Design and optimization of a new kind of hydraulic cylinder for mobile robots

2015 ◽  
Vol 229 (18) ◽  
pp. 3459-3472 ◽  
Author(s):  
Yong Xue ◽  
JunHong Yang ◽  
JianZhong Shang ◽  
HuiXiang Xie
Keyword(s):  
Mobile Robots ◽  
Hydraulic System ◽  
Energy Recovery ◽  
Hydraulic Cylinder ◽  
Effective Area ◽  
Well Performance ◽  
Load Pressure ◽  
Design And Optimization ◽  
The One ◽  
The Mathematical Model

In order to improve the efficiency of multi-actuator mobile robots hydraulic system, this paper proposes a new kind of cylinder whose effective area is variable. The new cylinder has multi chambers which can be connected with each other or to a main system circuit by controlling switching valves. On the one hand, the new cylinder can make sure that the load pressure of all actuators is almost equal through varying effective area. On the other hand, the new cylinder can realize the flow recovery through that return chambers are connected with feeding chambers. Therefore, the new cylinder can reduce overall machine energy consumption by reducing throttling losses and allowing energy recovery. The performance of the new cylinder is analyzed through building the mathematical model. Based on the evaluated results, in order to further improve the performance of the load match of the cylinder and avoid the deflection of the main piston, the structure of the cylinder is optimized. Finally, an optimized cylinder is shown in this paper which has well performance of the load match.

Model and Simulation of Six-DOF Parallel Platform Based on Direct Drive Volume Control

2013 ◽  
Vol 684 ◽  
pp. 381-385
Author(s):  
Xiao Lin Dai ◽  
Huai Zheng
Keyword(s):  
Hydraulic Cylinder ◽  
Volume Control ◽  
Fuel System ◽  
Direct Drive ◽  
Design And Optimization ◽  
Experimental Platform ◽  
Model And Simulation ◽  
Six Dof ◽  
Parallel Platform ◽  
The Mathematical Model

The fuel system experimental platform based on Stewart manipulator is used to test the performance and reliability of airplane’s fuel system. Synthesizing efficiency and safety, direct drive method is used as actuator of the experimental platform. Kinematic and dynamic model of the parallel manipulator platform is established. Servo motor and hydraulic cylinder of pump control are modeled for deducing the mathematical model of the experimental platform. Simulation results of the experimental platform show the platform of direct drive method can satisfy the requirements of operation. In addition, data from the simulation can be used as the basis for the design and optimization of the experimental platform for fuel system.

scholarly journals Effect of Energy Recovery on Efficiency in Electro-Hydrostatic Closed System for Differential Actuator

Actuators ◽  
2020 ◽  
Vol 9 (1) ◽  
pp. 12
Author(s):  
Thales Agostini ◽  
Victor De Negri ◽  
Tatiana Minav ◽  
Matti Pietola
Keyword(s):  
Hydraulic System ◽  
Energy Recovery ◽  
Gear Pump ◽  
Significant Gain ◽  
Advantages And Disadvantages ◽  
Actuator System ◽  
Overall Efficiency ◽  
Hydraulic Accumulator ◽  
The Mathematical Model ◽  
External Gear Pump

This paper investigates energy efficiency and dynamic behavior through simulation and experiments of a compact electro-hydrostatic actuator system (EHA) consisting of an electric motor, external gear pump/motors, hydraulic accumulator, and differential cylinder. Tests were performed in a stand-alone crane in order to validate the mathematical model. The influence and importance of a good balance between pump/motors displacement and cylinder areas ratios is discussed. The overall efficiency for the performed motion is also compared considering the capability or not of energy recovery. The results obtained demonstrate the significant gain of efficiency when working in the optimal condition and it is compared to the conventional hydraulic system using proportional valves. The proposed system presents the advantages and disadvantages when utilizing components off-the-shelf taking into account the applicability in mobile and industrial stationary machines.

Analysis of Wavelet Algorithm of Redundancy Denoising for Hydraulic System Signal

2008 ◽  
Vol 392-394 ◽  
pp. 341-346
Author(s):  
Chun Fu Gao ◽  
Xi Lin Zhu ◽  
Q.Y. Hu
Keyword(s):  
Real Time ◽  
Hydraulic System ◽  
Work Load ◽  
Hydraulic Cylinder ◽  
Load Pressure ◽  
Signal Collection ◽  
On Line ◽  
The Stability ◽  
Control Accuracy ◽  
Wavelet Algorithm

Based on the theory of Wavelet decomposing algorithm, in this paper an algorithm of redundancy real-time denoising is presented, and the test of on-line identification mode of a hydraulic cylinder’s work load pressure signals was fulfilled. This method can improve the stability of the signal collection and the control accuracy of hydraulic cylinder pressure effectively, solve the crawling phenomenon of hydraulic cylinder when working, and reduce the signal collection error resulted from the load mutation. By means of controlling the wavelet decomposing depth, the calculation amount of real-time denoising is controled, thus the optimization of the signal, damping vibration and denoising are achieved.

Dynamic Property Simulations of Hydraulic Cylinder Based on Simulink

2010 ◽  
Vol 33 ◽  
pp. 22-27 ◽  
Author(s):  
Xiang Shu Jin ◽  
Bin Hui Rong ◽  
Xue Zhong Tang
Keyword(s):  
Dynamic Property ◽  
Hydraulic System ◽  
Hydraulic Cylinder ◽  
Product Performance ◽  
Step Response ◽  
Unit Step ◽  
Design Cycle ◽  
The Time Domain ◽  
Design Cost ◽  
The Mathematical Model

The paper established the mathematical model of plunger-type hydraulic cylinder, founded the simulation model in the SIMULINK environment and solved its unit-step response, gave the hydraulic cylinder design parameter and the medium character’s influence to its unit-step response, summarized the intrinsic relations between parameters and the time domain index, provided the theory basis to optimize the hydraulic cylinder dynamic property. Conducting the research of the hydraulic cylinder system using SIMULINK has the outstanding characters such as the simple programming, the direct-viewing modeling, the highly effective simulation, it may reduce the design cycle greatly, reduce the design cost, enhance the product performance. The research conducted suggests this method may promote to the research of all the hydraulic package and hydraulic system.

scholarly journals Design and Modeling of a Bio-Inspired Flexible Joint Actuator

Actuators ◽  
2021 ◽  
Vol 10 (5) ◽  
pp. 95
Author(s):  
Ming Xu ◽  
Cheng Rong ◽  
Long He
Keyword(s):  
Hydraulic System ◽  
Driving Forces ◽  
Theoretical Models ◽  
Element Analysis ◽  
Flexible Joint ◽  
Fea Model ◽  
The Finite Element Analysis ◽  
Series Of Experiments ◽  
The Mathematical Model ◽  
Moving Speed

Spiders rely on a hydraulic system to stretch their legs but use muscles to make their legs flex. The compound drive of hydraulics and muscle makes an integrate dexterous structure with powerful locomotion abilities, which perfectly meets the primary requirements of advanced robots. Inspired by this hydraulics-muscle co-drive joint, a novel flexible joint actuator was proposed and its driving characteristics were preliminarily explored. The bio-inspired flexible joint manifested as a double-constrained balloon actuator, which was fabricated by the composite process of 3D printing and casting. To evaluate its performance, the mathematical model was deduced, as well as the finite element analysis (FEA) model. A series of experiments on the rotation angles, driving forces, and efficiencies of the flexible joint were carried out and compared with the mathematical calculations and FEA simulations. The results show that the accuracy of the two theoretical models can be used to assess the joint actuator. The locomotion test of a soft arthropod robot with two flexible joints was also implemented, where the moving speed reached 22 mm/s and the feasibility of the proposed flexible joint applied to a soft robot was demonstrated.

scholarly journals Using models of energy consumption from influencing factors to assess the current state and energy efficiency forecasting

2020 ◽  
Vol 220 ◽  
pp. 01024
Author(s):  
Deniz Moroz ◽  
Nadzeya Hruntovich ◽  
Aliaksei Kapanski ◽  
Yauhen Shenets ◽  
Mikhail Malashanka ◽  
...  
Keyword(s):  
Energy Efficiency ◽  
Influencing Factors ◽  
Factor Model ◽  
Energy Resource ◽  
Energy Resources ◽  
Simple Relationship ◽  
Production Program ◽  
Current State ◽  
The One ◽  
The Mathematical Model

A complex of tasks that can be solved using mathematical models of the dependence of consumed energy resources on influencing factors are considered in the article. The main type of model for industrial consumers with a simple relationship between energy and technology, is the one-factor model “consumed energy resource-volume of output”. For industrial consumers with a complex relationship between energy and technology, the mathematical model of the dependence of energy resources on technology is determined by several factors. Methods for assessing the current state of energy efficiency, as well as predicting it for the future in the context of the introduction of energy saving measures and changes in the production program were proposed.

scholarly journals Theoretical background of hydraulic drive control system analysis for testing piston hydraulic cylinders

2019 ◽  
Vol 19 (3) ◽  
pp. 242-249 ◽  
Author(s):  
A. T. Rybak ◽  
I. K. Tsybriy ◽  
S. V. Nosachev ◽  
A. R. Zenin
Keyword(s):  
Mathematical Modeling ◽  
Hydraulic System ◽  
Energy Recovery ◽  
Test Bench ◽  
Hydraulic Drive ◽  
Mechanical Transmission ◽  
Hydraulic Motor ◽  
Hydraulic Machines ◽  
Life Tests ◽  
Hydraulic Cylinders

Introduction. The durability and performance of hydraulic machines is determined through life tests. At that, various braking devices (mechanical, electric, hydraulic, etc.) are used for strength loading of the hydraulic motor, as a result of which a significant amount of energy is lost. This can be avoided if the method of rotational motion with energy recovery is used during life tests. This approach is applicable for hydraulic pumps, motors, and hydraulic cylinders.Materials and Methods. A test bench is presented, the design of which provides recreation of the conditions most appropriate for the field operation of hydraulic cylinders. In this case, energy recovery is possible. To solve the research problems, methods of mathematical modeling were used, the basic functional parameters of the proposed design were calculated. The determination of the pressure increment at various points in the hydraulic system is based on the theory of volumetric rigidity. When modeling the motion of the moving elements of the bench hydraulic system, the laws of rotor motion are used.Research Results. In the structure of the test bench, the cylinders in question are located in the pressure main between the hydraulic pump and the hydraulic motor. This enables to significantly reduce the bench itself and to save a significant amount of energy due to its recovery. A basic hydraulic diagram of the test bench for piston hydraulic cylinders is presented, in which the operation of the moving elements of the system is shown. A mathematical modeling of the hydraulic system of the bench is performed. A kinematic diagram of the mechanism for transmitting motion between test cylinders is shown.Discussion and Conclusions. The system of equations presented in the paper shows how the increment of pressure at the selected nodal points of the energy recovery system is determined (in particular, how the increment depends on time, reduced coefficient of volumetric rigidity, operating fluid consumption, and piston areas). The velocities of the hydraulic pistons are determined according to the kinematic scheme of the mechanical transmission of the bench. Thus it can be argued that, thanks to the solution presented in the paper, the life test results of hydraulic cylinders will adequately reflect their operation under rated duties.

Hydraulic Model and Simulation Analysis for Monorail Brake System

2013 ◽  
Vol 278-280 ◽  
pp. 350-353 ◽  
Author(s):  
Feng Gao ◽  
Lin Jing Xiao ◽  
Shuai Guo ◽  
Hong Gang Ma
Keyword(s):  
Hydraulic System ◽  
Simulation Analysis ◽  
Hydraulic Cylinder ◽  
Mine Safety ◽  
Brake System ◽  
Flow Area ◽  
Throttle Valve ◽  
Model And Simulation ◽  
Spring Force ◽  
Unloading Time

This paper mainly analyzes the hydraulic system principle during the monorail braking, and come to a conclusion that the spring stiffness and the throttle valve flow area are main factors affect the brake system. Then we use the MSC.EASY5 to modeling the hydraulic system, and simulate the unloading time of hydraulic cylinder under the spring force, the result shows that, the response time of a braking system can meet the requirement of the coal mine safety regulation, and change the flow area of throttle valve will affect the brake system.

Simulacija i odstranjivanje stick-slip efekta servosistema sprovodnog aparata hidraulične turbine

2021 ◽  
Vol 23 (1) ◽  
pp. 37-41
Author(s):  
Darko Babunski ◽  
◽  
Emil Zaev ◽  
Atanasko Tuneski ◽  
Laze Trajkovski ◽  
...  
Keyword(s):  
Hydraulic Cylinder ◽  
Friction Model ◽  
Slip Effect ◽  
Hydraulic Systems ◽  
Hydraulic Actuator ◽  
Stick Slip ◽  
Hydro Turbine ◽  
Servo Mechanism ◽  
The Mathematical Model ◽  
Slip Phenomenon

Friction is a repeatable and undesirable problem in hydraulic systems where always has to be a tendency for its removal. In this paper, the friction model is presented through which the most accurate results are achieved and the way of friction compensation, approached trough technique presented with the mathematical model of a hydraulic cylinder of a hydro turbine wicket gate controlled by a servomechanism. Mathematical modelling of a servo mechanism and hydraulic actuator, and also the simulation of hydraulic cylinder as a part of a hydro turbine wicket gate hydraulic system where the stick-slip phenomenon is present between the system components that are in contact is presented. Applied results in this paper and the theory behind them precisely demonstrate under what circumstances the stick-slip phenomenon appears in such a system. The stick-slip effect is simulated using Simulink and Hopsan software and the analysis of the results are given in this paper. Removal of the stick-slip effect is presented with the design of a cascade control implemented to control the behaviour of the system and remove the appearance of a jerking motion.

Energy Recovery Methods in Adsorption Refrigeration Units

2017 ◽  
Author(s):  
Andrzej Grzebielec ◽  
Adam Szelągowski ◽  
Adam Ruciński
Keyword(s):  
Energy Loss ◽  
Thermal Wave ◽  
Energy Recovery ◽  
Type Systems ◽  
Adsorption Refrigeration ◽  
Wave Type ◽  
Recovery Processes ◽  
Refrigeration Unit ◽  
The One ◽  
Heat And Mass Recovery

Adsorption refrigeration systems, as opposed to absorption type operate in a cyclic manner. The result is that at the beginning of each process must be fed into the adsorber state in which they will adsorb or desorb a refrigerant. In the case of two adsorbers at the start of a cycle, the one of the adsorber must be refrigerated while the second has to be heated. These processes are causing unnecessary energy loss. The aim of the work is to show how these processes can be connected and the heat received from one adsorber is transported to another adsorber. As part of the study, the heat and mass recovery processes will be considered. It turns out that in the thermal wave type systems, it is possible to recover more than 25% of the energy lost to bring the adsorber to the states in which they will operate efficiently to desorb and adsorb refrigerant. That is, it is possible to improve the efficiency of the adsorption refrigeration unit using the proposed improvements.

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