Motion Simulation of an Articulated Robotic Arm Subjected to Static Forces

1982 ◽  
Vol 104 (2) ◽  
pp. 494-503
Author(s):  
A. G. Patwardhan ◽  
A. H. Soni
Keyword(s):  
Simulation Model ◽  
Driving Forces ◽  
Three Dimensional ◽  
General System ◽  
Open Loop ◽  
Rigid Bodies ◽  
Robotic Arm ◽  
Motion Simulation ◽  
Static Loads ◽  
Generalized Parameters

A three-dimensional motion simulation model of an open-loop kinematically constrained mechanical system is developed to simulate the motion response of a robotic arm to externally applied static loads. The general system consists of N rigid bodies connected together by (N-1) kinematic pairs. The class and type of kinematic pairs may be selected from a set of twelve physically realizable kinematic pairs. Six equations of force equilibrium are written for an ith body. A variational method is used to linearize these equations for incremental values of displacement and to incorporate the generalized parameters of the kinematic pairs and characteristics of the internal driving forces. Five applications of the proposed simulation model are discussed.

scholarly journals Study on improving three-dimensional dynamic simulation model and equation of flexible fabric

2019 ◽  
Vol 11 (6) ◽  
pp. 168781401985284
Author(s):  
Meiliang Wang ◽  
Mingjun Wang ◽  
Xiaobo Li
Keyword(s):  
Simulation Model ◽  
Dynamic Simulation ◽  
Material Properties ◽  
Three Dimensional ◽  
Equation Solving ◽  
Study Results ◽  
Essential Properties ◽  
Dynamic Simulation Model ◽  
Novel Model ◽  
Simulation Equation

The use of the traditional fabric simulation model evidently shows that it cannot accurately reflect the material properties of the real fabric. This is against the background that the simulation result is artificial or an imitation, which leads to a low simulation equation. In order to solve such problems from occurring, there is need for a novel model that is designed to enhance the essential properties required for a flexible fabric, the simulation effect of the fabric, and the efficiency of simulation equation solving. Therefore, the improvement study results will offer a meaningful and practical understanding within the field of garment automation design, three-dimensional animation, virtual fitting to mention but a few.

Optimization of the Navy’s three-dimensional mine impact burial prediction simulation model, Impact35, using high-order numerical methods

2021 ◽  
pp. 154851292110286
Author(s):  
Athanasios Donas ◽  
Ioannis Famelis ◽  
Peter C Chu ◽  
George Galanis
Keyword(s):  
Numerical Analysis ◽  
Numerical Methods ◽  
Prediction Model ◽  
Simulation Model ◽  
Three Dimensional ◽  
Simulation System ◽  
High Order ◽  
Alternative Methodology ◽  
Runge Kutta ◽  
Fifth Order

The aim of this paper is to present an application of high-order numerical analysis methods to a simulation system that models the movement of a cylindrical-shaped object (mine, projectile, etc.) in a marine environment and in general in fluids with important applications in Naval operations. More specifically, an alternative methodology is proposed for the dynamics of the Navy’s three-dimensional mine impact burial prediction model, Impact35/vortex, based on the Dormand–Prince Runge–Kutta fifth-order and the singly diagonally implicit Runge–Kutta fifth-order methods. The main aim is to improve the time efficiency of the system, while keeping the deviation levels of the final results, derived from the standard and the proposed methodology, low.

scholarly journals Numerical simulation of dual-phase steel based on real and virtual three-dimensional microstructures

2021 ◽  
Author(s):  
Frederik Scherff ◽  
Jessica Gola ◽  
Sebastian Scholl ◽  
Kinshuk Srivastava ◽  
Thorsten Staudt ◽  
...  
Keyword(s):  
Mechanical Properties ◽  
Simulation Model ◽  
Dual Phase Steel ◽  
Three Dimensional ◽  
Simultaneous Increase ◽  
Dual Phase ◽  
Structure Property ◽  
Heavy Plate ◽  
Property Correlation ◽  
Process Route

AbstractDual-phase steel shows a strong connection between its microstructure and its mechanical properties. This structure–property correlation is caused by the composition of the microstructure of a soft ferritic matrix with embedded hard martensite areas, leading to a simultaneous increase in strength and ductility. As a result, dual-phase steels are widely used especially for strength-relevant and energy-absorbing sheet metal structures. However, their use as heavy plate steel is also desirable. Therefore, a better understanding of the structure–property correlation is of great interest. Microstructure-based simulation is essential for a realistic simulation of the mechanical properties of dual-phase steel. This paper describes the entire process route of such a simulation, from the extraction of the microstructure by 3D tomography and the determination of the properties of the individual phases by nanoindentation, to the implementation of a simulation model and its validation by experiments. In addition to simulations based on real microstructures, simulations based on virtual microstructures are also of great importance. Thus, a model for the generation of virtual microstructures is presented, allowing for the same statistical properties as real microstructures. With the help of these structures and the aforementioned simulation model, it is then possible to predict the mechanical properties of a dual-phase steel, whose three-dimensional (3D) microstructure is not yet known with high accuracy. This will enable future investigations of new dual-phase steel microstructures within a virtual laboratory even before their production.

Study on the Steering Performance of Dual-Motor Drive Track Bulldozer

2013 ◽  
Vol 427-429 ◽  
pp. 133-136
Author(s):  
Qiang Song ◽  
Pu Zeng
Keyword(s):  
Simulation Model ◽  
Dynamic Characteristics ◽  
Driving Force ◽  
Driving Forces ◽  
Small Radius ◽  
Motor Drive ◽  
Matlab Simulink ◽  
Simulation Results ◽  
Two Sides

The driving theory and the dynamic characteristics of small radius steering, medium radius steering and big radius steering is analyzed, and the simulation model is established under Matlab/Simulink. Then the track bulldozers steering performance of the three sheerings is simulated. The results show that, at different steering modes, the running states of the two sides driving motors are not the same, and the track driving forces of the two sides vary widely. The track driving force is great in the small radius steering model, while small in the medium and big radius steering models. The simulation results lay the foundation for dual-motor drive track bulldozers steering performance matching.

EVALUATION OF POSSIBILITIES TO IMPROVE RIGID BODIES

2020 ◽  
Vol 69 (1) ◽  
pp. 392-395
Author(s):  
N.M. Nurullayev ◽  
◽  
D.A. Turgunboyev ◽  
Ye.N. Zholdassov ◽  
◽  
...  
Keyword(s):  
Literature Review ◽  
Software Package ◽  
Scientific Research ◽  
Rigid Bodies ◽  
Robotic Arm ◽  
Electromechanical Devices ◽  
End Effectors ◽  
External Characteristics

Manipulators are used for various purposes in order to simplify tasks or reduce the risk of tasks that are considered impossible, dangerous or difficult for humans. The robotic arm can be equipped with various types of end effectors to perform a variety of tasks. Grips are one of the most commonly used tools for manipulators. This article discusses the analysis of modeling new robotic gripping fingers, based on models of gripping gross rigid bodies of manipulators. A literature review was conducted in the relevant branches of scientific research. The ability to minimize dimensions and masses, as well as the final cost of the product, using available materials and electromechanical devices, various sensors, is evaluated. The external characteristics that make the previously developed analogues ineffective are analyzed. Modeling was released using the SolidWorks software package.

Effect of Material and Geometric Parameters on the Steady-State Belt Stresses and Belt Slip for Flat Belt-Drives

2015 ◽  
Author(s):  
Cagkan Yildiz ◽  
Tamer M. Wasfy ◽  
Hatem M. Wasfy ◽  
Jeanne M. Peters
Keyword(s):  
Steady State ◽  
Equations Of Motion ◽  
Three Dimensional ◽  
Flexible Multibody Dynamics ◽  
Friction Model ◽  
Rigid Bodies ◽  
Geometric Parameters ◽  
Rubber Matrix ◽  
Axial Stiffness ◽  
Belt Drive

In order to accurately predict the fatigue life and wear life of a belt, the various stresses that the belt is subjected to and the belt slip over the pulleys must be accurately calculated. In this paper, the effect of material and geometric parameters on the steady-state stresses (including normal, tangential and axial stresses), average belt slip for a flat belt, and belt-drive energy efficiency is studied using a high-fidelity flexible multibody dynamics model of the belt-drive. The belt’s rubber matrix is modeled using three-dimensional brick elements and the belt’s reinforcements are modeled using one dimensional truss elements. Friction between the belt and the pulleys is modeled using an asperity-based Coulomb friction model. The pulleys are modeled as cylindrical rigid bodies. The equations of motion are integrated using a time-accurate explicit solution procedure. The material parameters studied are the belt-pulley friction coefficient and the belt axial stiffness and damping. The geometric parameters studied are the belt thickness and the pulleys’ centers distance.

Cotton Picker Picks Roller Motion Simulation and Dynamics Analysis

2010 ◽  
Vol 34-35 ◽  
pp. 1765-1769 ◽  
Author(s):  
Wen Lei Sun ◽  
Xiao Li Li ◽  
Chang Bing Fu
Keyword(s):  
Simulation Model ◽  
Prototype Model ◽  
Dynamics Analysis ◽  
Motion Simulation ◽  
Key Factors ◽  
Road Speed ◽  
Cotton Picker ◽  
Cotton Picking ◽  
Movement Simulation ◽  
Moving Speed

The drum is the process of picking cotton, picking cotton picker cotton picker head of the key device, which controls the seat tube and Abstract Abstract ingot of movement, Abstract spindle picking of cotton is also directly affect the quality and efficiency of key factors. Therefore, by creating a virtual prototype model cotton picker roller, about picking cotton picker principle, and the movement simulation model to arrive at, dynamic model of the external force, the cotton picker spindles moving speed of the Summary Block pipe displacement, velocity and acceleration effects. Then summed up, cotton picker of road speed, picking rate and the net rate of mining.

scholarly journals Prospects of Nanostructure-Based Solar Cells for Manufacturing Future Generations of Photovoltaic Modules

2009 ◽  
Vol 2009 ◽  
pp. 1-13 ◽  
Author(s):  
N. Gupta ◽  
G. F. Alapatt ◽  
R. Podila ◽  
R. Singh ◽  
K. F. Poole
Keyword(s):  
Solar Cells ◽  
Heat Dissipation ◽  
Driving Forces ◽  
Three Dimensional ◽  
Solar Spectrum ◽  
Future Generation ◽  
Theoretical Work ◽  
Future Generations ◽  
Pv Modules ◽  
Quantum Phenomena

We present a comprehensive review on prospects for one-, two-, or three-dimensional nanostructure-based solar cells for manufacturing the future generation of photovoltaic (PV) modules. Reducing heat dissipation and utilizing the unabsorbed part of the solar spectrum are the key driving forces for the development of nanostructure-based solar cells. Unrealistic assumptions involved in theoretical work and the tendency of stretching observed experimental results are the primary reasons why quantum phenomena-based nanostructures solar cells are unlikely to play a significant role in the manufacturing of future generations of PV modules. Similar to the invention of phase shift masks (to beat the conventional diffraction limit of optical lithography) clever design concepts need to be invented to take advantage of quantum-based nanostructures. Silicon-based PV manufacturing will continue to provide sustained growth of the PV industry.

scholarly journals Deconvolution of vibroacoustic images using a simulation model based on a three dimensional point spread function

Ultrasonics ◽  
2013 ◽  
Vol 53 (1) ◽  
pp. 36-44 ◽  
Author(s):  
Talita Perciano ◽  
Matthew W. Urban ◽  
Nelson D.A. Mascarenhas ◽  
Mostafa Fatemi ◽  
Alejandro C. Frery ◽  
...  
Keyword(s):  
Simulation Model ◽  
Point Spread Function ◽  
Three Dimensional ◽  
Model Based ◽  
Point Spread ◽  
Spread Function
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