Experimental Characterization of a Flexible Two-Link Manipulator Arm

1993 ◽  
Author(s):  
Randall L. Mayes ◽  
G. Richard Eisler
Keyword(s):  
Element Model ◽  
Input Voltage ◽  
Analytical Models ◽  
Experimental Characterization ◽  
Frequency Range ◽  
Flexible Links ◽  
Beam Elements ◽  
Output Torque ◽  
Manipulator Arm

Abstract Experiments were performed to verify the analytical models for a robotic manipulator with two flexible links. A finite element model (FEM) employing two-dimensional beam elements was used to model the structure. A proportional model relating input voltage to output torque was used for both hub and elbow joint motors. With some minor adjustments to the link stiffness, the FEM modal frequencies matched the experimentally extracted frequencies within 1.5%. However the voltage-torque relationship for the hub motor was found to exhibit dynamics in the frequency range of interest.

Experimental Characterization of a Flexible Two-Link Manipulator Arm

1993 ◽  
Author(s):  
Randall L. Mayes ◽  
G. Richard Eisler
Keyword(s):  
Element Model ◽  
Input Voltage ◽  
Analytical Models ◽  
Experimental Characterization ◽  
Frequency Range ◽  
Flexible Links ◽  
Beam Elements ◽  
Output Torque ◽  
Manipulator Arm

Abstract Experiments were performed to verify the analytical models for a robotic manipulator with two flexible links. A finite element model (FEM) employing two-dimensional beam elements was used to model the structure. A proportional model relating input voltage to output torque was used for both hub and elbow joint motors. With some minor adjustments to the link stiffness, the FEM modal frequencies matched the experimentally extracted frequencies within 1.5%. However the voltage-torque relationship for the hub motor was found to exhibit dynamics in the frequency range of interest.

Low-Cost Transmitarray Antenna Designs in V-Band based on Unit-Cells with 1 Bit Phase Resolution

Frequenz ◽  
2019 ◽  
Vol 73 (11-12) ◽  
pp. 355-366
Author(s):  
Martin Frank ◽  
Benedict Scheiner ◽  
Fabian Lurz ◽  
Robert Weigel ◽  
Alexander Koelpin
Keyword(s):  
Low Cost ◽  
Beam Steering ◽  
Experimental Characterization ◽  
Frequency Range ◽  
Steering Angle ◽  
V Band ◽  
Unit Cells ◽  
Linearly Polarized ◽  
Phase Resolution

Abstract This paper presents the design and characterization of linearly polarized low-cost transmitarray antennas with ± 70° azimuth beamforming range in V-band in order to add beam steering functionality to existing radar front ends. The transmitarray antennas are composed of 13 × 13 planar unit-cells. The unit-cells consist of two layers of RO4350B laminate and provide a one bit phase resolution. The desired unit-cell behavior has been validated by simulations and measurements. Eight transmitarrays with different phase distributions have been designed and fabricated to realize different beam steering angles in azimuth. The experimental characterization of the radiation patterns shows the desired performance in the frequency range from 59 GHz to 63 GHz. Additionally, steering angle combinations in azimuth and elevation up to 40° have been realized and successfully demonstrate by measuring the 2D radiation pattern.

Finite Element Analysis of Multiphase Viscoelastic Solids

1992 ◽  
Vol 59 (4) ◽  
pp. 730-737 ◽  
Author(s):  
L. C. Brinson ◽  
W. G. Knauss
Keyword(s):  
Finite Element ◽  
Volume Fraction ◽  
Matrix Material ◽  
Numerical Procedure ◽  
Element Model ◽  
Analytical Models ◽  
Frequency Range ◽  
Element Analysis ◽  
The Matrix ◽  
Composite Moduli

The properties of composite solids containing multiple, viscoelastic phases are studied numerically. The dynamic correspondence principle of viscoelasticity is utilized in a finite element model to solve boundary value problems for obtaining global complex moduli of the composite. This numerical procedure accounts for the coupled interactive deformation of the phases and thus the resultant accuracy is limited only by that of finite element analyses in general. The example composite considered in this study contains cylindrical viscoelastic inclusions embedded in a viscoelastic matrix. This investigation focuses on the global composite moduli and their relationship to the individual phase properties as a function of volume fraction. A given phase material is shown to have differing effects on the composite properties, depending on whether it is the continuous or the included phase: In general, the composite moduli are dominated by the matrix material. Comparison is made with two simple analytical models for global effective moduli of composites. “Upper Bounds” reproduce the behavior over the whole frequency range when the matrix is the “stiffer” of the two solids while the “lower bond” associates with the converse arrangement, also over the whole frequency range. The nature of time-temperature behavior of multiphase composite materials is examined in a companion paper.

scholarly journals Analysis of the halo background in femtosecond slicing experiments

2016 ◽  
Vol 23 (3) ◽  
pp. 700-711 ◽  
Author(s):  
Daniel Schick ◽  
Loïc Le Guyader ◽  
Niko Pontius ◽  
Ilie Radu ◽  
Torsten Kachel ◽  
...  
Keyword(s):  
Magnetic Circular Dichroism ◽  
Analytical Models ◽  
Simplified Model ◽  
Experimental Characterization ◽  
X Ray Diffraction ◽  
Time Resolved ◽  
X Ray ◽  
X Ray Absorption ◽  
Physical Quantities

The slicing facility FemtoSpeX at BESSY II offers unique opportunities to study photo-induced dynamics on femtosecond time scales by means of X-ray magnetic circular dichroism, resonant and non-resonant X-ray diffraction, and X-ray absorption spectroscopy experiments in the soft X-ray regime. Besides femtosecond X-ray pulses, slicing sources inherently also produce a so-called `halo' background with a different time structure, polarization and pointing. Here a detailed experimental characterization of the halo radiation is presented, and a method is demonstrated for its correct and unambiguous removal from femtosecond time-resolved data using a special laser triggering scheme as well as analytical models. Examples are given for time-resolved measurements with corresponding halo correction, and errors of the relevant physical quantities caused by either neglecting or by applying a simplified model to describe this background are estimated.

Elastic Compensation of Linear Shape Memory Alloy Actuators Using Compliant Mechanisms

2012 ◽  
Author(s):  
Giovanni Scirè Mammano ◽  
Eugenio Dragoni
Keyword(s):  
Compliant Mechanisms ◽  
Full Range ◽  
Element Model ◽  
Experimental Characterization ◽  
Modular Architecture ◽  
Modular Assembly ◽  
Thin Beams ◽  
Approximate Procedure ◽  
Linear Shape

The paper presents a modular architecture for SMA actuators elastically compensated by thin beams loaded axially beyond their buckling limit. Starting from the exact equations for the elastic curve of the beams, an approximate procedure is developed for the engineering design of the entire compensating system. The theory of the compensator is validated successfully against a finite element model and experimental results. The experimental characterization of a complete prototype actuator shows that the forces generated by the compensated actuator are constant for both instroke and outstroke over the full range of displacements. The actuator concept proposed lends itself to modular assembly to multiply either the stroke covered (series combination) or the force generated (parallel combination).

Experimental Characterization of the Reliability of 3-Terminal Dual-Damascene Copper Interconnect Trees

2002 ◽  
Vol 716 ◽  
Author(s):  
C. L. Gan ◽  
C. V. Thompson ◽  
K. L. Pey ◽  
W. K. Choi ◽  
F. Wei ◽  
...  
Keyword(s):  
Stress Conditions ◽  
Experimental Characterization ◽  
Contact Lines ◽  
Tree Structures ◽  
Similar Test ◽  
Dual Damascene ◽  
Copper Interconnect ◽  
Test Conditions

AbstractElectromigration experiments have been carried out on simple Cu dual-damascene interconnect tree structures consisting of straight via-to-via (or contact-to-contact) lines with an extra via in the middle of the line. As with Al-based interconnects, the reliability of a segment in this tree strongly depends on the stress conditions of the connected segment. Beyond this, there are important differences in the results obtained under similar test conditions for Al-based and Cu-based interconnect trees. These differences are thought to be associated with variations in the architectural schemes of the two metallizations. The absence of a conducting electromigrationresistant overlayer in Cu technology, and the possibility of liner rupture at stressed vias lead to significant differences in tree reliabilities in Cu compared to Al.

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