Multi-Degree-of-Freedom Modeling of Mechanical Snubbing Systems

2011 ◽  
Author(s):  
Sudhir Kaul
Keyword(s):  
Experimental Data ◽  
Data Collection ◽  
Rigid Body ◽  
Degrees Of Freedom ◽  
Degree Of Freedom ◽  
Rigid Frame ◽  
Identification Technique ◽  
Simulation Results ◽  
Stiffness And Damping ◽  
Three Degrees Of Freedom

This paper presents a multi-degree-of-freedom model for the analysis of mechanical snubbing in elastomeric isolators. The model uses a system of elastomeric isolators and snubbers to assemble a rigid body with three degrees-of-freedom to a rigid frame. The isolators are supplemented by the snubbing system so as to limit the displacement of the rigid body in all three directions of motion when the system undergoes transient loading or overloading conditions. The model is piecewise non-linear and uses normalized Bouc-Wen elements in order to capture inherent hysteresis of the elastomeric isolators and the snubbing system as well as the transition in stiffness and damping properties resulting due to inherent coupling between the isolators and the snubbing system. Separate elements are used to model the enhanced stiffness resulting from the snubbing system in the translational directions of motion. A set of elastomeric isolators and snubbing systems is used for data collection, characterization and model validation. The data collection is carried out at multiple strain amplitudes and strain rates. A conventional least squares based parameter identification technique is used for characterization. The completely characterized model is then used for simulating the response of the rigid body and the simulation results are compared to experimental data. The simulation results are found to be in general agreement with the experimental data.

Accelerometer correction for the dynamic analysis of damped multi-degree of freedom systems

1969 ◽  
Vol 59 (4) ◽  
pp. 1591-1598
Author(s):  
G. A. McLennan
Keyword(s):  
Dynamic Response ◽  
Dynamic Analysis ◽  
Degrees Of Freedom ◽  
Degree Of Freedom ◽  
Exact Method ◽  
Three Degrees Of Freedom

Abstract An exact method is developed to eliminate the accelerometer error in dynamic response calculations for damped multi-degree of freedom systems. It is shown that the exact responses of a system can be obtained from the approximate responses which are conventionally calculated from an accelerogram. Response calculations were performed for two typical systems with three degrees of freedom for an assumed pseudo-earthquake. The results showed that the approximate responses may contain large errors, and that the correction developed effectively eliminates these errors.

Experimental and Numerical Hydrodynamic Modeling of an Underwater Manipulator

2001 ◽  
Author(s):  
A. Khanicheh ◽  
A. Tehranian ◽  
A. Meghdari ◽  
M. S. Sadeghipour
Keyword(s):  
Drag Coefficient ◽  
Dynamic Modeling ◽  
Hydrodynamic Model ◽  
Degrees Of Freedom ◽  
Added Mass ◽  
Hydrodynamic Modeling ◽  
Degree Of Freedom ◽  
Experimental Results ◽  
Underwater Manipulator ◽  
Three Degrees Of Freedom

Abstract This paper presents the kinematics and dynamic modeling of a three-link (3-DOF) underwater manipulator where the effects of hydrodynamic forces are investigated. In our investigation, drag and added mass coefficients are not considered as constants. In contrast, the drag coefficient is a variable with respect to all relative parameters. Experiments were conducted to validate the hydrodynamic model for a one degree-of-freedom manipulator up to a three degrees-of-freedom manipulator. Finally, the numerical and experimental results are compared and thoroughly discussed.

scholarly journals Strategies of traversing obstacles and the simulation for a forestry chassis

2018 ◽  
Vol 15 (3) ◽  
pp. 172988141877390 ◽  
Author(s):  
Yue Zhu ◽  
Jiangming Kan ◽  
Wenbin Li ◽  
Feng Kang
Keyword(s):  
Multibody Dynamics ◽  
Inclination Angle ◽  
Degrees Of Freedom ◽  
Ride Comfort ◽  
Hydraulic Cylinder ◽  
Single Side ◽  
Simulation Results ◽  
Maximum Inclination ◽  
Three Degrees Of Freedom ◽  
Small Inclination

As to the complicated terrain in forest, forestry chassis with an articulated body with three degrees of freedom and installed luffing wheel-legs (FC-3DOF&LW) is a novel chassis that can surmount obstacles. In addition, the rear frame of FC-3DOF&LW is regarded as the platform to carry equipment. Small inclination angle for rear frame contributes to stability and ride comfort. This article describes the strategy of traversing obstacles and simulation for FC-3DOF&LW that drives in forest terrain. First, key structures of FC-3DOF&LW are briefly introduced, which include articulated structure with three degrees of freedom and luffing wheel-leg. Based on the sketch of luffing wheel-leg, the movement range of luffing wheel-leg is obtained by hydraulic cylinder operation. Second, the strategy of crossing obstacles that are simplified three models of terrain is presented, and the simulation for surmounting obstacles is constructed in multibody dynamics software. The simulation results demonstrate that the inclination angle of rear frame is 18° when slope is 30°. A maximum 12° decrease of inclination angle for rear frame can be acquired when luffing wheel-legs are applied. For traversing obstacles with both sides, the maximum inclination angle of rear frame is about 1.2° and is only 3° for traversing obstacles with single side.

Design of a Teaching Robot with Three Degrees of Freedom

2012 ◽  
Vol 619 ◽  
pp. 325-328
Author(s):  
You Jun Huang ◽  
Ze Lun Li ◽  
Zhi Cheng Huang
Keyword(s):  
Degrees Of Freedom ◽  
Low Cost ◽  
Degree Of Freedom ◽  
Good Repeatability ◽  
Main Components ◽  
Opening And Closing ◽  
Three Degree Of Freedom ◽  
Three Degrees Of Freedom ◽  
Application Prospects

A teaching robot with three degree of freedom is designed. The three degrees of freedom are: waist rotation, lifting and stretching of the arm and opening and closing of the gripper. The designs of the main components are: a mobile chassis, parallel rails, horizontal rails and manipulator. The teaching robot designed has the features of low cost, easy to regulation, good repeatability and it has good promotion and application prospects in the field of teaching.

scholarly journals Smart and Modular

2011 ◽  
Vol 133 (09) ◽  
pp. 48-51
Author(s):  
Harry H. Cheng ◽  
Graham Ryland ◽  
David Ko ◽  
Kevin Gucwa ◽  
Stephen Nestinger
Keyword(s):  
Degrees Of Freedom ◽  
Robotic System ◽  
Search And Rescue ◽  
Degree Of Freedom ◽  
Robotic Systems ◽  
Modular Robots ◽  
Modular Robot ◽  
Modular Systems ◽  
The Past ◽  
Three Degrees Of Freedom

This article discusses the advantages of a modular robot that can reassemble itself for different tasks. Modular robots are composed of multiple, linked modules. Although individual modules can move on their own, the greatest advantage of modular systems is their structural reconfigurability. Modules can be combined and assembled to form configurations for specific tasks and then reassembled to suit other tasks. Modular robotic systems are also very well suited for dynamic and unpredictable application areas such as search and rescue operations. Modular robots can be reconfigured to suit various situations. Quite a number of modular robotic system prototypes have been developed and studied in the past, each containing unique geometries and capabilities. In some systems, a module only has one degree of freedom. In order to exhibit practical functionality, multiple interconnected modules are required. Other modular robotic systems use more complicated modules with two or three degrees of freedom. However, in most of these systems, a single module is incapable of certain fundamental locomotive behaviors, such as turning.

Actuator Array Dynamics Incorporating Actuator Inertia

2013 ◽  
Author(s):  
Mark D. Bedillion
Keyword(s):  
Degrees Of Freedom ◽  
Friction Model ◽  
Object Motion ◽  
Prior Work ◽  
Control Laws ◽  
Distributed Manipulation ◽  
Actuator Arrays ◽  
Simulation Results ◽  
Two Degree Of Freedom ◽  
Three Degrees Of Freedom

Actuator arrays are planar distributed manipulation systems that use multiple two degree-of-freedom actuators to manipulate objects with three degrees of freedom (x, y, and θ). Prior work has discussed actuator array dynamics while neglecting the inertia of the actuators; this paper extends prior work to the case of non-negligible actuator inertia. The dynamics are presented using a standard friction model incorporating stiction. Simulation results are presented that show object motion under previously derived control laws.

A Novel 3-DOF Parallel Robot and its Kinematic Analysis

2014 ◽  
Vol 607 ◽  
pp. 759-763
Author(s):  
Xiao Bo Liu ◽  
Xiao Dong Yuan ◽  
Xiao Feng Wei ◽  
Wei Ni
Keyword(s):  
Motion Control ◽  
Kinematic Analysis ◽  
Degrees Of Freedom ◽  
Parallel Robot ◽  
Degree Of Freedom ◽  
The Novel ◽  
Forward Displacement ◽  
Simulation Based ◽  
Simulation Results

This paper deals with the design and analysis of a novel and simple two-translation and one-rotation (3 degrees of freedom, 3-dof) mechanism for alignment. Firstly, degree of freedom of the parallel robot is solved based on the theory of screw. Secondly considering the demand of motion control, we have conducted the analysis on the 3-dof parallel robot, which includes inverse displacement, forward displacement, and simulation based on SolidWorks Motion. The simulation results indicate that the novel 3-dof robot is suitable for performing the required operations.

The thermodynamics of intracrystalline sorption II. Argon in chabazite

1956 ◽  
Vol 234 (1196) ◽  
pp. 35-45 ◽  
Keyword(s):  
Experimental Data ◽  
Mobile Phase ◽  
Degrees Of Freedom ◽  
Degree Of Freedom ◽  
Translational Degree ◽  
Sorbed Phase

The experimentally observed isotherms and entropies of the intracrystalline sorbed phase of argon in natural and calcium chabazites are compared with those predicted by models. For sorbate concentrations between approximately θ = 0.1 and 0.7, the experimental data are incompatible with the properties of a localized phase but are in agreement with those of a mobile phase. It is demonstrated that it is impossible for the argon to possess two degrees of translational freedom and that it is best described as having one translational degree of freedom and two vibrational degrees of freedom each with a frequency of 1 x 10 12 to 2 x 10 12 s -1 . The examination of the entropy of the system also shows that at concentrations greater than θ = 0.7 the mobile concept breaks down and it is probable that the translational degree of freedom passes to a vibration due to the mutual caging action of sorbate molecules, so that the phase becomes a system of oscillators.

Numerical Analysis for Galloping of Iced Quad Bundle Conductors

2012 ◽  
Vol 226-228 ◽  
pp. 30-34
Author(s):  
Jun Yan Cai ◽  
Xi Jun Liu ◽  
Su Xia Zhang
Keyword(s):  
Numerical Analysis ◽  
Degrees Of Freedom ◽  
Damping Ratio ◽  
Simplified Model ◽  
Fluid Density ◽  
Spring Stiffness ◽  
Critical Wind Velocity ◽  
Line Path ◽  
Stiffness And Damping ◽  
Three Degrees Of Freedom

In order to attain the purpose of anti-galloping, a simplified model for iced quad bundle conductors of three degrees of freedom in vertical, horizontal and torsional directions is established by means of the Hamilton principle, in which the effect of spacers stiffness and damping is considered. Based on the model, the influence of related parameters such as fluid density, damping ratio on conductor galloping amplitude and critical wind velocity is analyzed. Simultaneously, the relation curve between elastic property of spacers and conductor galloping is obtained. The results indicate that the conductor galloping can be weakened to some degree with the proper enlargement of damping ratio, the reasonable setting of spring stiffness on spacers and the avoidance of areas such as the wind outlet and windward as much as possible when choosing the line path and so on.

Modeling and Validation of a Roll Simulator for Recreational Off-Highway Vehicles

2011 ◽  
Author(s):  
Scott B. Zagorski ◽  
Dennis A. Guenther ◽  
Gary J. Heydinger ◽  
Anmol S. Sidhu ◽  
Dale A. Andreatta
Keyword(s):  
Experimental Data ◽  
Degrees Of Freedom ◽  
Close Agreement ◽  
Energy Equation ◽  
Equations Of Motion ◽  
Excellent Correlation ◽  
Motor Systems ◽  
Non Linear ◽  
Entrapped Air ◽  
Three Degrees Of Freedom

A model of a roll simulator for recreational off-highway vehicles (ROV) is presented. Models of each sub-system are described including the equations of motion, the braking, hydraulic and roll motor systems. Derivation of the equations of motion, obtained using Lagrange’s energy equation, demonstrates that they have three degrees-of-freedom (two dynamic, one static) and are coupled and highly non-linear. Results from the hydraulic sub-system illustrated that the amount of entrapped air in the system can significantly influence the response. Comparisons of the model with experimental data from the actual roll simulator showed close agreement. The greatest difference was with motor pressure. The acceleration levels and roll motions for both the model and experimental data showed excellent correlation.

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