Dynamics modeling and analysis of cable-driven segmented manipulator considering friction effects

2022 ◽  
Vol 169 ◽  
pp. 104633
Author(s):  
Zhen Zhou ◽  
Xudong Zheng ◽  
Zhang Chen ◽  
Xueqian Wang ◽  
Bin Liang ◽  
...  
Keyword(s):  
Dynamics Modeling ◽  
Modeling And Analysis

Dynamics Modeling and Analysis of a Reconfigurable Rotorcraft Unmanned Aerial Vehicle

ROBOT ◽  
2013 ◽  
Vol 35 (2) ◽  
pp. 227 ◽  
Author(s):  
Xiaogang RUAN ◽  
Xuyang HOU ◽  
Daoxiong GONG
Keyword(s):  
Unmanned Aerial Vehicle ◽  
Dynamics Modeling ◽  
Modeling And Analysis ◽  
Aerial Vehicle

Multibody Dynamics — Modeling and Analysis Methods

1991 ◽  
Vol 44 (3) ◽  
pp. 109-117 ◽  
Author(s):  
R. L. Huston
Keyword(s):  
Multibody Dynamics ◽  
Multibody Systems ◽  
System Modeling ◽  
Space Structures ◽  
Dynamics Modeling ◽  
Research Activity ◽  
Modeling And Analysis ◽  
Physical Systems ◽  
Systems Research ◽  
Recent Developments

A review of recent developments in multibody dynamics modeling and analysis is presented. Multibody dynamics is one of the fastest growing fields of applied mechanics. Multibody systems are increasingly being employed as models of physical systems such as robots, mechanisms, chains, cables, space structures, and biodynamic systems. Research activity in multibody dynamics has stimulated research in a number of subfields including formulation methods, system modeling, numerical procedures, and graphical representations. These are also discussed and reviewed.

Design and analysis of a dual-mode driven parallel XY micromanipulator for micro/nanomanipulations

2012 ◽  
Vol 226 (12) ◽  
pp. 3043-3057 ◽  
Author(s):  
Hui Tang ◽  
Yangmin Li ◽  
Jiming Huang
Keyword(s):  
Finite Element Analysis ◽  
Finite Element ◽  
Dynamic Properties ◽  
Dynamics Modeling ◽  
Lagrange Equations ◽  
Element Analysis ◽  
Modeling And Analysis ◽  
The Matrix ◽  
High Bandwidth ◽  
Novel Design

This article presents a novel design of a flexure-based, piezoelectric actuated, completely decoupled, high-bandwidth, highresolution, and large stroke parallel XY micromanipulator with two amplification levers. The monolithic mechanism is featured with dual working modes, which meets different kinds of requirements in terms of high resolution and large workspace in micro/nano fields. In order to reduce the displacement loss, the modeling and analysis of bending motion of the levers are conducted; thereafter, compliance and stiffness modeling by employing the matrix method are established. Furthermore, the dynamics modeling and analysis via Lagrange equations are performed to improve the dynamic properties of the mechanism. The simulation results of finite element analysis indicate that the cross-coupling between the two axes is kept to 1.2%; meanwhile, the natural frequency of the mechanism is about 700 Hz, and the amplifier ratio is approximately 2.32. Both theoretical analysis and finite element analysis results well validate the performance of the proposed mechanism.

An Approach to Wind Blow-Over Risk Reduction at Norfolk Southern Rwy

2010 ◽  
Author(s):  
G. Walter Rosenberger ◽  
Brian J. Dumont ◽  
Corey T. Pasta
Keyword(s):  
Risk Reduction ◽  
Vehicle Dynamics ◽  
Lookup Table ◽  
Weather Data ◽  
Dynamics Modeling ◽  
Modeling And Analysis ◽  
Restriction System ◽  
Vehicle Dynamics Modeling ◽  
Further Development ◽  
Wind Blow

A paper written for and presented at the ASME 2010 Joint Rail Conference explored the science and methodology that BNSF Railway has taken to avoid wind-caused derailments.1 This paper further develops this topic with the approach Norfolk Southern Corp (NS) has taken. The foundational fluid flow dynamics and vehicle dynamics modeling and analysis are reviewed. The modeling included doublestack platforms loaded with empty boxes, trailer-on-flatcar (“piggyback”) equipment, high-cube boxcars, hoppers/coal gondolas, and multilevel (“autorack”) flatcars. The implementation of the modeling is outlined as a description of NS’ Speed Restriction System (SRS). The SRS uses real-time weather data and a lookup table of vehicle responses to provide the traffic controller (dispatcher) with recommended train speeds. Thoughts and suggestions on further development of a blowover risk reduction system are presented.

Dynamics modeling and analysis of a four-wheel independent motor-drive virtual-track train

2020 ◽  
pp. 146441932096401
Author(s):  
Zhonghui Yin ◽  
Jiye Zhang ◽  
Haiying Lu ◽  
Weihua Zhang
Keyword(s):  
High Speed ◽  
Load Capacity ◽  
Dynamic Performance ◽  
Spatial Dynamics ◽  
Dynamic Responses ◽  
Dynamics Modeling ◽  
Dynamics Model ◽  
Coupling Effects ◽  
Dynamic Interactions ◽  
Modeling And Analysis

Due to urbanisation and the economic challenges of traffic, it is urgently necessary to develop an environmentally friendly virtual-track train with suitable speed, high load capacity and low construction cost in China. To guide the design and evaluate this train’s dynamic behaviour, a spatial-dynamics model has been developed based on the dynamics theory and tyre-road interaction. The proposed dynamics model comprises mechanical vehicle systems, traction and braking characteristics and tyre-road dynamic interactions. The coupling effects amongst those systems of virtual track train are derived theoretically for the first time. The nonlinear characteristics of the tyre are modelled by the transit tyre-magic formula with consideration of road irregularities. Based on a designed PID controller and the comprehensive dynamics model, the dynamic performance of the system can be revealed considering motion coupling effects and complicated excitations, especially under traction and braking conditions. The dynamic responses of whole virtual track train can be obtained by numerical integration under different conditions. The vibration characteristics of such train are assessed under running at a constant speed and during the traction/braking process. The results show that the vibrations of the vehicle system are significantly influenced by road irregularities, especially at high speed ranges. The motions and vibrations of different components are intensive coupled, which should not to be neglected in the dynamics assessment of the virtual track train. Besides, the dynamics model can also be applied to dynamics-related assessment (fatigue, strength and some damage conditions, et al.) and parameter optimisation of the virtual-track train.

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