Dynamic modeling, optimized design, and fabrication of a 2DOF piezo-actuated stick-slip mobile microrobot

2019 ◽  
Vol 133 ◽  
pp. 514-530 ◽  
Author(s):  
Navid Asmari Saadabad ◽  
Hamed Moradi ◽  
Gholamreza Vossoughi
Keyword(s):  
Dynamic Modeling ◽  
Optimized Design ◽  
Stick Slip

scholarly journals Dynamic Modeling of Stick-Slip Motion in a Legged, Piezoelectric Driven Microrobot

10.5772/9704 ◽  
2010 ◽  
Vol 7 (3) ◽  
pp. 21 ◽  
Author(s):  
Ali Kamali Eigoli ◽  
GholamReza Vossoughi
Keyword(s):  
Dynamic Modeling ◽  
Stick Slip ◽  
Stick Slip Motion ◽  
Slip Motion

scholarly journals Dynamic Modeling and Experimental Verification of A Cable-Driven Continuum Manipulator With Cable-Constrained Synchronous Rotating Mechanisms

2021 ◽  
Author(s):  
Xudong Zheng ◽  
Taiwei Yang ◽  
Xianjin Zhu ◽  
Zhang Chen ◽  
Xueqian Wang ◽  
...  
Keyword(s):  
Dynamic Modeling ◽  
Friction Model ◽  
Modeling Method ◽  
Stick Slip ◽  
Dynamical Behaviors ◽  
Ale Formulation ◽  
Two Factors ◽  
New Type ◽  
Continuum Manipulator ◽  
Coulomb Friction Model

Abstract The cable-driven segmented manipulator with cable-constrained synchronous rotating mechanisms (CCSRM) is a new type of continuum manipulator, which has large stiffness and less motors, and thus exhibits excellent comprehensive performance. This paper presents a dynamic modeling method for this type of manipulator to analyze the friction and deformation of the cables on the dynamical behaviors of the system. First, the driving cables are modeled based on the ALE formulation, the strategies for detecting stick-slip transitions are proposed by using a trial-and-error algorithm, and the stiff problems of the dynamic equations are released by a model smoothing method. Second, the dynamic modeling method for rigid links is presented by using quaternion parameters. Third, the connecting cables are modeled by torsional spring-dampers and the frictions between the connecting cables and the conduits are considered based on a modified Coulomb friction model. Finally, the numerical results are presented and verified by comparing with experiment results. The study shows that the friction and cable deformation play an important role in the dynamical behaviors of the manipulator. Due to these two factors, the constant curvature bending of the segments does not remain.

A method for dynamic modeling and simulation of the translational joint with clearance and LuGre friction

2018 ◽  
Vol 32 (34n36) ◽  
pp. 1840118
Author(s):  
Xiaojun Wang
Keyword(s):  
Modeling And Simulation ◽  
Dynamic Modeling ◽  
Friction Model ◽  
Contact Forces ◽  
Geometric Constraints ◽  
Stick Slip ◽  
Bilateral Constraints ◽  
Lugre Friction ◽  
Translational Joint ◽  
Slider Motion

The main purpose of this paper is to present a method for dynamic modeling and simulation of the translational joint with friction and clearance. The sizes of the clearances and the impacts between the slider and the guide in the translational joint can be neglected when the clearance sizes are very small. The geometric constraints of the translational joint are treated as bilateral constraints. The contact forces acting on the slider are reduced to the forces on the slider corners. The LuGre friction model is used to describe friction between slider and guide, because it can capture the variation of the friction force with slip velocity and the slider motion with stick–slip phenomenon. The problem of computing the normal forces on the slider is formulated and solved as a horizontal linear complementarity problem (HLCP), which is embedded in the event-driven method. Finally, a numerical example is considered and numerical results are presented to show the feasibility and the effectiveness of the method.

ALE formulation for dynamic modeling and simulation of cable-driven mechanisms considering stick–slip frictions

2022 ◽  
Vol 168 ◽  
pp. 108633
Author(s):  
Xudong Zheng ◽  
Taiwei Yang ◽  
Zhang Chen ◽  
Xueqian Wang ◽  
Bin Liang ◽  
...  
Keyword(s):  
Modeling And Simulation ◽  
Dynamic Modeling ◽  
Stick Slip ◽  
Ale Formulation

Solving Stick-Slip Dilemma: Dynamic Modeling System Significantly Reduces Vibration, Increases ROP by 54%

2012 ◽  
Author(s):  
Norain Abdul Rahman ◽  
Azlan Mohaideen ◽  
Farah Hanim Bakar ◽  
Kien Hoe Tang ◽  
Radha Maury ◽  
...  
Keyword(s):  
Dynamic Modeling ◽  
Stick Slip

scholarly journals Stick-slip Dynamics in Penetration Experiments on Simulated Regolith

2021 ◽  
Vol 2 (6) ◽  
pp. 243
Author(s):  
Jack Featherstone ◽  
Robert Bullard ◽  
Tristan Emm ◽  
Anna Jackson ◽  
Riley Reid ◽  
...  
Keyword(s):  
Mechanical Response ◽  
External Perturbation ◽  
Chain Structure ◽  
Contact Forces ◽  
Optimized Design ◽  
Gravitational Acceleration ◽  
Stick Slip ◽  
Microgravity Conditions ◽  
Flexible Probe ◽  
Probe Insertion

Abstract The surfaces of many planetary bodies, including asteroids and small moons, are covered with dust to pebble-sized regolith held weakly to the surface by gravity and contact forces. Understanding the reaction of regolith to an external perturbation will allow for instruments, including sensors and anchoring mechanisms for use on such surfaces, to implement optimized design principles. We analyze the behavior of a flexible probe inserted into loose regolith simulant as a function of probe speed and ambient gravitational acceleration to explore the relevant dynamics. The EMPANADA experiment (Ejecta-Minimizing Protocols for Applications Needing Anchoring or Digging on Asteroids) flew on several parabolic flights. It employs a classic granular physics technique, photoelasticity, to quantify the dynamics of a flexible probe during its insertion into a system of bi-disperse, centimeter-sized model grains. We identify the force chain structure throughout the system during probe insertion at a variety of speeds and for four different levels of gravity: terrestrial, Martian, lunar, and microgravity. We identify discrete, stick-slip failure events that increase in frequency as a function of the gravitational acceleration. In microgravity environments, stick-slip behaviors are negligible, and we find that faster probe insertion can suppress stick-slip behaviors where they are present. We conclude that the mechanical response of regolith on rubble-pile asteroids is likely quite distinct from that found on larger planetary objects, and scaling terrestrial experiments to microgravity conditions may not capture the full physical dynamics.

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