Optimization of Dynamic Forces in the Design of Mechanical Hands

1989 ◽  
Author(s):  
M. A. Nahon ◽  
J. Angeles
Keyword(s):  
Equations Of Motion ◽  
Inequality Constraints ◽  
Kinematic Chain ◽  
Programming Approach ◽  
Quadratic Optimization Problem ◽  
System A ◽  
Redundantly Actuated ◽  
Internal Forces ◽  
Constrained Quadratic Optimization ◽  
Mechanical Hands

Abstract Mechanical hands have become of greater interest in robotics due to the advantages they offer over conventional grippers in tasks requiring dextrous manipulation. However, mechanical hands also tend to be more complex in construction and require more sophisticated design analysis to determine the forces in the system. A mechanical hand can be described as a kinematic chain with time-varying topology which becomes redundantly actuated when an object is grasped. When this occurs, care must be exercised to avoid crushing the object or generating excessive forces within the mechanism. In the present work, this problem is formulated as a constrained quadratic optimization problem. The forces to be minimized form the objective, the dynamic equations of motion form the equality constraints and the finger-object contacts yield the inequality constraints. The quadratic-programming approach is shown to be advantageous due to its ability to minimize ‘internal forces’ A technique is proposed for smoothing the discontinuities in the force solution which occur when the toplogy changes.

Optimization of Dynamic Forces in Mechanical Hands

1991 ◽  
Vol 113 (2) ◽  
pp. 167-173 ◽  
Author(s):  
M. A. Nahon ◽  
J. Angeles
Keyword(s):  
Equations Of Motion ◽  
Inequality Constraints ◽  
Kinematic Chain ◽  
Programming Approach ◽  
Quadratic Optimization Problem ◽  
System A ◽  
Redundantly Actuated ◽  
Internal Forces ◽  
Constrained Quadratic Optimization ◽  
Mechanical Hands

Mechanical hands have become of greater interest in robotics due to the advantages they offer over conventional grippers in tasks requiring dextrous manipulation. However, mechanical hands also tend to be more complex in construction and require more sophisticated analysis to determine the forces in the system. A mechanical hand can be described as a kinematic chain with time-varying topology which becomes redundantly actuated when an object is grasped. When this occurs, care must be exercised to avoid crushing the object or generating excessive forces within the mechanism. In the present work, this problem is formulated as a constrained quadratic optimization problem. The forces to be minimized form the objective, the dynamic equations of motion form the equality constraints, and the finger-object contacts yield the inequality constraints. The quadratic-programming approach is shown to be advantageous due to its ability to minimize “internal forces.” A technique is proposed for smoothing the discontinuities in the force solution which occur when the topology changes.

Vibration analysis of multiple degrees of freedom mechanical system with dry friction

2012 ◽  
Vol 227 (7) ◽  
pp. 1505-1514 ◽  
Author(s):  
SD Yu ◽  
BC Wen
Keyword(s):  
Mechanical System ◽  
Dry Friction ◽  
Degrees Of Freedom ◽  
Simple Procedure ◽  
Mathematical Problem ◽  
Equations Of Motion ◽  
Inequality Constraints ◽  
Integration Scheme ◽  
Time Step ◽  
Multiple Degrees Of Freedom

This article presents a simple procedure for predicting time-domain vibrational behaviors of a multiple degrees of freedom mechanical system with dry friction. The system equations of motion are discretized by means of the implicit Bozzak–Newmark integration scheme. At each time step, the discontinuous frictional force problem involving both the equality and inequality constraints is successfully reduced to a quadratic mathematical problem or the linear complementary problem with the introduction of non-negative and complementary variable pairs (supremum velocities and slack forces). The so-obtained complementary equations in the complementary pairs can be solved efficiently using the Lemke algorithm. Results for several single degree of freedom and multiple degrees of freedom problems with one-dimensional frictional constraints and the classical Coulomb frictional model are obtained using the proposed procedure and compared with those obtained using other approaches. The proposed procedure is found to be accurate, efficient, and robust in solving non-smooth vibration problems of multiple degrees of freedom systems with dry friction. The proposed procedure can also be applied to systems with two-dimensional frictional constraints and more sophisticated frictional models.

scholarly journals NON-RIGID KINEMATIC EXCITATION FOR MULTIPLY-SUPPORTED SYSTEM WITH HOMOGENEOUS DAMPING

2018 ◽  
Vol 14 (4) ◽  
pp. 152-157
Author(s):  
Alexander G. Tyapin
Keyword(s):  
Mass Matrix ◽  
Equations Of Motion ◽  
Linear Equations ◽  
Internal Damping ◽  
Static Response ◽  
Kinematic Excitation ◽  
Hand Part ◽  
Internal Forces ◽  
The Right ◽  
Damping Model

This paper continues the discussion of linear equations of motion. The author considers non-rigid kinematic excitation for multiply-supported system leading to the deformations in quasi-static response. It turns out that in the equation of motion written down for relative displacements (relative displacements are defined as absolute displacements minus quasi-static response) the contribution of the internal damping to the load in some cases may be zero (like it was for rigid kinematical excitation). For this effect the system under consideration must have homogeneous damping. It is the often case, though not always. Zero contribution of the internal damping to the load is different in origin for rigid and non-rigid kinematic excitation: in the former case nodal loads in the quasi-static response are zero for each element; in the latter case nodal loads in elements are non-zero, but in each node they are balanced giving zero resulting nodal loads. Thus, damping in the quasi-static response does not impact relative motion, but impacts the resulting internal forces. The implementation of the Rayleigh damping model for the right-hand part of the equation leads to the error (like for rigid kinematic excitation), as damping in the Rayleigh model is not really “internal”: due to the participation of mass matrix it works on rigid displacements, which is impossible for internal damping

An Approximate Method for the Dynamic Analysis of Elastic Linkages

1977 ◽  
Vol 99 (2) ◽  
pp. 449-455 ◽  
Author(s):  
A. Midha ◽  
A. G. Erdman ◽  
D. A. Frohrib
Keyword(s):  
Exact Analytical Solution ◽  
Equations Of Motion ◽  
Numerical Procedure ◽  
Degree Of Freedom ◽  
Suggested Approach ◽  
Single Degree Of Freedom ◽  
Single Degree ◽  
System A ◽  
Suggested Technique ◽  
Particular Solution

A new numerical procedure based on an iterative technique is progressively developed in this paper for obtaining an approximate particular solution from the equations of motion of an elastic linkage with small damping and at subresonant speeds. The method is introduced by employing a simple vibrating system, a single degree-of-freedom mass-dashpot-spring model under both harmonic forcing and periodic forcing. A harmonically excited two degree-of-freedom model is also solved by the suggested approach. Error functions are developed for each case to give an estimation of the order of error between the exact analytical solution and the approximate technique. The suggested technique is then extended to solve an elastic linkage problem where the uncoupled equations of motion are treated as a series of single degree-of-freedom problems and solved. These are retransformed into the physical coordinate system to obtain the particular solution. The first and second derivatives of the forcing functions (involving rigid-body inertia) are approximated utilizing the finite difference method.

The Asymptotic Stability of Weakly Perturbed Two Dimensional Hamiltonian Systems

2001 ◽  
Author(s):  
Ludwig Arnold ◽  
Peter Imkeller ◽  
N. Sri Namachchivaya
Keyword(s):  
Lyapunov Exponent ◽  
Equations Of Motion ◽  
Perturbation Approach ◽  
Two Dimensional ◽  
White Noise Process ◽  
System A ◽  
Additive White Noise ◽  
Small Dissipation ◽  
Small Intensity ◽  
Single Well

Abstract The purpose of this work is to obtain an approximation for the top Lyapunov exponent, the exponential growth rate, of the response of a single-well Kramers Oscillator driven by either a multiplicative or an additive white noise process. To this end, we consider the equations of motion as dissipative and noisy perturbations of a two-dimensional Hamiltonian system. A perturbation approach is used to obtain explicit expressions for the exponent in the presence of small intensity noise and small dissipation. We show analytically that the top Lyapunov exponent is positive, and for small values of noise intensity ε and dissipation ε the exponent grows proportional to ε1/3.

An Emerging O(N) Model and Algorithm for Virtual Prototyping of Dynamics of Molecular Conformation

2008 ◽  
Author(s):  
Andrew Ries ◽  
Shanzhong Shawn Duan
Keyword(s):  
Degrees Of Freedom ◽  
Molecular Conformation ◽  
Molecular System ◽  
Equations Of Motion ◽  
Integration Step ◽  
Computational Costs ◽  
System A ◽  
Hard Constraints ◽  
Solution Of Equations ◽  
Computationally Intensive

Molecular dynamics is effective for nano-scale phenomenon analysis. There are two major computational steps associated with computer simulation of dynamics of molecular conformation and they are the calculation of the interatomic forces and the formation and solution of the equations of motion. Currently, these two computational steps are treated separately, but in this paper an O(N) (order N) procedure is presented for an integration between these computational steps. For computational costs associated with calculating the interatomic forces, an internal coordinate method (ICM) approach is used for determining potentials due to both the bonding and non-bonding interactions. Thus, the potential gradients can be expressed as a combination of the potential in absolute and relative coordinates. For computational costs associated with the formation and solution of the equations of motion for the system, a constraint method that is used in computational multibody dynamics is utilized. This frees some degrees of freedom so that Kane’s method can be applied for the recursive formation and solution of equations of motion for the atomistic molecular system. Because the inclusion of lightly excited high frequency degrees of freedom, such as inter-atomic oscillations and rotation about double bonds would force the use of very small integration step sizes, holonomic constraints are introduced to freeze these “uninteresting” degrees of freedom. By introducing these hard constraints the time scale can be appropriately sized for to provide a less computationally intensive dynamic simulation of molecular conformation. The algorithm developed improves computational speed significantly when compared with any traditional O(N3) procedure.

scholarly journals Linear programming with inequality constraints via entropic perturbation

1996 ◽  
Vol 19 (1) ◽  
pp. 177-184 ◽  
Author(s):  
H.-S. Jacob Tsao ◽  
Shu-Cherng Fang
Keyword(s):  
Linear Inequality ◽  
Optimal Solution ◽  
Path Following ◽  
Inequality Constraints ◽  
Computational Effort ◽  
Optimization Techniques ◽  
Linear Program ◽  
Programming Approach ◽  
Linear Programs ◽  
Dual Program

A dual convex programming approach to solving linear programs with inequality constraints through entropic perturbation is derived. The amount of perturbation required depends on the desired accuracy of the optimum. The dual program contains only non-positivity constraints. Anϵ-optimal solution to the linear program can be obtained effortlessly from the optimal solution of the dual program. Since cross-entropy minimization subject to linear inequality constraints is a special case of the perturbed linear program, the duality result becomes readily applicable. Many standard constrained optimization techniques can be specialized to solve the dual program. Such specializations, made possible by the simplicity of the constraints, significantly reduce the computational effort usually incurred by these methods. Immediate applications of the theory developed include an entropic path-following approach to solving linear semi-infinite programs with an infinite number of inequality constraints and the widely used entropy optimization models with linear inequality and/or equality constraints.

Modelling of the rotational vibrations of the engine front-end accessory drive system: a generic method

2017 ◽  
Vol 231 (13) ◽  
pp. 1780-1795 ◽  
Author(s):  
Xiao Feng ◽  
Wen-Bin Shangguan ◽  
Jianxiang Deng ◽  
Xingjian Jing ◽  
Waizuddin Ahmed
Keyword(s):  
High Efficiency ◽  
Equations Of Motion ◽  
Drive System ◽  
Slip Ratio ◽  
System A ◽  
Runge Kutta Method ◽  
Front End ◽  
Rotational Vibration ◽  
Vibration Responses ◽  
Drive Systems

To investigate the rotation vibration dynamics of the pulleys and the tension arms, and to estimate the vibrations of the belts and the slip ratio between the belt and the pulleys in the engine front-end accessory drive systems, a systematic modelling and analytical method is proposed for engine front-end accessory drive systems; this can be used for modelling engine front-end accessory drive systems with different layouts and different numbers of tensioners, including automatic and fixed tensioners. In the modelling, the rotational pulleys are classified as fixed-axis pulleys and moveable-axis pulleys (such as the pulley in the tensioner). Moreover, the belt spans are classified as the belt spans between the two fixed pulleys, and the belt spans adjacent to the pulley of a tensioner. The equations of motion for each type of pulley and the tension calculation equations for each type of belt span are developed. In this way, the equations of motion for all the pulleys and the tensioner arms can be obtained easily, irrespective of the layout of the tensioners. To obtain the dynamic rotational vibration responses of an engine front-end accessory drive system by the conventional Runge–Kutta method, high-efficiency algorithms or methods are also proposed for calculating the tangent-point coordinates between a belt and the adjacent pulleys and the belt length of the contact arc on one pulley. The proposed modelling and analysis methods are validated by modelling different layouts of the engine front-end accessory drive systems with different types and numbers of tensioners, and also by comparisons between the calculated dynamic vibration responses of the pulleys and the belts and the real experimental data.

Link Length Bounds on the Four-Bar Chain

1971 ◽  
Vol 93 (1) ◽  
pp. 287-293 ◽  
Author(s):  
P. W. Eschenbach ◽  
D. Tesar
Keyword(s):  
Algebraic Curve ◽  
Inequality Constraints ◽  
Kinematic Chain ◽  
Bounded Region ◽  
Practical Application ◽  
Link Length ◽  
Chain Link ◽  
Transmission Angle

The four-link kinematic chain is studied in an effort to establish a bounded region to limit the chain link lengths based upon transmission angle inequality constraints. The resulting constraint limitations are displayed graphically with the chain and their algebraic curve properties are delineated. Simple approximations of these complex loci are developed to facilitate practical application.

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