scholarly journals Mechanisms of power distribution: principles of kinematic and force analysis

2021 ◽  
Vol 2094 (4) ◽  
pp. 042019
Author(s):  
A P Chajkin ◽  
R Yu Dobretsov ◽  
V A Sokolova ◽  
E A Tikhonov ◽  
M N Kalimullin ◽  
...  
Keyword(s):  
Power Distribution ◽  
Power Analysis ◽  
Degrees Of Freedom ◽  
Dynamic Properties ◽  
Gear Ratio ◽  
Theoretical Studies ◽  
Force Analysis ◽  
Kinematic Scheme ◽  
Turning Mechanism ◽  
Turning Radius

Abstract The article considers the features of performing kinematic and power analysis of a controlled power mechanism for the transmission of wheeled transport and transport-technological machines. Such mechanisms are currently used mainly on cars in order to improve handling, stability, traction and dynamic properties in severe road conditions. Such mechanisms are not produced in Russia, but theoretical studies are currently being conducted, the results of which will allow determining the main parameters of the mechanism and synthesizing its kinematic scheme. The proposed approaches are based on the methods used in the kinematic and force analysis of planetary gears, but it is taken into account that the mechanism of power distribution during operation has two degrees of freedom. It is indicated that there is a structural and functional similarity between the power distribution mechanism of the car and the turning mechanism of the tracked vehicle. A method is proposed for calculating the gear ratio of the power distribution mechanism according to the condition of matching the minimum possible turning radius provided by the steering trapezoid kinematics and the calculated turning radius.

Kinematic and force analysis of the controlled power distribution mechanism of the ZF VECTOR DRIVE family

2019 ◽  
Vol 41 (3) ◽  
pp. 97-103
Author(s):  
A.P. CHajkin ◽  
◽  
R.YU. Dobrecov ◽  
S.A. Vojnash ◽  
◽  
...  
Keyword(s):  
Power Distribution ◽  
Force Analysis

scholarly journals Design, Fabrication, and Testing of a Novel 3D 3-Fingered Electrothermal Microgripper with Multiple Degrees of Freedom

Micromachines ◽  
2021 ◽  
Vol 12 (4) ◽  
pp. 444
Author(s):  
Guoning Si ◽  
Liangying Sun ◽  
Zhuo Zhang ◽  
Xuping Zhang
Keyword(s):  
Degrees Of Freedom ◽  
Dynamic Properties ◽  
Three Dimensional ◽  
Polyimide Film ◽  
Zebrafish Embryos ◽  
Multiple Degrees Of Freedom ◽  
Electrothermal Actuator ◽  
3D Space ◽  
Pick And Place

This paper presents the design, fabrication, and testing of a novel three-dimensional (3D) three-fingered electrothermal microgripper with multiple degrees of freedom (multi DOFs). Each finger of the microgripper is composed of a V-shaped electrothermal actuator providing one DOF, and a 3D U-shaped electrothermal actuator offering two DOFs in the plane perpendicular to the movement of the V-shaped actuator. As a result, each finger possesses 3D mobilities with three DOFs. Each beam of the actuators is heated externally with the polyimide film. The durability of the polyimide film is tested under different voltages. The static and dynamic properties of the finger are also tested. Experiments show that not only can the microgripper pick and place microobjects, such as micro balls and even highly deformable zebrafish embryos, but can also rotate them in 3D space.

scholarly journals Designing of Drive Systems in the Aspect of the Desired Spectrum of Operation

Energies ◽  
2021 ◽  
Vol 14 (9) ◽  
pp. 2562
Author(s):  
Tomasz Dzitkowski ◽  
Andrzej Dymarek ◽  
Jerzy Margielewicz ◽  
Damian Gąska ◽  
Lukasz Orzech ◽  
...  
Keyword(s):  
Degrees Of Freedom ◽  
Dynamic Properties ◽  
Dynamic Parameters ◽  
Synthesis Algorithm ◽  
Moments Of Inertia ◽  
Driving System ◽  
Six Degrees Of Freedom ◽  
Resonance Frequencies ◽  
Drive Systems ◽  
Power Component

A method for selecting dynamic parameters and structures of drive systems using the synthesis algorithm is presented. The dynamic parameters of the system with six degrees of freedom, consisting of a power component (motor) and a two-speed gearbox, were determined, based on a formalized methodology. The required gearbox is to work in specific resonance zones, i.e., meet the required dynamic properties such as the required resonance frequencies. In the result of the tests, a series of parameters of the drive system, defining the required dynamic properties such as the resonance and anti-resonance frequencies were recorded. Mass moments of inertia of the wheels and elastic components, contained in the required structure of the driving system, were determined for the selected parameters obtained during the synthesis.

Іmprovement of driving-speed properties improvement of the method for selecting the parameters of the motor-transmission unit car

2021 ◽  
Vol 13 (1) ◽  
pp. 111-117
Author(s):  
Mikhail Podrigalo ◽  
◽  
Volodymyr Krasnokutskyi ◽  
Vitaliy Kashkanov ◽  
Olexander Tkachenko ◽  
...  
Keyword(s):  
Aerodynamic Drag ◽  
Dynamic Properties ◽  
Aerodynamic Characteristics ◽  
Gear Ratio ◽  
Design Stage ◽  
Transmission Unit ◽  
Air Resistance ◽  
Design Speed ◽  
Maximum Design ◽  
Engine Power

Aerodynamic characteristics have a major impact on the energy efficiency and traction and speed properties of the vehicle. In this article, based on previous studies of the aerodynamic characteristics of various car models, we propose an improved method for selecting engine and transmission parameters at the design stage. The aim of the study is to improve the dynamic properties of the car by improving the method of selecting the main parameters of the engine-transmission unit by refining the calculation of aerodynamic drag. To achieve it, the following tasks must be solved: to specify the method of selecting the maximum effective engine power; to specify a technique of definition of the maximum constructive speed of the car; to develop a technique for selecting gear ratios. The aerodynamic resistance to the movement of the vehicle is determined by the frontal coefficient of the specified resistance, the density of the air, the area of the frontal resistance and the speed of the vehicle. It is known from classical works on the aerodynamics of a car that in the range of vehicle speeds from 20 m / s to 80 m / s, taking the law of squares when assessing the force of air resistance, it is necessary to change the coefficient of frontal aerodynamic drag depending on the speed of the car. However, when carrying out calculations, this coefficient is taken constant, which leads to obtaining large values of the air resistance force at high speeds and lower at low speeds. There are two possible ways to improve the dynamic properties and energy efficiency of the car during its modernization (increasing the maximum design speed of the car by reducing the gear ratio in higher gear; reducing the maximum efficiency of the engine while maintaining the previous gear ratio in higher gear). As a result of the study, the method of selection (maximum effective engine power; maximum design speed of the car; gear ratios) at the design stage of the parameters of the motor-transmission unit of the car has been improved.

Modal Simulation and Testing of a Micro-Manipulator

2004 ◽  
Vol 127 (3) ◽  
pp. 515-519 ◽  
Author(s):  
Yongjun Lai ◽  
Marek Kujath ◽  
Ted Hubbard
Keyword(s):  
Numerical Simulations ◽  
Degrees Of Freedom ◽  
Compliant Mechanism ◽  
Dynamic Properties ◽  
Experimental Results ◽  
Mass Model ◽  
Thermal Actuators ◽  
Micro Manipulator ◽  
Six Dof

A micro-machined manipulator with three kinematic degrees-of-freedom (DOF): x, y, and φ is presented. The manipulator is driven by three thermal actuators. A six DOF discrete spring-mass model of the compliant mechanism is developed which manifests the dynamic properties of the device. Numerical simulations are compared with experimental results.

Coordination of Movements of Two-Handed 12-DOF Robot Manipulators at Their Joint Manipulation

2021 ◽  
pp. 11-18
Author(s):  
L.A. Karginov ◽  
E.I. Vorobyov ◽  
A.K. Kovalchuk
Keyword(s):  
Inverse Problem ◽  
Initial Data ◽  
Degrees Of Freedom ◽  
Control Flow ◽  
Flow Chart ◽  
Hierarchical Approach ◽  
Kinematic Scheme ◽  
Kinematic Constraints ◽  
Generalized Coordinates ◽  
Research Show

The study focuses on a two-handed robot with twelve degrees of freedom, six for each arm, and gives an example of calculating generalized coordinates for the two-armed robot limbs at their joint manipulation. The initial data for obtaining generalized coordinates are represented by the location of the work object, which is a cube. When solving the problem, the last arm links reach the faces of the work object with a given orientation. To obtain generalized coordinates, we used a hierarchical approach, which is based on an algorithm for solving the inverse problem of kinematics, and developed a control flow chart. The values ??of generalized robot coordinates were obtained for each location of the object of work, taking into account the kinematic constraints in the joints of the robot actuator. Findings of research show that it is possible to obtain generalized coordinates for the coordinated movement of the robot actuators with tree-like kinematic scheme.

Analysis of Varying Natural Frequencies and Damping Ratios of a Sample Parallel Manipulator Throughout its Workspace Using Linearized Equations of Motion

2001 ◽  
Author(s):  
Kris Kozak ◽  
Imme Ebert-Uphoff ◽  
William Singhose
Keyword(s):  
Degrees Of Freedom ◽  
Natural Frequencies ◽  
Dynamic Properties ◽  
Equations Of Motion ◽  
Parallel Architecture ◽  
Robotic Manipulators ◽  
Parallel Manipulators ◽  
Dynamic Equations ◽  
Extreme Variation

Abstract This article investigates the dynamic properties of robotic manipulators of parallel architecture. In particular, the dependency of the dynamic equations on the manipulator’s configuration within the workspace is analyzed. The proposed approach is to linearize the dynamic equations locally throughout the workspace and to plot the corresponding natural frequencies and damping ratios. While the results are only applicable for small velocities of the manipulator, they present a first step towards the classification of the nonlinear dynamics of parallel manipulators. The method is applied to a sample manipulator with two degrees-of-freedom. The corresponding numerical results demonstrate the extreme variation of its natural frequencies and damping ratios throughout the workspace.

Evaluation of Topological Properties of Parallel Manipulators Based on the Topological Characteristic Indexes

Robotica ◽  
2019 ◽  
Vol 38 (8) ◽  
pp. 1381-1399 ◽  
Author(s):  
Huiping Shen ◽  
Ting-Li Yang ◽  
Ju Li ◽  
Dan Zhang ◽  
Jiaming Deng ◽  
...  
Keyword(s):  
Degrees Of Freedom ◽  
Dynamic Properties ◽  
Kinematic Chain ◽  
Parallel Manipulators ◽  
Design Guidelines ◽  
Design Knowledge ◽  
Topological Properties ◽  
Topological Characteristic ◽  
Actuated Joints ◽  
Selection Of

SUMMARYThe topological structure of a parallel manipulator (PM) determines its intrinsic topological properties (TPs). The TPs further determine essential kinematic and dynamic properties of the mechanism. TPs can be expressed through topological characteristics indexes (TCI). Therefore, defining a set of TCIs is an important issue to evaluate the TPs of PMs. This article addresses the evaluation of topological properties (ETP) of PMs based on TCI. A general and effective ETP method for PMs is proposed. Firstly, 12 TCIs are proposed, including 8 quantitative TCIs, that is, position and orientation characteristics sets (POC), dimension of the POC set, degrees of freedom (DOF), number of independent displacement equations, types and number of an Assur kinematic chain (AKC), coupling degrees of the AKCs, degrees of redundancy and the number of overs; as well as 4 qualitative TCIs, that is, selection of actuated joints, identification of inactive joints, DOF type and Input–Output motion decoupling. Secondly, the ETP method is illustrated by evaluating some well-known PMs including the Delta, Tricept, Exechon, Z3, H4 and the Gough–Stewart platform manipulators, as well as 28 other typical PMs. Via the ETP analysis of these mechanisms also some valuable design knowledge is derived and guidelines for the design of PMs are established. Finally, a 5-DOF decoupled hybrid spraying robot is developed by applying the design knowledge and the design guidelines derived from the ETP analysis.

Comparisons of Turning Abilities of Submarine With Different Rudder Configurations

2018 ◽  
Author(s):  
Dakui Feng ◽  
Xuanshu Chen ◽  
Hao Liu ◽  
Zhiguo Zhang ◽  
Xianzhou Wang
Keyword(s):  
Real Time ◽  
Degrees Of Freedom ◽  
Control Device ◽  
Body Motion ◽  
The Real ◽  
Six Degrees Of Freedom ◽  
Overlapping Grids ◽  
Free Running ◽  
Turning Radius ◽  
Time Changes

Submarine is usually equipped with two different control device arrangements, namely a cruciform and a X rudder configuration. In this paper, numerical simulations of the DARPA Suboff submarine and its retrofitted submarine with a X rudder configuration are presented. Turning simulations in model scale were studied to compare the turning abilities of the two different control device arrangements. The computations were performed with a house viscous CFD solver based on the conservative finite difference method. In the solver, RANS equation are solved coupled with six degrees of freedom (6DOF) solid body motion equations of the submarine in real time. The structured dynamic overlapping grids were used to simulate the real-time changes of the attitude of the submarine and the rotation of the rudder. The volume force method was used to replace the real propeller to realize the self-propelled movement of submarine. In the free running maneuvering simulations, the submarines move at the same initial velocity and rudder angle, restricted to the horizontal plane with four degrees of freedom (4DOF). Comparisons of the trajectory and kinematic parameters including relative turning radius and turning period between the two cases were presented in this paper. The results show that, compared with the cruciform rudder configuration, the X rudder configuration has obvious advantages for submarine in the turning abilities.

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