scholarly journals Dynamic Characteristics and Restraint Mechanism of Elastically Restrained Connecting Joints on the Flexible Robotic Manipulator

2018 ◽  
Vol 2018 ◽  
pp. 1-12
Author(s):  
Yufei Liu ◽  
Han Xu ◽  
Xi Zhang
Keyword(s):  
Dynamic Model ◽  
Dynamic Characteristics ◽  
Robotic Manipulator ◽  
Real Property ◽  
Vibration Displacement ◽  
Restraint Mechanism ◽  
Elasticity Property ◽  
Flexible Robotic Manipulator ◽  
Elastically Restrained ◽  
Dynamic Nonlinearity

Connecting joints are significant components in mechanical systems as well as the Cartesian flexible robotic manipulator (FRM) which consists of a flexible arm and a moving base through connecting joints. Uncertain factors, such as unqualified assembly, accidental collision, and longtime service, will reduce the restraint stiffness of the connecting joints and enhance the dynamic nonlinearity of the system subsequently. In this case, the traditional perfectly fixed restrained model cannot reflect the real property of the connecting joints. This paper focuses on the elasticity property of the connecting joints with uncertain restraint stiffness, which is defined as the elastically restrained connecting joints (ERCJ), and investigates the dynamic characteristics and restraint mechanism of the ERCJ. An elastic restrained model is proposed to describe the elasticity property of the connecting joints and determine the elastic restrained region of the ERCJ, and the frequency relationship equation in the elastic restrained region is simultaneously determined and verified. Based on the proposed elastic restrained model and Hamilton’s variational principle, the dynamic model and vibration displacement equation of the FRM with elastically restrained connecting joints (FRMERCJ) are established. The virtual prototype experiment of the FRMERCJ is conducted to verify the dynamic model and reveal the restraint mechanism of the ERCJ. The proposed elastic restrained model in this paper can accurately describe the elasticity property of the connecting joints, and the ERCJ is sensitive to motion velocities especially under higher velocities for higher-order vibrations in the initial stage. The results are meaningful for the dynamic analysis and vibration control of robotic manipulators.

Dynamic Model of Gears with Trapped Oil and Coupled Analysis in External Spur-Gear Pump

2011 ◽  
Vol 130-134 ◽  
pp. 610-615 ◽  
Author(s):  
Yu Long Li ◽  
Kun Liu ◽  
Fu Chun Sun
Keyword(s):  
Dynamic Model ◽  
Dynamic Characteristics ◽  
Contact Stiffness ◽  
Spur Gear ◽  
Vibration Characteristics ◽  
Coupled Analysis ◽  
Vibration Velocity ◽  
Gear Pump ◽  
Vibration Displacement ◽  
The Impact

In order to understand the vibration characteristics of gears based on trapped-oil in external spur-gear pump, from the calculations of trapped-oil pressure and hydraulic load and contact stiffness and trapped-oil stiffness, etc., a dynamic model coupled with trapped-oil pressure was derived for the gears, then an iterative operation based on Runge-Kutta method was used for analyzing the model, therefore the data related to trapped-oil pressure and the vibration displacement and the vibration velocity were obtained in a periodic of trapped oil, and the impact of different backlash value and different distance between two unloading grooves on trapped oil pressure and dynamic characteristics of gears was briefly analyzed. All results of simulation showed that trapped-oil pressure and trapped-oil stiffness had greater impact on vibration characteristics of gears in external spur-gear pump, trapped-oil stiffness could reduce the vibration of the gears; in simulation of trapped-oil pressure, dynamic trapped-oil model related to dynamic characteristics of gears more accurate than the static trapped-oil model irrelated to dynamic characteristics of gears; the trapped-oil pressures in two trapped-oil cavity were different, the vibration characteristics of gears was better that in larger backlash value, etc.. Finally, by the trapped-oil stiffness of the external gear pump is unique, the important conclusions are educed that the vibration of gears in external spur-gear pump is indeed different from conventional gears and so on.

scholarly journals Dynamic Model and Vibration Power Flow of a Rigid-Flexible Coupling and Harmonic-Disturbance Exciting System for Flexible Robotic Manipulator with Elastic Joints

2015 ◽  
Vol 2015 ◽  
pp. 1-10 ◽  
Author(s):  
Yufei Liu ◽  
Wei Li ◽  
Yuqiao Wang ◽  
Xuefeng Yang ◽  
Jinyong Ju
Keyword(s):  
Dynamic Model ◽  
Power Flow ◽  
Electromechanical Coupling ◽  
Coupling Effect ◽  
Robotic Manipulator ◽  
Structure Design ◽  
Exciting System ◽  
Vibration Power Flow ◽  
Elastic Joints ◽  
Flexible Robotic Manipulator

This paper investigates the dynamic of a flexible robotic manipulator (FRM) which consists of rigid driving base, flexible links, and flexible joints. With considering the motion fluctuations caused by the coupling effect, such as the motor parameters and mechanism inertias, as harmonic disturbances, the system investigated in this paper remains a parametrically excited system. An elastic restraint model of the FRM with elastic joints (FRMEJ) is proposed, which considers the elastic properties of the connecting joints between the flexible arm and the driving base, as well as the harmonic disturbances aroused by the electromechanical coupling effect. As a consequence, the FRMEJ accordingly remains a flexible multibody system which conveys the effects of rigid-flexible couple and electromechanical couple. The Lagrangian function and Hamilton’s principle are used to establish the dynamic model of the FRMEJ. Based on the dynamic model proposed, the vibration power flow is introduced to show the vibration energy distribution. Numerical simulations are conducted to investigate the effect of the joint elasticities and the disturbance excitations, and the influences of the structure parameters and motion parameters on the vibration power flow are studied. The results obtained in this paper contribute to the structure design, motion optimization, and vibration control of FRMs.

Application of the piecewise constant method in nonlinear dynamics of drill string

2021 ◽  
Vol 0 (0) ◽  
Author(s):  
Jialin Tian ◽  
Jie Wang ◽  
Yi Zhou ◽  
Lin Yang ◽  
Changyue Fan ◽  
...  
Keyword(s):  
Nonlinear Dynamics ◽  
Dynamic Model ◽  
Dynamic Characteristics ◽  
Drill String ◽  
Vibration Velocity ◽  
Kutta Method ◽  
Time Step ◽  
Piecewise Constant ◽  
Runge Kutta Method ◽  
Runge Kutta

Abstract Aiming at the current development of drilling technology and the deepening of oil and gas exploration, we focus on better studying the nonlinear dynamic characteristics of the drill string under complex working conditions and knowing the real movement of the drill string during drilling. This paper firstly combines the actual situation of the well to establish the dynamic model of the horizontal drill string, and analyzes the dynamic characteristics, giving the expression of the force of each part of the model. Secondly, it introduces the piecewise constant method (simply known as PT method), and gives the solution equation. Then according to the basic parameters, the axial vibration displacement and vibration velocity at the test points are solved by the PT method and the Runge–Kutta method, respectively, and the phase diagram, the Poincare map, and the spectrogram are obtained. The results obtained by the two methods are compared and analyzed. Finally, the relevant experimental tests are carried out. It shows that the results of the dynamic model of the horizontal drill string are basically consistent with the results obtained by the actual test, which verifies the validity of the dynamic model and the correctness of the calculated results. When solving the drill string nonlinear dynamics, the results of the PT method is closer to the theoretical solution than that of the Runge–Kutta method with the same order and time step. And the PT method is better than the Runge–Kutta method with the same order in smoothness and continuity in solving the drill string nonlinear dynamics.

Dynamic characteristics of piezoelectric six-dimensional heavy force/moment sensor for large-load robotic manipulator

Measurement ◽  
2012 ◽  
Vol 45 (5) ◽  
pp. 1114-1125 ◽  
Author(s):  
Ying-jun Li ◽  
Gui-cong Wang ◽  
Jun Zhang ◽  
Zhen-yuan Jia
Keyword(s):  
Dynamic Characteristics ◽  
Robotic Manipulator ◽  
Large Load ◽  
Force Moment

scholarly journals Optimal design of high efficiency double helical gear based on dynamics model

2021 ◽  
Vol 3 (8) ◽  
Author(s):  
Fengxia Lu ◽  
Xuechen Cao ◽  
Weiping Liu
Keyword(s):  
Dynamic Model ◽  
High Efficiency ◽  
Bending Strength ◽  
Sliding Friction ◽  
Elastohydrodynamic Lubrication ◽  
Optimization Method ◽  
Transmission Efficiency ◽  
Helical Gear ◽  
Transmission System ◽  
Vibration Displacement

AbstractA 16-degree-of-freedom dynamic model for the load contact analysis of a double helical gear considering sliding friction is established. The dynamic equation is solved by the Runge–Kutta method to obtain the vibration displacement. The method combines the friction coefficient model based on the elastohydrodynamic lubrication theory with the dynamic model, which provides a theoretical basis for the calculation of the power loss of the transmission system. Moreover, the sensitivity analysis of the parameters that affect the transmission efficiency is carried out, and an optimization method of meshing efficiency is proposed without reducing the bending strength of the gears. This method can directly guide the design of the double helical gear transmission system.

Vibration Control of a Constrained Two-Link Flexible Robotic Manipulator With Fixed-Time Convergence

2021 ◽  
pp. 1-11
Author(s):  
Wei He ◽  
Fengshou Kang ◽  
Linghuan Kong ◽  
Yanghe Feng ◽  
Guangquan Cheng ◽  
...  
Keyword(s):  
Vibration Control ◽  
Robotic Manipulator ◽  
Fixed Time ◽  
Flexible Robotic Manipulator

Research on mechanism configuration and dynamic characteristics for multi-split transmission line mobile robot

2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Wei Jiang ◽  
Yating Shi ◽  
Dehua Zou ◽  
Hongwei Zhang ◽  
Hong Jun Li
Keyword(s):  
Mobile Robot ◽  
Transmission Line ◽  
Dynamic Model ◽  
Dynamic Characteristics ◽  
Transmission Lines ◽  
Dynamic Models ◽  
Working Environment ◽  
Joint Torque ◽  
Content Type ◽  
Working Space

Purpose The purpose of this paper is to achieve the optimal system design of a four-wheel mobile robot on transmission line maintenance, as the authors know transmission line mobile robot is a kind of special robot which runs on high-voltage cable to replace or assist manual power maintenance operation. In the process of live working, the manipulator, working end effector and the working environment are located in the narrow space and with heterogeneous shapes, the robot collision-free obstacle avoidance movement is the premise to complete the operation task. In the simultaneous operation, the mechanical properties between the manipulator effector and the operation object are the key to improve the operation reliability. These put forward higher requirements for the mechanical configuration and dynamic characteristics of the robot, and this is the purpose of the manuscript. Design/methodology/approach Based on the above, aiming at the task of tightening the tension clamp for the four-split transmission lines, the paper proposed a four-wheel mobile robot mechanism configuration and its terminal tool which can adapt to the walking and operation on multi-split transmission lines. In the study, the dynamic models of the rigid robot and flexible transmission line are established, respectively, and the dynamic model of rigid-flexible coupling system is established on this basis, the working space and dynamic characteristics of the robot have been simulated in ADAMS and MATLAB. Findings The research results show that the mechanical configuration of this robot can complete the tightening operation of the four-split tension clamp bolts and the motion of robot each joint meets the requirements of driving torque in the operation process, which avoids the operation failure of the robot system caused by the insufficient or excessive driving force of the robot joint torque. Originality/value Finally, the engineering practicability of the mechanical configuration and dynamic model proposed in the paper has been verified by the physical prototype. The originality value of the research is that it has double important theoretical significance and practical application value for the optimization of mechanical structure parameters and electrical control parameters of transmission line mobile robots.

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