Kinematic accuracy and dynamic performance of a simple planar space deployable mechanism with joint clearance considering parameter uncertainty

2017 ◽  
Vol 136 ◽  
pp. 34-45 ◽  
Author(s):  
Junlan Li ◽  
Hongzhou Huang ◽  
Shaoze Yan ◽  
Yunqiang Yang
Keyword(s):  
Parameter Uncertainty ◽  
Dynamic Performance ◽  
Joint Clearance ◽  
Planar Space ◽  
Kinematic Accuracy ◽  
Deployable Mechanism

Dynamics Modeling and Simulation of Deployable Mechanism with Double Clearance

2016 ◽  
Vol 693 ◽  
pp. 306-313 ◽  
Author(s):  
Hong Zhou Huang ◽  
Jun Lan Li ◽  
Yun Qiang Yang ◽  
Shao Ze Yan
Keyword(s):  
Modeling And Simulation ◽  
Significant Influence ◽  
Dynamic Performance ◽  
Joint Clearance ◽  
Dynamics Modeling ◽  
Clearance Joints ◽  
Clearance Joint ◽  
Deployable Mechanism ◽  
Joint Vibration ◽  
Multi Body

Space deployable mechanisms have been widely employed in aeronautic industry, and the dynamic performance of the space deployable mechanisms become increasingly important. In this paper, the model of space deployable mechanism with double clearances is established by the multi-body program ADAMS. The deployable mechanism with ideal joint, single clearance joint and double clearance joints are simulated to investigate the effects of double clearance on the dynamic performance of the deployable mechanism. The results reveal that the coupler of double joint clearance has significant influence on dynamic performance of deployable mechanism. The results of simulation could help to predict the joint vibration in space deployable mechanisms.

Dynamics analysis of dual-axis positioning mechanism of satellite antenna with joint clearance

2014 ◽  
Vol 10 (1) ◽  
pp. 59-74
Author(s):  
Zheng Feng Bai ◽  
Yang Zhao ◽  
Jun Chen
Keyword(s):  
Dynamic Characteristics ◽  
Dynamic Performance ◽  
Engineering Application ◽  
Friction Model ◽  
Joint Clearance ◽  
Force Model ◽  
Dynamics Analysis ◽  
Satellite Antenna ◽  
Content Type ◽  
Continuous Contact

Purpose – The existence of clearance in joints of positioning mechanism is inevitable and the movements of the real mechanism are deflected from the ideal mechanism due to the clearances. The purpose of this paper is to investigate the effects of clearance on the dynamic characteristics of dual-axis positioning mechanism of a satellite antenna. Design/methodology/approach – The dynamics analysis of dual-axis positioning mechanism with clearance are investigated using a computational approach based on virtual prototyping technology. The contact model in joint clearance is established by using a hybrid nonlinear continuous contact force model and the friction effect is considered by using a modified Coulomb friction model. Then the numerical simulation of dual-axis positioning mechanism with joint clearance is carried out and four case studies are implemented for different clearance sizes. Findings – Clearance leads to degradation of the dynamic performance of the system. The existence of clearance causes impact dynamic loads, and influences the motion accuracy and stability of the dual-axis positioning mechanism. Larger clearance induces higher frequency shakes and larger shake amplitudes, which will deteriorate positioning accuracy. Practical implications – Providing an effective and practical method to analyze dynamic characteristics of dual-axis positioning mechanism of satellite antenna with joint clearance and describing the dynamic characteristics of the dual-axis positioning system more realistically, which improves the engineering application. Originality/value – The paper is the basis of mechanism design, precision analysis and robust control system design of dual-axis positioning mechanism of satellite antenna.

Dynamic performance reliability analysis of rolling linear guide under parameter uncertainty

2020 ◽  
Vol 34 (11) ◽  
pp. 4525-4536
Author(s):  
Jian Li ◽  
Yan Ran ◽  
Hongwei Wang ◽  
Guangquan Huang ◽  
Zongyi Mu ◽  
...  
Keyword(s):  
Reliability Analysis ◽  
Parameter Uncertainty ◽  
Dynamic Performance ◽  
Linear Guide

Effects of damping, friction, gravity, and flexibility on the dynamic performance of a deployable mechanism with clearance

2012 ◽  
Vol 227 (8) ◽  
pp. 1791-1803 ◽  
Author(s):  
Junlan Li ◽  
Shaoze Yan ◽  
Feng Guo ◽  
Pengfei Guo
Keyword(s):  
Dynamic Characteristics ◽  
Nonlinear Dynamic ◽  
Dynamic Performance ◽  
Aerospace Industry ◽  
System Dynamic ◽  
Dynamics Model ◽  
Modeling Methods ◽  
Nonlinear Dynamic Characteristics ◽  
Deployable Mechanism ◽  
Multi Body

Space deployable mechanisms have been widely employed in modern spacecraft, and the dynamic performance of such mechanisms has become increasingly important in the aerospace industry. This article focuses on the dynamic performance of a deployment mechanism with clearance considering damping, friction, gravity, and flexibility. The modeling methods of revolute joint with clearance, close cable loop, and lock mechanism of a typical deployable mechanism are provided in this article. Based on these proposed methods, the dynamics model of a space deployable mechanism with clearance is established using the multi-body program ADAMS. The effects of clearance, damping, friction, gravity, and flexibility on the dynamic performance of a deployable mechanism in the deploying and locking processes are studied using simulations. The results reveal that the deployable mechanism exhibits evidently nonlinear dynamic characteristics, thus validating the significance of clearance, damping, friction, gravity, and flexibility in system dynamic performance.

Dynamic characteristics of planar linear array deployable structure based on scissor-like element with joint clearance using a new mixed contact force model

2016 ◽  
Vol 230 (18) ◽  
pp. 3161-3174 ◽  
Author(s):  
Bo Li ◽  
San-Min Wang ◽  
Ru Yuan ◽  
Xiang-Zhen Xue ◽  
Chang-Jian Zhi
Keyword(s):  
Contact Force ◽  
Dynamic Characteristics ◽  
Dynamic Performance ◽  
Equations Of Motion ◽  
Contact Model ◽  
Joint Clearance ◽  
Force Model ◽  
Continuous Contact ◽  
Deployable Structure ◽  
Contact Force Model

This paper aims at investigating precisely the dynamic performance of deployable structure constituted by scissor unit mechanisms with clearance joint. Based on the motion law in real joints, the contact model is established using an improved Gonthier nonlinear continuous contact force model, and the friction effect is considered using LuGre model. Moreover, the resulting contact force is suitable to be included into the generalized force of the equations of motion of a multibody system and contributes to replace motion constraints. In the sequel of this process, the effect of joint clearance is successfully introduced into the dynamical model of scissor deployable structure and the dynamic characteristics of deployable structure with joint clearance are obtained using a direct default correction method, which can directly modify the coordinates and speed of the system to avoid the numerical results divergence. Also, the new hybrid contact force model of revolute joint clearance is verified through comparing with the original model. The numerical simulation results show that the improved contact model proposed here has the great merit that predicts the dynamic behavior of scissor deployable structure with joint clearance.

Modeling for Time-Variant Reliability of Mechanism

2010 ◽  
Vol 118-120 ◽  
pp. 621-624 ◽  
Author(s):  
Xiao Jin Zhang ◽  
Li Yang Xie ◽  
Ying Wu ◽  
Yu Zhang ◽  
Ming Yang Zhao ◽  
...  
Keyword(s):  
Stochastic Process ◽  
Dynamic Performance ◽  
Reliability Model ◽  
Two Dimensional ◽  
Kinematic Accuracy

A novel time-variant reliability model is developed after studying the traditional dynamic performance of mechanism. The expression of reliability is given based on stochastic process. A two-dimensional description of the error generating process is established by studying mechanism output kinematic accuracy. The reliability of mechanism output kinematic accuracy can be obtained according to this description. The model proposed can be used to calculate the reliability of mechanism directly, if the distribution of mechanism output kinematic accuracy is known.

scholarly journals Prediction of the dynamic performance for the deployable mechanism in assembly based on optimized neural network

Procedia CIRP ◽  
2021 ◽  
Vol 97 ◽  
pp. 348-353
Author(s):  
Dewen Yu ◽  
Junkang Guo ◽  
Qiangqiang Zhao ◽  
Jun Hong
Keyword(s):  
Neural Network ◽  
Dynamic Performance ◽  
Deployable Mechanism

Rigid–flexible coupling dynamics analysis with joint clearance for a 5-DOF hybrid polishing robot

Robotica ◽  
2021 ◽  
pp. 1-21
Author(s):  
Feng Guo ◽  
Gang Cheng ◽  
Shilin Wang ◽  
Jun Li
Keyword(s):  
Dynamic Model ◽  
Parallel Manipulator ◽  
Dynamic Properties ◽  
Dynamic Performance ◽  
Joint Clearance ◽  
Motion Error ◽  
Flexible Coupling ◽  
Coupling Dynamic ◽  
Equivalent Load ◽  
Coupling Dynamic Model

SUMMARY Considering the polishing requirements for high-precision aspherical optical mirrors, a hybrid polishing robot composed of a serial–parallel manipulator and a dual rotor grinding system is proposed. Firstly, based on the kinematics of serial components, the equivalent load model for the parallel manipulator is established. Then, the elastodynamic model of kinematic branched-chains of the parallel manipulator is established by using the spatial beam element, and the rigid–flexible coupling dynamic model of the polishing robot is obtained with Kineto-elasto dynamics theory. Further, considering the dynamic properties of the joint clearance, the rigid–flexible coupling dynamic model with the joint clearance for the polishing robot is established. Finally, the equivalent load distribution of the parallel manipulator is analyzed, and the effect of the branched-chain elasticity and joint clearance on the motion error of the polishing robot is studied. This article provides a theoretical basis for improving the motion accuracy and dynamic performance of the hybrid polishing robot.

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