Dynamic Behaviour and Stability Analysis of Multibody Haptic Systems

2012 ◽  
Author(s):  
Sara Shayan-Amin ◽  
László L. Kovács ◽  
József Kövecses
Keyword(s):  
Dynamic Model ◽  
Force Feedback ◽  
Joint Model ◽  
Simplified Model ◽  
Design Parameters ◽  
Experimental Investigations ◽  
Stability Boundaries ◽  
Flexible Joint ◽  
Haptic Devices ◽  
The Stability

To investigate the effects of mechanical design parameters on the performance of force feedback haptic devices, a representative dynamic model of the system is required. In this paper, the experimental investigations conducted on a 2DoF haptic device revealed that flexibility associated with the joints reduced the stable domain of operation considerably. Therefore, dynamic model of the investigated mechanism including the joint flexibility and physical damping is considered. The stability boundaries achieved by using the proposed flexible joint model is in good agreement with experimental results. A simplified model of the system is then developed employing a decomposition proposed in [1]. It is shown that the stability limits obtained by this simplified model give a slightly conservative but close estimate to the stability boundaries of the higher DoF flexible joint model. Such a simplified and experimentally validated model can be used for impedance-type haptic devices. The developed model makes it possible to investigate the effect of different mechanical parameters on the performance of multibody haptic systems.

Automated Stability Analysis of a Vehicle in Combined Pitch and Roll

2002 ◽  
Author(s):  
James K. Sprague ◽  
Shyi-Ping Liu
Keyword(s):  
Stability Analysis ◽  
Rigid Body ◽  
Contact Forces ◽  
Design Parameters ◽  
Spherical Coordinates ◽  
Stability Boundaries ◽  
Overturning Stability ◽  
Heading Angle ◽  
The Stability ◽  
Six Degree Of Freedom

This paper presents a rigid body modeling approach using ADAMS™ for an overturning stability analysis of a vehicle stopped at an arbitrary heading angle on a steep grade. The vehicle is modeled as a six-degree-of-freedom rigid body with multiple contact forces acting on the ground. A gravity vector bounded by sets of spherical coordinates is applied to the vehicle to represent the physics of a vehicle stopped on a grade with any arbitrary combination of pitch and roll angles. A design of experiments study is performed to locate the overturning stability boundaries within given levels of design parameters. Results are output using two effective graphical means of depicting the stability regions and magnitude of contact forces.

Hydrodynamic Memory Effect on Stability, Bifurcation, and Chaos of Two-Point Mooring Systems

1997 ◽  
Vol 41 (01) ◽  
pp. 26-44
Author(s):  
Jin-Sug Chung ◽  
Michael M. Bernitsas
Keyword(s):  
Memory Effect ◽  
Design Parameters ◽  
Wave Loads ◽  
Mooring Lines ◽  
Stability Boundaries ◽  
The Stability ◽  
Systems With Memory ◽  
Hydrodynamic Wave ◽  
Nonlinear Elastic ◽  
With Memory

The stability properties of two-point mooring systems governed by their slow horizontal motions are studied theoretically. The often-neglected memory effect due to hydrodynamic wave loads change—in some cases critically—the stability boundaries in the system design space. The third-order maneuvering equations and a nonlinear elastic spring model are used to describe the dynamics of the moored vessel and the mooring lines, respectively. The resulting model accurately represents a two-point mooring system and can be used for stability analysis in the sense of Lyapunov. The stability charts of mooring systems with memory effects exhibit considerable differences from systems without memory in local regions of bifurcation diagrams. Further, the pattern of these changes of stability boundaries varies with the hydrodynamic properties of the moored vessel and/or the environmental conditions. The findings of this study suggest that the number of influencing design parameters can be much more than the present stability theory of dynamical systems can handle. They prove, however, that neglecting the memory effect may result in selecting unsafe configurations of two-point mooring systems.

scholarly journals A Method for Parametric Analysis of Stability Boundaries for Nonlinear Periodic Vibrations of Structures With Contact Interfaces

2018 ◽  
Author(s):  
E. P. Petrov
Keyword(s):  
Parametric Analysis ◽  
Large Scale ◽  
Contact Stiffness ◽  
Stability Loss ◽  
Forced Response ◽  
Scale Model ◽  
Design Parameters ◽  
Stability Boundaries ◽  
Analysis Of Stability ◽  
The Stability

A method for parametric analysis of the stability loss boundary has been developed for periodic regimes of nonlinear forced vibrations for a first time. The method allows parametric frequency-domain calculations of the stability loss together with the vibration amplitudes and design parameter values corresponding to the stability boundaries. The tracing algorithm is applied to obtain the trajectories of stability loss points as functions of design parameters. The parametric stability loss is formulated for cases when: (i) the design parameters characterise the properties of nonlinear contact interfaces (e.g. gap, contact stiffness, friction coefficient, etc.) and (ii) the design parameters describe linear components of the analysed structure (e.g. parameters of geometric shape, material, natural frequencies, modal damping etc.) and (iii) these parameters describe the excitation loads (e.g. their level, distribution or frequency). An approach allowing the multiparametric analysis of stability boundaries is proposed. The method uses the multiharmonic representation of the periodic forced response and aimed at the analysis of realistic gas-turbine structures comprising thousands and millions degrees of freedom. The method can be used for the effective search of isolated branches of the nonlinear solutions and examples of detection and search of the isolated branches are given: for relatively small and for large-scale finite element models. The efficiency of the method for calculation of the stability boundaries and for the search of isolated branches is demonstrated on simple systems and on a large-scale model of a turbine blade.

scholarly journals A Method for Parametric Analysis of Stability Boundaries for Nonlinear Periodic Vibrations of Structures With Contact Interfaces

2018 ◽  
Vol 141 (3) ◽  
Author(s):  
E. P. Petrov
Keyword(s):  
Parametric Analysis ◽  
Large Scale ◽  
Contact Stiffness ◽  
Stability Loss ◽  
Forced Response ◽  
Scale Model ◽  
Design Parameters ◽  
Stability Boundaries ◽  
Analysis Of Stability ◽  
The Stability

A method for parametric analysis of the stability loss boundary has been developed for periodic regimes of nonlinear forced vibrations for a first time. The method allows parametric frequency-domain calculations of the stability loss together with the vibration amplitudes and design parameter values corresponding to the stability boundaries. The tracing algorithm is applied to obtain the trajectories of stability loss points as functions of design parameters. The parametric stability loss is formulated for cases when (i) the design parameters characterize the properties of nonlinear contact interfaces (e.g., gap, contact stiffness, and friction coefficient); (ii) the design parameters describe linear components of the analyzed structure (e.g., parameters of geometric shape, material, natural frequencies, and modal damping); and (iii) these parameters describe the excitation loads (e.g., their level, distribution or frequency). An approach allowing the multiparametric analysis of stability boundaries is proposed. The method uses the multiharmonic representation of the periodic forced response and aimed at the analysis of realistic gas-turbine structures comprising thousands and millions degrees-of-freedom (DOF). The method can be used for the effective search of isolated branches of the nonlinear solutions and examples of detection and search of the isolated branches are given: for relatively small and for large-scale finite element (FE) models. The efficiency of the method for calculation of the stability boundaries and for the search of isolated branches is demonstrated on simple systems and on a large-scale model of a turbine blade.

Symmetrizable Difference Dchemes

2005 ◽  
Vol 5 (1) ◽  
pp. 3-50 ◽  
Author(s):  
Alexei A. Gulin
Keyword(s):  
Initial Data ◽  
Difference Scheme ◽  
Difference Schemes ◽  
Time Dependent ◽  
Stability Boundaries ◽  
Typical Representative ◽  
Variable Weight ◽  
The Stability ◽  
Conditions Of Stability ◽  
The Right

AbstractA review of the stability theory of symmetrizable time-dependent difference schemes is represented. The notion of the operator-difference scheme is introduced and general ideas about stability in the sense of the initial data and in the sense of the right hand side are formulated. Further, the so-called symmetrizable difference schemes are considered in detail for which we manage to formulate the unimprovable necessary and su±cient conditions of stability in the sense of the initial data. The schemes with variable weight multipliers are a typical representative of symmetrizable difference schemes. For such schemes a numerical algorithm is proposed and realized for constructing stability boundaries.

Design of a wheeled wall climbing robot based on the performance of bio-inspired dry adhesive material

Robotica ◽  
2021 ◽  
pp. 1-14
Author(s):  
Hongkai Li ◽  
Xianfei Sun ◽  
Zishuo Chen ◽  
Lei Zhang ◽  
Hongchao Wang ◽  
...  
Keyword(s):  
Flat Surface ◽  
Thrust Force ◽  
Adhesion Force ◽  
Structure Design ◽  
Design Parameters ◽  
Climbing Robot ◽  
Adhesive Material ◽  
Ducted Fan ◽  
The Stability ◽  
Belt System

Abstract Inspired by gecko’s adhesive feet, a wheeled wall climbing robot is designed in this paper with the synchronized gears and belt system acting as the wheels by considering both motion efficiency and adhesive capability. Adhesion of wheels is obtained by the bio-inspired adhesive material wrapping on the outer surface of wheels. A ducted fan mounted on the back of the robot supplies thrust force for the adhesive material to generate normal and shear adhesion force whilemoving on vertical surfaces. Experimental verification of robot climbing on vertical flat surface was carried out. The stability and the effect of structure design parameters were analyzed.

scholarly journals Simulation Tests of a Cow Milking Machine—Analysis of Design Parameters

Processes ◽  
2021 ◽  
Vol 9 (8) ◽  
pp. 1358
Author(s):  
Ewa Golisz ◽  
Adam Kupczyk ◽  
Maria Majkowska ◽  
Jędrzej Trajer
Keyword(s):  
Mathematical Model ◽  
Simplified Model ◽  
Design Parameters ◽  
Degree Polynomial ◽  
Fourth Degree ◽  
Local Loss ◽  
Linear Drag ◽  
Milking Machine ◽  
Machine Analysis ◽  
The Impact

The objective of this paper was to create a mathematical model of vacuum drops in a form that enables the testing of the impact of design parameters of a milking cluster on the values of vacuum drops in the claw. Simulation tests of the milking cluster were conducted, with the use of a simplified model of vacuum drops in the form of a fourth-degree polynomial. Sensitivity analysis and a simulation of a model with a simplified structure of vacuum drops in the claw were carried out. As a result, the impact of the milking machine’s design parameters on the milking process could be analysed. The results showed that a change in the local loss and linear drag coefficient in the long milk duct will have a lower impact on vacuum drops if a smaller flux of inlet air, a higher head of the air/liquid mix, and a higher diameter of the long milk tube are used.

scholarly journals Quiescent Gap Solitons in Coupled Nonuniform Bragg Gratings with Cubic-Quintic Nonlinearity

2021 ◽  
Vol 11 (11) ◽  
pp. 4833
Author(s):  
Afroja Akter ◽  
Md. Jahedul Islam ◽  
Javid Atai
Keyword(s):  
Numerical Stability ◽  
Bragg Gratings ◽  
Stability Boundaries ◽  
Quintic Nonlinearity ◽  
Numerical Stability Analysis ◽  
Gap Solitons ◽  
The Stability ◽  
Dual Core

We study the stability characteristics of zero-velocity gap solitons in dual-core Bragg gratings with cubic-quintic nonlinearity and dispersive reflectivity. The model supports two disjointed families of gap solitons (Type 1 and Type 2). Additionally, asymmetric and symmetric solitons exist in both Type 1 and Type 2 families. A comprehensive numerical stability analysis is performed to analyze the stability of solitons. It is found that dispersive reflectivity improves the stability of both types of solitons. Nontrivial stability boundaries have been identified within the bandgap for each family of solitons. The effects and interplay of dispersive reflectivity and the coupling coefficient on the stability regions are also analyzed.

scholarly journals The Application of an Impedance-Passivity Controller in Haptic Stability Analysis

2021 ◽  
Vol 11 (4) ◽  
pp. 1618
Author(s):  
Ping-Nan Chen ◽  
Yung-Te Chen ◽  
Hsin Hsiu ◽  
Ruei-Jia Chen
Keyword(s):  
Control Systems ◽  
Force Feedback ◽  
Training System ◽  
Considerable Time ◽  
Virtual Training ◽  
Control Gain ◽  
Negative Damping ◽  
The Stability ◽  
Time Required ◽  
Stable Control

This paper proposes a passivity theorem on the basis of energy concepts to study the stability of force feedback in a virtual haptic system. An impedance-passivity controller (IPC) was designed from the two-port network perspective to improve the chief drawback of haptic systems, namely the considerable time required to reach stability if the equipment consumes energy slowly. The proposed IPC can be used to achieve stability through model parameter selection and to obtain control gain. In particular, haptic performance can be improved for extreme cases of high stiffness and negative damping. Furthermore, a virtual training system for one-degree-of-freedom sticking was developed to validate the experimental platform of our IPC. To ensure consistency in the experiment, we designed a specialized mechanical robot to replace human operation. Finally, compared with basic passivity control systems, our IPC could achieve stable control rapidly.

Design and Dynamic Modeling of a Flexible Feathering Joint for Robotic Fish Pectoral Fins

2014 ◽  
Author(s):  
Sanaz Bazaz Behbahani ◽  
Xiaobo Tan
Keyword(s):  
Dynamic Model ◽  
Robotic Fish ◽  
Power Stroke ◽  
Hydrodynamic Drag ◽  
Pectoral Fin ◽  
Flexible Joint ◽  
Blade Element Theory ◽  
Pectoral Fins ◽  
Flexible Part ◽  
Recovery Stroke

In this paper, we propose a novel design for a pectoral fin joint of a robotic fish. This joint uses a flexible part to enable the rowing pectoral fin to feather passively and thus reduce the hydrodynamic drag in the recovery stroke. On the other hand, a mechanical stopper allows the fin to maintain its motion prescribed by the servomotor in the power stroke. The design results in net thrust even when the fin is actuated symmetrically for the power and recovery strokes. A dynamic model for this joint and for a pectoral fin-actuated robotic fish involving such joints is presented. The pectoral fin is modeled as a rigid plate connected to the servo arm through a pair of torsional spring and damper that describes the flexible joint. The hydrodynamic force on the fin is evaluated with blade element theory, where all three components of the force are considered due to the feathering degree of freedom of the fin. Experimental results on robotic fish prototype are provided to support the effectiveness of the design and the presented dynamic model. We utilize three different joints (with different sizes and different flexible materials), produced with a multi-material 3D printer, and measure the feathering angles of the joints and the forward swimming velocities of the robotic fish. Good match between the model predictions and experimental data is achieved, and the advantage of the proposed flexible joint over a rigid joint, where the power and recovery strokes have to be actuated at different speeds to produce thrust, is demonstrated.

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