scholarly journals Impact analysis of actuator torque degradation on the IRB 120 robot performance using simscape-based model

2021 ◽  
Vol 11 (6) ◽  
pp. 4850
Author(s):  
Le Ngoc Truc ◽  
Nguyen Phung Quang ◽  
Nguyen Hong Quang
Keyword(s):  
Life Cycle ◽  
Physical Model ◽  
Impact Analysis ◽  
Closed Loop ◽  
Simulation Environment ◽  
Robot System ◽  
Torque Loss ◽  
Simulation Results ◽  
Robot Performance ◽  
The Impact

Actuators in a robot system may become faulty during their life cycle. Locked joints, free-moving joints, and the loss of actuator torque are common faulty types of robot joints where the actuators fail. Locked and free-moving joint issues are addressed by many published articles, whereas the actuator torque loss still opens attractive investigation challenges. The objectives of this study are to classify the loss of robot actuator torque, named actuator torque degradation, into three different cases: Boundary degradation of torque, boundary degradation of torque rate, and proportional degradation of torque, and to analyze their impact on the performance of a typical 6-DOF robot (i.e., the IRB 120 robot). Typically, controllers of robots are not pre-designed specifically for anticipating these faults. To isolate and focus on the impact of only actuator torque degradation faults, all robot parameters are assumed to be known precisely, and a popular closed-loop controller is used to investigate the robot’s responses under these faults. By exploiting MATLAB-the reliable simulation environment, a simscape-based quasi-physical model of the robot is built and utilized instead of an actual expensive prototype. The simulation results indicate that the robot responses cannot follow the desired path properly in most fault cases.

The Impact Analysis of Revolute Pair Clearance to the End Pose Accuracy of Welding Robot

2015 ◽  
Vol 778 ◽  
pp. 259-263
Author(s):  
Fa Jun Zhang ◽  
Lin Zi Li ◽  
Hui Lin ◽  
Yin Lin Pu ◽  
Zhu Xin
Keyword(s):  
Mathematical Model ◽  
Impact Analysis ◽  
Joint Clearance ◽  
Welding Robot ◽  
Movement Characteristic ◽  
Movement Stability ◽  
Simulation Results ◽  
The Impact ◽  
The Mathematical Model ◽  
Welding Position

Various uncertain factors affect the movement of the welding robot, thus welding gun tend to deviate from the theory of welding position which reduces the welding accuracy, of which the revolute pair clearance have an greater effect on the movement of the welding robot. In order to study the influence of revolute pair clearance to the end pose accuracy of welding robot, the mathematical model of revolute pair clearance was established, and the software SolidWorks was used for establishing the welding robot model, making simulations of the mechanical arm with joint clearance and no joint clearance. At last, the movement characteristic of the hinge shaft is attained. The simulation results showed that the shaft velocity and displacement of mechanical arm with joint clearance has a certain degree of fluctuation, which affecting the end pose accuracy of welding robot , and reducing the movement stability and the welding accuracy of welding robot.

scholarly journals Environmental impact of tofu production in West Jakarta using a life cycle assessment approach

2021 ◽  
Vol 896 (1) ◽  
pp. 012050
Author(s):  
I P Sari ◽  
W Kuniawan ◽  
F L Sia
Keyword(s):  
Global Warming ◽  
Life Cycle Assessment ◽  
Life Cycle ◽  
Environmental Impact ◽  
Ozone Depletion ◽  
Impact Analysis ◽  
Whole Process ◽  
Assessment Approach ◽  
Cradle To Gate ◽  
The Impact

Abstract Tofu is one of the processed soybean foods that are very popular with Indonesian society. Despite the popularity of Tofu, Tofu production in Indonesia is generally small and medium, reaching 500 kg per day, as in the tofu factory in Semanan, West Jakarta. The purpose of this study is to analyze the environmental impact of tofu production in West Jakarta. The life cycle assessment (LCA) approach was used to achieve this goal with SimaPro software for impact calculations. This research applies the LCA cradle to gate, which consists of soybean cultivation, transportation, and tofu production processes. The environmental impacts of tofu production analyzed in this study include global warming, ozone depletion, acidification, and eutrophication. The impact analysis showed that the acquisition of soybeans, which consisted of soybean cultivation and transportation, had the most significant environmental impact with a global warming potential value of 0.882 kg CO2 eq out of a total of 0.978 CO2 eq for the whole process.

Detection of Insulation Defects in Automated In-Process Testing of Electric Wire during its Extrusion

2019 ◽  
Vol 942 ◽  
pp. 141-150
Author(s):  
Alexander Goldshtein ◽  
Galina Vavilova ◽  
Alexander Rumkin ◽  
Oldrich Starý
Keyword(s):  
Numerical Simulation ◽  
Mathematical Simulation ◽  
Physical Model ◽  
The Core ◽  
Process Testing ◽  
Capacitive Method ◽  
Simulation Results ◽  
Local Defects ◽  
Air Cavities ◽  
The Impact

The paper describes the electro-capacitive method for monitoring wire capacitance, which is implemented using the CAP-10 device, employed for in-process testing of the single core electric wire capacitance. Focus is made on the operating principle of the CAP-10 device. The possibility of using the CAP-10 device for detecting local defects in wire insulation is proved. Insulation defects such as foreign inclusions in the form of copper shavings, air cavities inside insulation and those at the core–insulation boundary are modeled. The impact of the defect geometric parameters on the wire capacitance measured during in-process testing is investigated through numerical simulation. Mathematical simulation results are validated through the physical model using the CAP-10 device.

A Poisson-Based Formulation for Frictional Impact Analysis of Open and Closed-Loop Multibody Mechanical Systems

1999 ◽  
Author(s):  
Hamid M. Lankarani ◽  
Murthy Ayyagari
Keyword(s):  
Impact Analysis ◽  
Closed Loop ◽  
Mechanical Systems ◽  
Friction Model ◽  
Momentum Balance ◽  
Contact Period ◽  
Double Pendulum ◽  
Canonical Momentum ◽  
Impact Problems ◽  
The Impact

Abstract Frictional impact analysis requires a friction model capable of correct detection of all possible impact modes such as sliding, sticking, and reverse sliding. Conventional methods for frictional impact analysis have either shown energy gain or not developed for jointed mechanical system, and especially not for closed-chain multibody systems. This paper presents a general formulation for the analysis of impact problems with friction in both open- and closed-loop multibody mechanical systems. The Poisson’s hypothesis is used for the definition of the coefficient of restitution, and thus the energy gains inherent with the use of the Newton’s hypothesis are avoided. A canonical form of the system equations of motion using Cartesian coordinates and Cartesian momenta is utilized. The canonical momentum-balance equations are formulated and solved for the change in the system Cartesian momenta using an extension of Routh’s graphical method for the normal and tangential impulses. The velocity jumps are calculated by balancing the accumulated system momenta during the contact period. The formulation is shown to recognize all modes of impact; i.e., sliding, sticking, and reverse sliding. The impact problems are classified into seven cases, and based on the pre-impact system configuration and velocities, expressions for the normal and tangential impulses are derived for each impact case. Examples including the impact of a falling rod on the ground, the tip of a double pendulum impacting the ground, and the impact of the rear wheel and suspension system of an automobile executing a very stiff bump are analyzed with the developed formulation.

scholarly journals Dynamic Finite Element Analysis of a New Type Flexible Rock Shed under the Impact of Rock Block and Improving the Design

2018 ◽  
Vol 2018 ◽  
pp. 1-16 ◽  
Author(s):  
Lianming Cui ◽  
Min Wang ◽  
Tangrong Yu
Keyword(s):  
Numerical Simulation ◽  
Finite Element ◽  
Impact Analysis ◽  
Numerical Models ◽  
Element Model ◽  
Functional Evaluation ◽  
Element Analysis ◽  
Simulation Results ◽  
Improved Design ◽  
The Impact

A 1:1 flexible rock shed made of flexible nets and steel-vaulted structure is manufactured and tested for functional evaluation with impact experiment previously. To further discuss the performance of this structure under the impact of rockfalls and to improve the design, numerical simulation for this structure is carried out in this paper. Firstly, the simplified numerical models for characterizing the mechanical behavior of the ring nets and wire meshes are deduced. Then, a detailed finite element model for the flexible rock shed is developed for impact analysis. By comparing the experimental data, the numerical model for the flexible rock shed is shown to be reliable in predicting the dynamic behavior of the flexible rock shed. Finally, combined with the numerical simulation results and experimental results, an improved design is presented, and the numerical simulation results show that the energy dispersion in the improved design of the rock shed is more equalized, and damages on the steel-vaulted structure are much improved.

scholarly journals System Dynamics Modelling of Remanufacturing and Recycling Mode Based on Closed-Loop Across-Chain Competition

2017 ◽  
Vol 2017 ◽  
pp. 1-12 ◽  
Author(s):  
Shidi Miao ◽  
Deyun Chen ◽  
Tengfei Wang
Keyword(s):  
Supply Chain ◽  
Closed Loop ◽  
Third Party ◽  
Total Revenue ◽  
Proposed Model ◽  
Dynamics Modelling ◽  
Simulation Results ◽  
The Impact

To face the reality of resources exhaustion, the significance of recycling and remanufacturing in the closed-loop chain has become quite evident. This paper constructs a competitive recycling and remanufacturing model of the closed-loop supply chain through a case study of Midea Corp. and Gree Corp. and explores the impact of two recycling modes on total revenue of the supply chain and market share. The simulation results show that the total revenue of the supply chain will benefit from the increasing coverage points by the third party and the increasing environmental awareness of certain regions. The retailers show more enthusiasm of recycling through certain amendment of the contract between manufacturers and retailers. The time of payment could be shortened in closed loop. Moreover, the improvement of recycling mechanism of the retailers can enlarge the share of supply chain market. Guiding role of the proposed model and the simulation results played in establishing a better supply chain mode is presented.

scholarly journals TOTAL IMPACT EVALUATION OF TRANSPORTATION SYSTEMS

Transport ◽  
2020 ◽  
Vol 35 (2) ◽  
pp. 193-202 ◽  
Author(s):  
József Rohács ◽  
Dániel Rohács
Keyword(s):  
Life Cycle ◽  
Life Cycle Cost ◽  
Impact Analysis ◽  
Transportation Systems ◽  
Sustainable Transportation ◽  
Transport Infrastructure ◽  
System Level ◽  
Evaluation Methodology ◽  
The Impact ◽  
Total Impact

Impact assessment, in general, includes the environmental safety and security considerations, and cost/cost-benefit analysis of the used sources. As usual, the impact is evaluated at two levels: (1) impact during operation (usage) related to a chosen operational unit (e.g., running distance [km], operational time [h] or calendar time [h]), (2) the life-cycle (project life-cycle) impact. The environmental impact is characterized by the chemical and noise emissions. Safety and security are estimated by risks. Costs are calculated based on the required financial support and caused losses. All these calculations are related to the individual vehicles or vehicles with average behaviours. The investigation of sustainability impact requires a wider evaluation and approach, for example, by also including production and recycling beside the operational aspects. This paper generalizes the impact analysis. At first, it considers all types of impacts including the direct (e.g., accidents) and indirect long-term effects (e.g., health problems caused by emissions). All the impacts are expressed as costs. The defined Sustainable Transportation Performance Index (STPI) is the Total Life-Cycle Cost (TLCC) related to the unit of transport work. As such, it combines the life-cycle emissions evaluation and transport costing methods. It contains the total operational and total impact costs. The proposed approach introduces three new specific features in the impact analysis: (1) the impact is evaluated on the transportation system level, (2) the impact is estimated as the total value (including all the related sub-systems and elements, like vehicles, transport infrastructure, transport flow control, etc.), (3) proposes a unique index to describe the total impact. The paper describes the general equations and the developed methodology for the estimation of the total impact and analyses its applicability. The preliminary results demonstrate the applicability of the defined index and its evaluation methodology. It also shows the limitations of traditional cost models. Further test results and wider application of the methodology will be provided in a series of follow up papers by the research team.

scholarly journals Land use changes in the EU: Policy and macro impact analysis

2008 ◽  
Vol 53 (No. 12) ◽  
pp. 565-579
Author(s):  
P. Ciaian
Keyword(s):  
Land Use ◽  
Agricultural Policy ◽  
Impact Analysis ◽  
Land Use Changes ◽  
Arable Land ◽  
Scenario Simulation ◽  
The Common ◽  
Simulation Results ◽  
The Impact ◽  
The Eu

This paper analyses the impact of the Common Agricultural Policy (CAP) and macroeconomy on land use changes in the EU. Three scenarios are simulated up to 2030: baseline, macro scenario and policy scenario. Simulation results indicate that GDP leads to a stronger effect on land use changes than the CAP. Stronger changes in land use are observed at the crop disaggregated level than at the aggregated level for the total agricultural area, arable land, grassland and permanent crops.

scholarly journals Impact Analysis Using Life Cycle Assessment of Asphalt Production from Primary Data

2020 ◽  
Vol 12 (24) ◽  
pp. 10171
Author(s):  
Giuseppe Sollazzo ◽  
Sonia Longo ◽  
Maurizio Cellura ◽  
Clara Celauro
Keyword(s):  
Life Cycle ◽  
Impact Analysis ◽  
Road Construction ◽  
Primary Data ◽  
Asphalt Production ◽  
Energy Technologies ◽  
Current Production ◽  
Production Temperature ◽  
Average Plant ◽  
The Impact

Road construction and maintenance have a great impact on the environment, owing to the huge volumes of resources involved. Consequently, current production procedures and technologies must be properly investigated, for identifying and quantifying the life cycle environmental impacts produced. In this paper, primary data, i.e., site-specific data directly collected or measured on a reference plant, are analyzed for calculating the impact of the production of a hot mix asphalt. The analysis is performed in a from “cradle to gate” approach to estimate the environmental burdens of the production process in an average plant, representative of the existing technology in Italy and Southern Europe. The research outcomes are useful to increase reliability in quantification of asphalt production impacts and the contribution of each component. The results represent a reference basis for producers, designers, and contractors in the decisional phases, identifying the most critical aspects in the current practice and the possible improvements for reducing impacts of road industries. In this regard, efficient energy technologies for reducing the production temperature (such as warm mix asphalt) and burned fuels are proven to assure relevant improvements in the environmental performance.

scholarly journals Sustainability-Based Life Cycle Analysis of Biomethane as a Transportation Fuel Compared to Diesel and Natural Gas in Arequipa

2021 ◽  
Author(s):  
Milagros Alvarez-Huamani ◽  
Joshelyn Paredes-Zavala ◽  
Gonzalo Davila-del-Carpio
Keyword(s):  
Life Cycle ◽  
Natural Gas ◽  
Impact Assessment ◽  
Co2 Emissions ◽  
Life Cycle Analysis ◽  
Impact Analysis ◽  
Resource Depletion ◽  
Transport Infrastructure ◽  
Fossil Resource ◽  
The Impact

The Life Cycle Analysis (LCA) was used to assess the impact of biomethane plant of the “La Católica” in Pedregal-Majes-Arequipa farm, fed with cow manure and holding a production of 60 Nm3/day of purified biogas. Life cycle inventory, impact assessment and interpretation were performed. The functional unit established was 1 MJ of energy produced; the study was modeled with SimaPro software, Ecoinvent Database and ReCiPe Midpoint (H) impact assessment methodology, according to the impact categories of climate change and fossil resource depletion. The impact analysis was limited to the Well to Tank (WTT) approach, which involves feedstock transport, substrate mixed, anaerobic digestion, biogas purification, storage and injection of the fuel into transport vehicles. The digestion process generated the highest amount of CO2 emissions (1.79E-02 kg CO2 eq/MJ-biomethane) and the highest depletion of fossil resources (6.58E-03 kg oil eq/MJ-biomethane), compared to the other fuel production, due to energy consumption and transport infrastructure. Biomethane was then compared to fossil fuels, resulting in natural gas generating the least amount of CO2 emissions, followed by diesel and finally biomethane. For the fossil resource depletion category, biomethane presented the lowest amount of fossil fuel consumption (1.37E-02 kg oil eq/MJ-biomethane), followed by natural gas and diesel.

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