Dynamics Equations of Robots Mounted on Moving Bases

1991 ◽  
Author(s):  
R. W. Toogood
Keyword(s):  
Angular Velocity ◽  
Control Systems ◽  
Linear Acceleration ◽  
Computer Code ◽  
Dynamics Simulation ◽  
Simulation Studies ◽  
Flexible Link ◽  
Paper Briefly ◽  
Simulation Results ◽  
Simplification Techniques

Abstract A number of programs have been developed for the automatic symbolic generation of efficient computer code for the dynamic analysis of serial rigid and flexible link manipulators. Code for both the inverse and the direct dynamics computations can be generated. The symbolic generators allow the robot base to be given an arbitrary linear acceleration anchor angular velocity and acceleration. The efficiency of the generated code is an important consideration for simulation studies and/or implementation in control systems. This paper briefly describes the symbolic generation and simplification techniques. The added computational load due to including the base motion is discussed. Some dynamics simulation results are presented for a 3R rigid link manipulator mounted on an oscillating base, which graphically illustrates the effect of the base movement on the dynamics.

Wheel/Rail Dynamics Simulation for Optimising Minimum Grade Lengths to High-Speed Railways

2007 ◽  
Author(s):  
Zengjie Liu ◽  
Lan Wang
Keyword(s):  
High Speed ◽  
Dynamics Simulation ◽  
Minimum Length ◽  
Maximum Speed ◽  
Simulation Studies ◽  
High Speed Railway ◽  
Vertical Transition ◽  
Simulation Results ◽  
Curve Radius ◽  
Transition Curves

Based on the principle of no car vibrations interference when trains pass grade section from the end of front vertical curve to the start of latter vertical curve, using railway wheel/rail simulation NUCARS™ software, some dynamics simulation studies for minimum grade lengths on high speed railway lines were made. The dynamics simulation results show that, the minimum tangent lengths between vertical transition curves should be more than 0.43V in meters (V is speed of train, km/h). So the minimum length is 800 meters when the vertical curve radius is 25000 meters, and 900 meters when radius is 30000 meters for the Chinese Dedicated Passenger Railway lines (PDLs) on which maximum speed is 350 km/h and ruling gradient is 12‰.

Synthesis, Molecular Docking and Dynamics Simulation Studies of New 7-oxycoumarin Derivatives as Potential Antioxidant Agents

2018 ◽  
Vol 18 (18) ◽  
pp. 1572-1587
Author(s):  
Nehad A. Abdel Latif ◽  
Rasha Z. Batran ◽  
Salwa F. Mohamed ◽  
Mohammed A. Khedr ◽  
Mohamed I. Kobeasy ◽  
...  
Keyword(s):  
Molecular Docking ◽  
Dynamics Simulation ◽  
Simulation Studies ◽  
Antioxidant Agents ◽  
Molecular Docking And Dynamics

scholarly journals Computational Investigations on the Binding Mode of Ligands for the Cannabinoid-Activated G Protein-Coupled Receptor GPR18

Biomolecules ◽  
2020 ◽  
Vol 10 (5) ◽  
pp. 686 ◽  
Author(s):  
Alexander Neumann ◽  
Viktor Engel ◽  
Andhika B. Mahardhika ◽  
Clara T. Schoeder ◽  
Vigneshwaran Namasivayam ◽  
...  
Keyword(s):  
Molecular Dynamics ◽  
Molecular Dynamics Simulation ◽  
G Protein ◽  
Phenyl Ring ◽  
Binding Mode ◽  
Dynamics Simulation ◽  
Simulation Studies ◽  
Binding Modes ◽  
G Protein Coupled Receptor ◽  
G Protein Coupled

GPR18 is an orphan G protein-coupled receptor (GPCR) expressed in cells of the immune system. It is activated by the cannabinoid receptor (CB) agonist ∆9-tetrahydrocannabinol (THC). Several further lipids have been proposed to act as GPR18 agonists, but these results still require unambiguous confirmation. In the present study, we constructed a homology model of the human GPR18 based on an ensemble of three GPCR crystal structures to investigate the binding modes of the agonist THC and the recently reported antagonists which feature an imidazothiazinone core to which a (substituted) phenyl ring is connected via a lipophilic linker. Docking and molecular dynamics simulation studies were performed. As a result, a hydrophobic binding pocket is predicted to accommodate the imidazothiazinone core, while the terminal phenyl ring projects towards an aromatic pocket. Hydrophobic interaction of Cys251 with substituents on the phenyl ring could explain the high potency of the most potent derivatives. Molecular dynamics simulation studies suggest that the binding of imidazothiazinone antagonists stabilizes transmembrane regions TM1, TM6 and TM7 of the receptor through a salt bridge between Asp118 and Lys133. The agonist THC is presumed to bind differently to GPR18 than to the distantly related CB receptors. This study provides insights into the binding mode of GPR18 agonists and antagonists which will facilitate future drug design for this promising potential drug target.

scholarly journals Identification of 3-chymotrypsin like protease (3CLPro) inhibitors as potential anti-SARS-CoV-2 agents

2021 ◽  
Vol 4 (1) ◽  
Author(s):  
Vicky Mody ◽  
Joanna Ho ◽  
Savannah Wills ◽  
Ahmed Mawri ◽  
Latasha Lawson ◽  
...  
Keyword(s):  
Inhibitory Effect ◽  
Dynamics Simulation ◽  
Simulation Studies ◽  
Inhibitory Effects ◽  
Major Threat ◽  
Main Protease ◽  
Approved Drugs ◽  
Fda Approved Drugs ◽  
Computational Molecular Modeling

AbstractEmerging outbreak of severe acute respiratory syndrome coronavirus-2 (SARS-CoV-2) infection is a major threat to public health. The morbidity is increasing due to lack of SARS-CoV-2 specific drugs. Herein, we have identified potential drugs that target the 3-chymotrypsin like protease (3CLpro), the main protease that is pivotal for the replication of SARS-CoV-2. Computational molecular modeling was used to screen 3987 FDA approved drugs, and 47 drugs were selected to study their inhibitory effects on SARS-CoV-2 specific 3CLpro enzyme in vitro. Our results indicate that boceprevir, ombitasvir, paritaprevir, tipranavir, ivermectin, and micafungin exhibited inhibitory effect towards 3CLpro enzymatic activity. The 100 ns molecular dynamics simulation studies showed that ivermectin may require homodimeric form of 3CLpro enzyme for its inhibitory activity. In summary, these molecules could be useful to develop highly specific therapeutically viable drugs to inhibit the SARS-CoV-2 replication either alone or in combination with drugs specific for other SARS-CoV-2 viral targets.

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