Modelling and simulation using mathematical and CAD model of a robot with six degrees of freedom

2016 ◽  
Author(s):  
Wafa Ghozlane ◽  
Jilani Knani
Keyword(s):  
Degrees Of Freedom ◽  
Modelling And Simulation ◽  
Cad Model ◽  
Six Degrees Of Freedom

scholarly journals The Effect of Manufacturing Quality on Rocket Precision

Aerospace ◽  
2021 ◽  
Vol 8 (6) ◽  
pp. 160
Author(s):  
Zvonko Trzun ◽  
Milan Vrdoljak ◽  
Hrvoje Cajner
Keyword(s):  
Monte Carlo Simulation ◽  
Manufacturing Process ◽  
Degrees Of Freedom ◽  
Cad Model ◽  
Impact Point ◽  
High Quality ◽  
Six Degrees Of Freedom ◽  
Manufacturing Quality ◽  
3D Cad ◽  
Manufacturing Errors

The effect of manufacturing quality on rocket impact point dispersion is analyzed. The approach presented here applies to any type of rocket. Here, manufacturing quality is demonstrated for the unguided rocket, and by simulating four typical manufacturing errors: erroneously manufactured warhead, misalignment between the warhead and engine chamber, asymmetrically installed propellant, and error in nozzle manufacturing. A new methodology is proposed, which combines a 3D CAD model of the asymmetrical projectile (due to manufacturing errors) and the improved Six-degrees-of-freedom (6DOF) model of its flight into a comprehensive Monte-Carlo simulation. In that way, the rocket trajectory dispersion is correlated directly to the imperfection of the manufacturing process. Three quality levels are simulated (low, standard, and high quality), and each of the analyzed manufacturing errors depends on the chosen quality. The results show how important it is to impose the highest quality on nozzle manufacturing, and if this condition is not met, reveal if strict tolerances applied to other steps of the manufacturing process can compensate for the consequential drop of precision.

Control of processing at multi-tool two-support setup

2020 ◽  
pp. 67-73
Author(s):  
N.D. YUsubov ◽  
G.M. Abbasova
Keyword(s):  
Degrees Of Freedom ◽  
Factor Model ◽  
Angular Displacement ◽  
Factor Models ◽  
Technological System ◽  
Displacement Control ◽  
Model Accuracy ◽  
Six Degrees Of Freedom ◽  
Angular Displacements ◽  
And Control

The accuracy of two-tool machining on automatic lathes is analyzed. Full-factor models of distortions and scattering fields of the performed dimensions, taking into account the flexibility of the technological system on six degrees of freedom, i. e. angular displacements in the technological system, were used in the research. Possibilities of design and control of two-tool adjustment are considered. Keywords turning processing, cutting mode, two-tool setup, full-factor model, accuracy, angular displacement, control, calculation [email protected]

scholarly journals Design and Calibration of a Hall Effect System for Measurement of Six-Degree-of-Freedom Motion within a Stacked Column

Sensors ◽  
2021 ◽  
Vol 21 (11) ◽  
pp. 3740
Author(s):  
Olafur Oddbjornsson ◽  
Panos Kloukinas ◽  
Tansu Gokce ◽  
Kate Bourne ◽  
Tony Horseman ◽  
...  
Keyword(s):  
Hall Effect ◽  
Degrees Of Freedom ◽  
Reactor Core ◽  
Degree Of Freedom ◽  
Life Extension ◽  
Scale Model ◽  
Design Development ◽  
Seismic Safety ◽  
Six Degrees Of Freedom ◽  
Six Degree Of Freedom

This paper presents the design, development and evaluation of a unique non-contact instrumentation system that can accurately measure the interface displacement between two rigid components in six degrees of freedom. The system was developed to allow measurement of the relative displacements between interfaces within a stacked column of brick-like components, with an accuracy of 0.05 mm and 0.1 degrees. The columns comprised up to 14 components, with each component being a scale model of a graphite brick within an Advanced Gas-cooled Reactor core. A set of 585 of these columns makes up the Multi Layer Array, which was designed to investigate the response of the reactor core to seismic inputs, with excitation levels up to 1 g from 0 to 100 Hz. The nature of the application required a compact and robust design capable of accurately recording fully coupled motion in all six degrees of freedom during dynamic testing. The novel design implemented 12 Hall effect sensors with a calibration procedure based on system identification techniques. The measurement uncertainty was ±0.050 mm for displacement and ±0.052 degrees for rotation, and the system can tolerate loss of data from two sensors with the uncertainly increasing to only 0.061 mm in translation and 0.088 degrees in rotation. The system has been deployed in a research programme that has enabled EDF to present seismic safety cases to the Office for Nuclear Regulation, resulting in life extension approvals for several reactors. The measurement system developed could be readily applied to other situations where the imposed level of stress at the interface causes negligible material strain, and accurate non-contact six-degree-of-freedom interface measurement is required.

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.

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