyword(s):  
Variational Principle ◽  
Virtual Work ◽  
Elastic Theory ◽  
Generalized Variational Principle ◽  
Virtual Work Principle

A PD Computed Torque Control Method with Online Self-gain Tuning for a 3UPS-PS Parallel Robot

Robotica ◽  
2021 ◽  
pp. 1-13
Author(s):  
Xiaogang Song ◽  
Yongjie Zhao ◽  
Chengwei Chen ◽  
Liang’an Zhang ◽  
Xinjian Lu
Keyword(s):  
Feedback Loop ◽  
Control Method ◽  
Virtual Work ◽  
Parallel Robot ◽  
Torque Control ◽  
Virtual Work Principle ◽  
Tuning Method ◽  
Computed Torque Control ◽  
Control Feedback ◽  
Computed Torque

SUMMARY In this paper, an online self-gain tuning method of a PD computed torque control (CTC) is used for a 3UPS-PS parallel robot. The CTC is applied to the 3UPS-PS parallel robot based on the robot dynamic model which is established via a virtual work principle. The control system of the robot comprises a nonlinear feed-forward loop and a PD control feedback loop. To implement real-time online self-gain tuning, an adjustment method based on the genetic algorithm (GA) is proposed. Compared with the traditional CTC, the simulation results indicate that the control algorithm proposed in this study can not only enhance the anti-interference ability of the system but also improve the trajectory tracking speed and the accuracy of the 3UPS-PS parallel robot.

A GENERALIZED VARIATIONAL PRINCIPLE FOR TRANSPORT PHENOMENA

1958 ◽  
Vol 36 (10) ◽  
pp. 1308-1318 ◽  
Author(s):  
G. E. Tauber
Keyword(s):  
Magnetic Field ◽  
Variational Principle ◽  
Ritz Method ◽  
Transport Coefficients ◽  
Distribution Functions ◽  
Generalized Variational Principle ◽  
Lattice Vibrations ◽  
Arbitrary Direction ◽  
Energy Surfaces ◽  
Thermomagnetic Phenomena

A generalized variational principle has been formulated which takes the phonon distribution functions and the external magnetic field into account, is valid for an arbitrary direction of the electric field and polarization of the lattice vibrations, and does not depend on any special form of the energy surfaces. The various transport coefficients, for both thermoelectric and thermomagnetic phenomena, are obtained by the Ritz method in terms of infinite determinants without requiring an explicit solution of the transport equations.

scholarly journals Application of the virtual work principle to compute magnetic forces with a volume integral method

2013 ◽  
Vol 27 (3) ◽  
pp. 418-432 ◽  
Author(s):  
Anthony Carpentier ◽  
Nicolas Galopin ◽  
Olivier Chadebec ◽  
Gérard Meunier ◽  
Christophe Guérin
Keyword(s):  
Integral Method ◽  
Virtual Work ◽  
Volume Integral ◽  
Virtual Work Principle ◽  
Magnetic Forces

scholarly journals On the semi-inverse method and variational principle

2013 ◽  
Vol 17 (5) ◽  
pp. 1565-1568 ◽  
Author(s):  
Xue-Wei Li ◽  
Ya Li ◽  
Ji-Huan He
Keyword(s):  
Heat Conduction ◽  
Variational Principle ◽  
Inverse Method ◽  
Generalized Variational Principle ◽  
Open Forum ◽  
One Dimensional ◽  
History Of

In this Open Forum, Liu et al. proved the equivalence between He-Lee 2009 variational principle and that by Tao and Chen (Tao, Z. L., Chen, G. H., Thermal Science, 17(2013), pp. 951-952) for one dimensional heat conduction. We confirm the correction of Liu et al.?s proof, and give a short remark on the history of the semi-inverse method for establishment of a generalized variational principle.

Study on Drive Characteristic of Multi–Rope Friction Winder Using Functional Virtual Prototyping

2009 ◽  
Vol 628-629 ◽  
pp. 305-310
Author(s):  
Yi Liu ◽  
Guo Ding Chen ◽  
J.S. Li ◽  
Y.J. Xue
Keyword(s):  
Software Package ◽  
3D Model ◽  
Virtual Work ◽  
Virtual Prototyping ◽  
Research Work ◽  
Three Dimensional ◽  
Virtual Work Principle ◽  
Nodal Method ◽  
Hoisting System ◽  
Dynamics Characteristic

The main objective of this study was to model and simulate a reduced three-dimensional (3D) model for researching the hoisting system of a Multi – rope Friction Winder. By introducing the relative nodal method, the simplified dynamic equations have been derived via the virtual work principle and validated on a virtual prototype with the RecurDyn software package. Kinematics and dynamics characteristic date are obtained by computer-aided dynamic simulation of virtual Multi – rope friction winder. The result is in accord with theoretical analysis. The research work will provide a powerful tool and useful method for the design of economic and credible elevator system. The approach can be generalized to analysis other flexible drive fields.

A droplet deformation and breakup model based on virtual work principle

2015 ◽  
Vol 27 (3) ◽  
pp. 032103 ◽  
Author(s):  
Arash B. Sichani ◽  
Mohsen D. Emami
Keyword(s):  
Virtual Work ◽  
Droplet Deformation ◽  
Virtual Work Principle ◽  
Model Based ◽  
Breakup Model

scholarly journals Design of a Monolithic Double-Slider Based Compliant Gripper with Large Displacement and Anti-Buckling Ability

Micromachines ◽  
2019 ◽  
Vol 10 (10) ◽  
pp. 665 ◽  
Author(s):  
Hao ◽  
Zhu
Keyword(s):  
Virtual Work ◽  
Large Displacement ◽  
Amplification Coefficient ◽  
Element Analysis ◽  
Virtual Work Principle ◽  
Manipulation System ◽  
The Finite Element Analysis ◽  
Rigid Body Model ◽  
Analytical Relations ◽  
Kinematic Mechanism

In a micro-manipulation system, the compliant gripper is used for gripping, handling and assembling of objects. Large displacement and anti-buckling characteristics are desired in the design of the gripper. In this paper, a compliant gripper with these two characteristics is proposed, modelled and verified. The large displacement is enabled by using distributed compliance in a double-slider kinematic mechanism. An inverted flexure arrangement enables the anti-buckling of the gripper when closing the two jaws. A pseudo-rigid-body model (PRBM) method with the help of virtual work principle is employed to obtain several desired analytical relations including the amplification coefficient and kinetostatics. The results of the finite element analysis (FEA) are shown to be consistent with the results of the derived analytical model. An experimental test was carried out through a milling machined aluminium alloy prototype, the results of which verify the good performance of the compliant gripper.

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