Dynamic response and sensitivity analysis for mechanical systems with clearance joints and parameter uncertainties using Chebyshev polynomials method

2020 ◽  
Vol 138 ◽  
pp. 106596 ◽  
Author(s):  
Wuweikai Xiang ◽  
Shaoze Yan ◽  
Jianing Wu ◽  
Wendong Niu
Keyword(s):  
Sensitivity Analysis ◽  
Dynamic Response ◽  
Chebyshev Polynomials ◽  
Mechanical Systems ◽  
Parameter Uncertainties ◽  
Clearance Joints

scholarly journals Dynamic response analysis for multi-degrees-of-freedom parallel mechanisms with various types of three-dimensional clearance joints

2021 ◽  
Vol 18 (3) ◽  
pp. 172988142110177
Author(s):  
Jia Yonghao ◽  
Chen Xiulong
Keyword(s):  
Dynamic Response ◽  
Multibody Systems ◽  
Parallel Mechanism ◽  
Three Dimensional ◽  
Response Analysis ◽  
Parallel Mechanisms ◽  
Dynamics Model ◽  
Clearance Joints ◽  
Clearance Joint ◽  
Spatial Parallel Mechanism

For spatial multibody systems, the dynamic equations of multibody systems with compound clearance joints have a high level of nonlinearity. The coupling between different types of clearance joints may lead to abundant dynamic behavior. At present, the dynamic response analysis of the spatial parallel mechanism considering the three-dimensional (3D) compound clearance joint has not been reported. This work proposes a modeling method to investigate the influence of the 3D compound clearance joint on the dynamics characteristics of the spatial parallel mechanism. For this purpose, 3D kinematic models of spherical clearance joint and revolute joint with radial and axial clearances are derived. Contact force is described as normal contact and tangential friction and later introduced into the nonlinear dynamics model, which is established by the Lagrange multiplier technique and Jacobian of constraint matrix. The influences of compound clearance joint and initial misalignment of bearing axes on the system are analyzed. Furthermore, validation of dynamics model is evaluated by ADAMS and Newton–Euler method. This work provides an essential theoretical basis for studying the influences of 3D clearance joints on dynamic responses and nonlinear behavior of parallel mechanisms.

On the Comparison of the Dynamic Performance of Open-Loop and Closed-Loop Mechanisms

2014 ◽  
Author(s):  
Jahangir Rastegar ◽  
Dake Feng
Keyword(s):  
Dynamic Response ◽  
Dynamic Systems ◽  
Closed Loop ◽  
Dynamic Performance ◽  
Mechanical Systems ◽  
Open Loop ◽  
Actuation Devices

In general, mechanical systems with closed-loop mechanisms can achieve significantly higher operating speeds as compared to open-loop mechanisms such as robots performing identical tasks. In this brief paper, the reason for the superior dynamic performance of closed-loop mechanisms as compared to open-loop mechanisms performing identical tasks is shown to be the inherent dynamic response limitations of the actuation devices in open-loop dynamic systems. Several examples are provided.

scholarly journals Dynamic and Sensitivity Analysis General Non-Conservative Asymmetric Mechanical Systems

2018 ◽  
Vol 68 (2) ◽  
pp. 105-124 ◽  
Author(s):  
Milan Žmindák
Keyword(s):  
Sensitivity Analysis ◽  
Modal Analysis ◽  
Dynamic Systems ◽  
Mechanical Systems ◽  
Conservative System ◽  
Eigenvalues And Eigenvectors ◽  
Linear Dynamic Systems ◽  
Discretization Methods ◽  
Linear Dynamic ◽  
Derivatives Of

AbstractIn this paper the concept of generalized form of proportional damping is proposed. Classical modal analysis of non-conservative continua is extended to multi DOF linear dynamic systems with asymmetric matrices. Mode orthogonality relationships have been generalized to non-conservative systems. Several discretization methods of continua are presented. Finally, an expression for derivatives of eigenvalues and eigenvectors of non-conservative system is presented. Examples are provided to illustrate the proposed methods.

scholarly journals Linking biogeochemistry to hydro-geometrical variability in tidal estuaries: a generic modeling approach

2015 ◽  
Vol 12 (7) ◽  
pp. 6351-6435
Author(s):  
C. Volta ◽  
G. G. Laruelle ◽  
S. Arndt ◽  
P. Regnier
Keyword(s):  
Sensitivity Analysis ◽  
World Ocean ◽  
Reaction Network ◽  
Co2 Exchange ◽  
Model Parameters ◽  
Parameter Uncertainties ◽  
Tidal Estuaries ◽  
Biogeochemical Indicators ◽  
C And N ◽  
Co2 Sink

Abstract. This study applies the Carbon-Generic Estuary Model (C-GEM) modeling platform to simulate the estuarine biogeochemical dynamics – in particular the air-water CO2 exchange – in three idealized end-member systems covering the main features of tidal alluvial estuaries. C-GEM uses a generic biogeochemical reaction network and a unique set of model parameters extracted from a comprehensive literature survey to perform steady-state simulations representing average conditions for temperate estuaries worldwide. Climate and boundary conditions are extracted from published global databases (e.g. World Ocean Atlas, GLORICH) and catchment model outputs (GlobalNEWS2). The whole-system biogeochemical indicators Net Ecosystem Metabolism (NEM), C and N filtering capacities (FCTC and FCTN, respectively) and CO2 gas exchanges (FCO2) are calculated across the three end-member systems and are related to their main hydrodynamic and transport characteristics. A sensitivity analysis, which propagates the parameter uncertainties, is also carried out, followed by projections of changes in the biogeochemical indicators for the year 2050. Results show that the average C filtering capacities for baseline conditions are 40, 30 and 22% for the marine, mixed and riverine estuary, respectively. This translates into a first-order, global CO2 outgassing flux for tidal estuaries between 0.04 and 0.07 Pg C yr−1. N filtering capacities, calculated in similar fashion, range from 22% for the marine estuary to 18 and 15% for the mixed and the riverine estuary, respectively. Sensitivity analysis performed by varying the rate constants for aerobic degradation, denitrification and nitrification over the range of values reported in the literature significantly widens these ranges for both C and N. Simulations for the year 2050 indicate that all end-member estuaries will remain net heterotrophic and while the riverine and mixed systems will only marginally be affected by river load changes and increase in atmospheric pCO2, the marine estuary is likely to become a significant CO2 sink in its downstream section. In the decades to come, such change of behavior might strengthen the overall CO2 sink of the estuary-coastal ocean continuum.

Error estimation and sensitivity analysis of the 3-UPU translational parallel robot due to design parameter uncertainties

2018 ◽  
Vol 233 (8) ◽  
pp. 2713-2727 ◽  
Author(s):  
S El Hraiech ◽  
AH Chebbi ◽  
Z Affi ◽  
L Romdhane
Keyword(s):  
Sensitivity Analysis ◽  
Vertical Axis ◽  
Parallel Robot ◽  
Design Parameters ◽  
Analysis Method ◽  
Parameter Uncertainties ◽  
End Effector ◽  
Interval Analysis Method ◽  
Influential Parameters ◽  
Kinematic Errors

This work deals with the estimation and the sensitivity analysis of the 3-UPU parallel robot error. Based on the Newton–Euler formalism, the robot dynamic model is given in a closed form. This model is validated by the software ADAMS. Using the interval analysis method, a new algorithm is proposed, which estimates the errors in the motion of the end-effector and the errors in the actuator forces as a function of the design parameters uncertainties. The obtained results show that the kinematic errors are minimal at the workspace center. Moreover, these errors increase as the platform moves along the vertical axis. It is also shown that kinematic errors in the actuator joints are the most influential parameters on the manipulator accuracy. Therefore, using actuators with a higher accuracy can highly reduce the errors in motion of the platform.

Nonintrusive Global Sensitivity Analysis for Linear Systems With Process Noise

2019 ◽  
Vol 14 (2) ◽  
Author(s):  
Souransu Nandi ◽  
Tarunraj Singh
Keyword(s):  
Sensitivity Analysis ◽  
Linear Systems ◽  
Global Sensitivity Analysis ◽  
Benchmark Problems ◽  
Model Parameters ◽  
Parameter Uncertainties ◽  
Sobol Indices ◽  
Global Sensitivity ◽  
Time Invariant ◽  
The Impact

The focus of this paper is on the global sensitivity analysis (GSA) of linear systems with time-invariant model parameter uncertainties and driven by stochastic inputs. The Sobol' indices of the evolving mean and variance estimates of states are used to assess the impact of the time-invariant uncertain model parameters and the statistics of the stochastic input on the uncertainty of the output. Numerical results on two benchmark problems help illustrate that it is conceivable that parameters, which are not so significant in contributing to the uncertainty of the mean, can be extremely significant in contributing to the uncertainty of the variances. The paper uses a polynomial chaos (PC) approach to synthesize a surrogate probabilistic model of the stochastic system after using Lagrange interpolation polynomials (LIPs) as PC bases. The Sobol' indices are then directly evaluated from the PC coefficients. Although this concept is not new, a novel interpretation of stochastic collocation-based PC and intrusive PC is presented where they are shown to represent identical probabilistic models when the system under consideration is linear. This result now permits treating linear models as black boxes to develop intrusive PC surrogates.

Dimensional Tolerance Allocation of Stochastic Dynamic Mechanical Systems Through Performance and Sensitivity Analysis

1990 ◽  
Author(s):  
S. J. Lee ◽  
B. J. Gilmore ◽  
M. M. Ogot
Keyword(s):  
Sensitivity Analysis ◽  
Probabilistic Models ◽  
General Procedure ◽  
Equations Of Motion ◽  
Mechanical Systems ◽  
Tolerance Allocation ◽  
Stochastic Dynamic ◽  
Link Length ◽  
Analysis And Design ◽  
Dynamic Mechanical

Abstract Uncertainties due to random dimensional tolerances within stochastic dynamic mechanical systems lead to mechanical errors and thus, performance degradation. Since design standards do not exist for these systems, analysis and design tools are needed to properly allocate tolerances. This paper presents probabilistic models and methods to allocate tolerances on the link lengths and radial clearances such that the system meets a probabilistic and time dependent performance criterion. The method includes a general procedure for sensitivity analysis, using the effective link length model and nominal equations of motion. Since the sensitivity analysis requires only the nominal equations of motion and statistical information as input, it is straight forward to implement. An optimal design problem is formulated to allocate random tolerances. Examples are presented to illustrate the approach and its generality. This paper provides a solution to the tolerance allocation problem for stochastic dynamically driven mechanical systems.

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