Joints flexibility effect on the dynamic performance of robots

Robotica ◽  
2014 ◽  
Vol 33 (7) ◽  
pp. 1424-1445 ◽  
Author(s):  
Mohamed H. Zaher ◽  
Said M. Megahed

SUMMARYThis paper studies the effect of joint flexibility on the dynamic performance of a serial spatial robot arm of rigid links. Three models are developed in this paper. The first and the third models are developed using the multibody dynamics approach, while the second using the classical robotics approach. A numerical algorithm and an experimental test-rig are developed to test the final model. The links' inertial parameters are estimated numerically. Empirical formulae with assumption models are used to estimate the flexibility coefficients. The simulation results show that the joint damping is a major source of inaccuracies, causing trajectory error without a proper feedback controller.

2020 ◽  
Vol 64 (1-4) ◽  
pp. 1381-1389
Author(s):  
Dezhi Chen ◽  
Chengwu Diao ◽  
Zhiyu Feng ◽  
Shichong Zhang ◽  
Wenliang Zhao

In this paper, a novel dual-stator permanent magnet machine (DsPmSynM) with low cost and high torque density is designed. The winding part of the DsPmSynM adopts phase-group concentrated-coil windings, and the permanent magnets are arranged by spoke-type. Firstly, the winding structure reduces the amount of copper at the end of the winding. Secondly, the electromagnetic torque ripple of DsPmSynM is suppressed by reducing the cogging torque. Furthermore, the dynamic performance of DsPmSynM is studied. Finally, the experimental results are compared with the simulation results.


Energies ◽  
2021 ◽  
Vol 14 (6) ◽  
pp. 1736
Author(s):  
In-Jun Yang ◽  
Si-Woo Song ◽  
Dong-Ho Kim ◽  
Kwang-Soo Kim ◽  
Won-Ho Kim

In an interior permanent magnet synchronous motor, an adhesive such as bond is generally injected into the magnet tolerance to prevent vibration of the permanent magnet within the insertion space. In this case, a disadvantage is that the magnet tolerance does not contribute to the performance. In this paper, ferrofluid is inserted to improve the torque density, utilizing the magnet tolerance. When inserting ferrofluid into the magnet tolerance, it is important to fix the magnet because conventional adhesives are not used, and it is important that the ferrofluid does not act as a leakage path within the insertion space. In this study, a new rotor configuration using a plastic barrier that satisfies these considerations was introduced. The analysis was conducted through finite element analysis (FEA), and this technique was verified by comparing the simulation results and the experimental results through a dynamo test. It was confirmed that the no-load back electromotive force in the final model increased through ferrofluid injection.


1970 ◽  
Vol 3 (1) ◽  
Author(s):  
Endra Pitowarno, Musa Mailah, Hishamuddin Jamaluddin

The active force control (AFC) method is known as a robust control scheme that dramatically enhances the performance of a robot arm particularly in compensating the disturbance effects. The main task of the AFC method is to estimate the inertia matrix in the feedback loop to provide the correct (motor) torque required to cancel out these disturbances. Several intelligent control schemes have already been introduced to enhance the estimation methods of acquiring the inertia matrix such as those using neural network, iterative learning and fuzzy logic. In this paper, we propose an alternative scheme called Knowledge-Based Trajectory Error Pattern Method (KBTEPM) to suppress the trajectory track error of the AFC scheme. The knowledge is developed from the trajectory track error characteristic based on the previous experimental results of the crude approximation method. It produces a unique, new and desirable error pattern when a trajectory command is forced. An experimental study was performed using simulation work on the AFC scheme with KBTEPM applied to a two-planar manipulator in which a set of rule-based algorithm is derived. A number of previous AFC schemes are also reviewed as benchmark. The simulation results show that the AFC-KBTEPM scheme successfully reduces the trajectory track error significantly even in the presence of the introduced disturbances.Key Words:  Active force control, estimated inertia matrix, robot arm, trajectory error pattern, knowledge-based.


2001 ◽  
Author(s):  
Olivier Bruneau ◽  
Fethi Ben Ouezdou ◽  
Jean-Guy Fontaine

Abstract This article describes a method to design humanoid robots and to generate their dynamic gaits. Firstly, the global design process which defines structures able to carry out dynamic locomotion tasks is explained. Secondly, a set of leg mechanisms are described to generate these tasks. The third section describes a method to produce intrinsic smooth motions for fest walking gaits of bipedal robots having different leg mechanisms. Finally, some simulation results are given.


Symmetry ◽  
2018 ◽  
Vol 10 (12) ◽  
pp. 680
Author(s):  
Ethan Jones ◽  
Winyu Chinthammit ◽  
Weidong Huang ◽  
Ulrich Engelke ◽  
Christopher Lueg

Control of robot arms is often required in engineering and can be performed by using different methods. This study examined and symmetrically compared the use of a controller, eye gaze tracker and a combination thereof in a multimodal setup for control of a robot arm. Tasks of different complexities were defined and twenty participants completed an experiment using these interaction modalities to solve the tasks. More specifically, there were three tasks: the first was to navigate a chess piece from a square to another pre-specified square; the second was the same as the first task, but required more moves to complete; and the third task was to move multiple pieces to reach a solution to a pre-defined arrangement of the pieces. Further, while gaze control has the potential to be more intuitive than a hand controller, it suffers from limitations with regard to spatial accuracy and target selection. The multimodal setup aimed to mitigate the weaknesses of the eye gaze tracker, creating a superior system without simply relying on the controller. The experiment shows that the multimodal setup improves performance over the eye gaze tracker alone ( p < 0.05 ) and was competitive with the controller only setup, although did not outperform it ( p > 0.05 ).


2015 ◽  
Vol 76 (4) ◽  
Author(s):  
Mohammad Afif Ayob ◽  
Wan Nurshazwani Wan Zakaria ◽  
Jamaludin Jalani ◽  
Mohd Razali Md Tomari

This paper presents the reliability and accuracy of the developed model of 5-axis Mitsubishi RV-2AJ robot arm. The CAD model of the robot was developed by using SolidWorks while the multi-body simulation environment was demonstrated by using SimMechanics toolbox in MATLAB. The forward and inverse kinematics simulation results proposed that the established model resembles the real robot with accuracy of 98.99%. 


2020 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Saeid Tajdini ◽  
Mohsen Mehrara ◽  
Reza Tehrani

PurposeRisk and return are the most important components in the financial and investment world and the existence of a better balance between them with the goal of the best solution for investing in different assets has always been studied and discussed by researchers. For this purpose in this study introduced the Hybrid Balanced Justified Treynor ratio (HBJTR) criterion.Design/methodology/approachThis study introduced the HBJTR criterion, which has three major attributes, including combination of both the frequency and severity of the risk using Markov regime switching model which was modeled on the Justified Beta (Jßi). The second is the merger of data of both the cycles of boom and recession, which was modeled on the Hybrid Justified Treynor Ratio (HJTR). The third was the balancing act in two periods of boom and recession, which was introduced on the HBJTR model.FindingsBased on a weighted averaging of the Justified Treynor ratio of both the cycles of boom and recession, which was introduced by the HJTR term in this study, the superiority in the first grade related to the two indexes were sugar index (0.0096) and insurance index (0.0053). Finally, using the final model in this study, namely HBJTR, the overall advantage was the defensive index, i.e. the insurance index of 1.23.Originality/valueIn other words, the HBJTRi criterion consists of three steps: first, the Justified Beta (Jßi) and Justified Treynor ratio of each index using two regimes of Markov switching model were calculated for each of the cycles of boom and recession separately according to formulas 8 and 9. In the second step, the weighted average was taken from both Justified Treynor ratios of boom and recession cycles, which was called the HJTR. In the third step, to calculate the HBJTR criterion


2018 ◽  
Vol 2018 ◽  
pp. 1-10 ◽  
Author(s):  
Wu Ouyang ◽  
Xuebing Zhang ◽  
Yong Jin ◽  
Xiaoyang Yuan

Accurate dynamic characteristic coefficients of water-lubricated rubber bearings are necessary to research vibration of ship propulsion system. Due to mixed lubrication state of water-lubricated rubber bearings, normal test rig and identification method are not applicable. This paper establishes a test rig to simulate shaft misalignment and proposes an identification method for water-lubricated rubber bearings, which utilizes rotor unbalanced motion to produce self-excited force rather than artificial excitation. Dynamic performance tests under different conditions are operated. The results show that when rotational speed is less than 700 r/min, even if specific pressure is 0.05 MPa, it is difficult to form complete water film for the rubber bearing which was investigated, and contact friction and collision of the shaft and bearing are frequent. In the mixed lubrication, water film, rubber, and contact jointly determine dynamic characteristics of water-lubricated rubber bearings. The contact condition has a significant effect on the bearing stiffness, and water film friction damping has a significant effect on bearing damping. As for the particular investigated bearing, when rotational speed is in the range of 400~700 r/min and specific pressure is in the range of 0.03~0.07 MPa, bearing stiffness is in the range of 5.6~10.06 N/μm and bearing damping is in the range of 1.25~2.02 Ns/μm.


Author(s):  
Jinya Zhang ◽  
Yongjiang Li ◽  
K. Vafai ◽  
Yongxue Zhang

Purpose Numerical simulations of a multistage multiphase pump at different operating conditions were performed to study the variational characteristics of flow parameters for each impeller. The simulation results were verified against the experimented results. Because of the compressibility of the gas, inlet volume flow rate qi and inlet flow angle ßi for each impeller decrease gradually from the first to the last stage. The volume flow rate at the entrance of the pump q, rotational speed n and inlet gas volume fraction (IGVF) affect the characteristics of qi and ßi. Design/methodology/approach The hydraulic design features of the impellers in the multistage multiphase pump are obtained based on the flow parameter characteristics of the pump. Using the hydraulic setup features, stage-by-stage design of the multistage multiphase pump for a nominal IGVF has been conducted. Findings The numerical simulation results show that hydraulic loss in impellers of the optimized pump is substantially reduced. Furthermore, the hydraulic efficiency of the optimized pump increases by 3.29 per cent, which verifies the validation of the method of stage-by-stage design. Practical implications Under various operating conditions, qi and ßi decrease gradually from the first to the fifth stage because of the compressibility of the gas. For this characteristic, the fluid behavior varies at each stage of the pump. As such, it is necessary to design impellers stage by stage in a multistage rotodynamic multiphase pump. Social implications These results will have substantial effect on various practical operations in the industry. For example, in the development of subsea oilfields, the conventional conveying equipment, which contains liquid-phase pumps, compressors and separators, is replaced by multiphase pumps. Multiphase pumps directly transport the mixture of oil, gas and water from subsea oilwells through a single pipeline, which can simplify equipment usage, decrease backpressure of the wellhead and save capital costs. Originality/value Characteristics of a multistage multiphase pump under different operating conditions were investigated along with features of the inlet flow parameters for every impeller at each compression stage. Our simulation results have established that the change in the inlet flow parameters of every impeller is mainly because of the compressibility of the gas. The operational parameters q, n and IGVF all affect the characteristics of qi and ßi. However, the IGVF has the most prominent effect. Lower values of IGVF have an insignificant effect on the gas compressibility. Higher values of IGVF have a significant effect on the gas compressibility. All these characteristics affect the hydraulic design of the impellers for a multistage multiphase pump. In addition, the machining precision should also be considered. Considering all these factors, when IGVF is lower than 10 per cent, all the impellers in the pump can be designed uniformly. When IGVF varies from 10 to 30 per cent, the first two stages should be designed separately, and the latter stages are uniform starting with the second stage. When IGVF varies from 30 to 50 per cent, the first three stages should be designed separately, and the latter stages are going to be similar to the third stage. An additional increase in IGVF results in degeneration of the differential pressure of the pump, which will reduce the compressibility of the gas. As such, it can be deduced that only the first three stages should be designed separately, and the latter stages will be similar to the third stage. In addition, for the pump working under a lower volume flow rate than 25 m3/h, the first three stages should be designed individually while keeping the geometrical structure of the subsequent stages the same as the third stage.


Author(s):  
Norjulia Mohamad Nordin ◽  
Naziha Ahmad Azli ◽  
Nik Rumzi Nik Idris ◽  
Nur Huda Ramlan ◽  
Tole Sutikno

Direct Torque Control using multilevel inverter (DTC-MLI) with hysteresis controller suffers from high torque and flux ripple and variable switching frequency. In this paper, a constant frequency torque controller is proposed to enhance the DTC-MLI performance. The operational concepts of the constant switching frequency torque controller of a DTC-MLI system followed by the simulation results and analysis are presented. The proposed system significantly improves the DTC drive in terms of dynamic performance, smaller torque and flux ripple, and retain a constant switching frequency.


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