Bond graph-based dynamic model of planetary roller screw mechanism with consideration of axial clearance and friction

2017 ◽  
Vol 232 (16) ◽  
pp. 2899-2911
Author(s):  
Shangjun Ma ◽  
Tao Zhang ◽  
Geng Liu ◽  
Jipeng He
Keyword(s):  
Dynamic Model ◽  
Dynamic Characteristics ◽  
Graph Model ◽  
Bond Graph ◽  
Graph Models ◽  
Axial Acceleration ◽  
Roller Screw ◽  
Angular Velocities ◽  
Screw Mechanism ◽  
Axial Clearance

To reveal the dynamic characteristics of planetary roller screw mechanism, a dynamic model of planetary roller screw mechanism is developed in this study, which is based on the bond graph theory that accounts for friction, axial clearance, and screw stiffness. First, the bond graph models of friction, axial clearance, and load distribution are presented. Then, a bond graph model of the entire planetary roller screw mechanism for the dynamic analysis is established using the 20-sim software package, and the dynamic equations are solved using the Runge–Kutta–Fehlberg algorithm. Finally, the axial speed, axial acceleration, and contact force of the components are derived under different axial loads and with different axial clearances. Furthermore, the dynamic friction characteristics at different angular velocities of the screw and the dynamic stiffnesses for different axial clearances are also obtained. The results can provide a theoretical basis for planetary roller screw mechanism design with consideration of dynamic characteristics.

Dynamics of the Planetary Roller Screw Mechanism

2015 ◽  
Vol 8 (1) ◽  
Author(s):  
Matthew H. Jones ◽  
Steven A. Velinsky ◽  
Ty A. Lasky
Keyword(s):  
Steady State ◽  
Slip Velocity ◽  
Equations Of Motion ◽  
Viscous Friction ◽  
Contact Angles ◽  
Dynamic Equations ◽  
Roller Screw ◽  
Angular Velocities ◽  
Screw Mechanism ◽  
Lagrange’S Method

This paper develops the dynamic equations of motion for the planetary roller screw mechanism (PRSM) accounting for the screw, rollers, and nut bodies. First, the linear and angular velocities and accelerations of the components are derived. Then, their angular momentums are presented. Next, the slip velocities at the contacts are derived in order to determine the direction of the forces of friction. The equations of motion are derived through the use of Lagrange's Method with viscous friction. The steady-state angular velocities and screw/roller slip velocities are also derived. An example demonstrates the magnitude of the slip velocity of the PRSM as a function of both the screw lead and the screw and nut contact angles. By allowing full dynamic simulation, the developed analysis can be used for much improved PRSM system design.

Application of Vector Bond Graphs to the Modeling of a Class of Hand Prostheses

Volume 3 ◽  
2004 ◽  
Author(s):  
Anand Vaz ◽  
Shinichi Hirai
Keyword(s):  
Three Dimensional ◽  
Graph Model ◽  
Systems Design ◽  
Bond Graph ◽  
Bond Graphs ◽  
Prosthetic Joints ◽  
Angular Velocities ◽  
Control Systems Design ◽  
And Control ◽  
Systematic Derivation

Vector bond graphs have been systematically applied to the modeling of prosthesis for a partially impaired hand. The partial impairment considered covers a category of the hand that has lost one or more fingers but retains the ability of its remaining natural fingers. The fingers and their prosthetic extensions are considered as rigid links. Rotation matrices which specify orientation of finger links are obtained from respective angular velocities. String-tube mechanism used to actuate prosthetic joints is modeled with the connection to joint variables of the mechanism. The vector bond graph approach enables the modeling of three dimensional movement of the hand mechanism. An example of a two joint string-tube actuated prosthetic mechanism is presented to describe the construction of the vector bond graph model. Systematic derivation of dynamics from the vector bond graphs is shown. The approach based on vector bond graphs presented here is useful for simulations and control systems design of such biomechanical systems.

scholarly journals Dynamic Model of Planetary Roller Screw Mechanism with Considering Torsional Degree of Freedom

2020 ◽  
Vol 306 ◽  
pp. 01003
Author(s):  
Linping Wu ◽  
Shangjun Ma ◽  
Qi Wan ◽  
Geng Liu
Keyword(s):  
Dynamic Model ◽  
Mechanical Design ◽  
Relative Displacement ◽  
Hertzian Contact ◽  
Torsional Stiffness ◽  
Roller Screw ◽  
Mode Characteristics ◽  
Screw Mechanism ◽  
The Relationship ◽  
Hertzian Contact Theory

To predict accurately the dynamics performance of planetary roller screw mechanism, it is necessary to establish its streamline and engineering-compliant dynamic model, which is the basis of mechanical design and precision control of the system. In this paper, the relative displacement between roller and ring gear along the line of action is deduced and the relationship between nature frequencies and the number of rollers is discussed. Considering the torsional stiffness of all components and the thread mesh stiffness based on the Hertzian contact theory, the purely torsional model for planetary roller screw mechanism is presented to reveal the natural frequencies and vibration mode characteristics of the system. The results show that the natural properties of undamped system in planetary roller screw mechanism are mainly reflected by two typical vibration modes: rotational mode and roller mode.

A nonlinear six degrees of freedom dynamic model of planetary roller screw mechanism

2018 ◽  
Vol 119 ◽  
pp. 22-36 ◽  
Author(s):  
Xiaojun Fu ◽  
Geng Liu ◽  
Ruiting Tong ◽  
Shangjun Ma ◽  
Teik C. Lim
Keyword(s):  
Dynamic Model ◽  
Degrees Of Freedom ◽  
Six Degrees Of Freedom ◽  
Roller Screw ◽  
Screw Mechanism

Structural Simplification of Modular Bond-Graph Models Based on Junction Inactivity

2006 ◽  
Author(s):  
Tulga Ersal ◽  
Hosam K. Fathy ◽  
Jeffrey L. Stein
Keyword(s):  
Graph Model ◽  
Bond Graph ◽  
General Purpose ◽  
Graph Models ◽  
Modular Modeling ◽  
System Models ◽  
Modeling Paradigm ◽  
Component Models ◽  
Domain Independent ◽  
Structural Simplification

The modular modeling paradigm facilitates the efficient building, verification and handling of complex system models by assembling them from general-purpose component models. A drawback of this paradigm, however, is that the assembled system models may have excessively complex structures for certain purposes due to the amount of detail of the component models, which is introduced to promote modularity. This work presents a domain-independent structural simplification technique that can detect such unnecessary complexities in a modular bond-graph model and eliminate them from the model without compromising accuracy. To this end, the activity concept in the literature is extended to define "inactivity" for junction elements, and simplification is obtained by detecting and eliminating inactive junction elements and by propagating the implications. It is shown that this simple idea can result in models that are conceptually and computationally more efficient. Some subtleties associated with this approach are highlighted.

Singularly Perturbed Bond Graph Models for Simulation of Multibody Systems

1995 ◽  
Vol 117 (3) ◽  
pp. 401-410 ◽  
Author(s):  
A. A. Zeid ◽  
J. L. Overholt
Keyword(s):  
Time Scale ◽  
Multibody Systems ◽  
Graph Model ◽  
Bond Graph ◽  
Rigid Bodies ◽  
Singularly Perturbed ◽  
Bond Graphs ◽  
Graph Models ◽  
Multibody Modeling ◽  
Nonlinear Properties

This paper develops a bond graph-based formalism for modeling multibody systems in a singularly perturbed formulation. As opposed to classical multibody modeling methods, the singularly perturbed formulation is explicit, which makes it suitable for modular simulation. Kinematic joints that couple rigid bodies are described by a set of differential equations with an order of magnitude smaller time scale than that of the system. Singularly perturbed models of joints can be used to investigate nonlinear properties of joints, such as clearance and friction. The main restriction of this approach is that the simulation may need to be computed using 64 bits precision because of the two-time scale nature of the solution. The formalism is based on developing bond graph models of an elementary set of graphical velocity-based constraint functions. This set can be used to construct bond graphs of any type of mechanical joint. Here, this set is used to develop bond graphs of several joints used in multibody systems and spatial mechanisms. Complex models of multibody systems may now be built by graphically concatenating bond graphs of rigid bodies and bond graphs of joints. The dynamic equations of the system are automatically generated from the resulting bond graph model. The dynamic equation derived from the bond graph are in explicit state space form, ready for numerical integration, and exclude the computationally intensive terms that arise from acceleration analysis.

Research on Electro-Hydraulic Load Simulator Based on Building Model of Flow Press Servo Valve

2010 ◽  
Vol 129-131 ◽  
pp. 213-217 ◽  
Author(s):  
Jun Peng Shao ◽  
Jian Ying Li ◽  
Zhong Wen Wang ◽  
Gui Hua Han
Keyword(s):  
Power Flow ◽  
Flow Direction ◽  
Graph Model ◽  
Bond Graph ◽  
Flow Equation ◽  
Simulation Design ◽  
Graph Models ◽  
Servo Valve ◽  
Hydraulic Load ◽  
Load Simulator

The model of flow press servo valve is built in this paper, during building the model, the author emphatically analyses the flow equation and force (torque) balance equation of every part of the valve, at the same time, all levels sub-models are organic combined according to power flow direction, signal flow direction of elements and causality, then we get the bond graph model of the flow press servo from this way. Adapting flow press servo valve and flow servo valve to concurrently control load system has its great advantage in restraining the superfluous force of the electro-hydraulic load simulator system, the performance such as load precision of system is enhanced greatly according to this method. Based on the system bond graph model, and by comparing the simulation curves and experiment curves, we can know that the simulation curves basically tally with the experiment curves, the bond graph models are validated right, which are flow press servo valve bond graph model and double valves concurrently control the electro-hydraulic load simulator system bond graph model. Simultaneity, the bond graph models in this paper take on generality, they are can be used on other aspects, such as other valve controlling cylinder system simulation, design and control strategy theory research.

scholarly journals Research on the dynamic characteristics of the acquisition mechanism of the oscillating flapping wing wave energy power generation device based on the bond graph

2021 ◽  
Vol 2125 (1) ◽  
pp. 012050
Author(s):  
Zifan Fang ◽  
Jiajia Wang ◽  
Fei Xiong ◽  
Xueyuan Xie
Keyword(s):  
Power Generation ◽  
Dynamic Characteristics ◽  
Wave Energy ◽  
Simulation Analysis ◽  
Graph Model ◽  
Research Process ◽  
Bond Graph ◽  
Flapping Wing ◽  
Working Principle ◽  
Power Generation Device

Abstract Taking the acquisition mechanism of the oscillating flapping-wing wave energy power generation device as the research object, the design of the acquisition mechanism, the bond graph model of the acquisition mechanism and the dynamic characteristics are studied. According to the working principle of the acquisition mechanism of the oscillating flapping wing wave energy power generation device, the bond graph model and the state space equation of the acquisition mechanism are established. Based on the bond graph theory, the AMESim software is used for simulation analysis to verify the correctness of the bond graph model of the acquisition mechanism. The research results show that the designed oscillating flapping wing wave energy generation device acquisition mechanism responds quickly and stably, and the bond graph model basically matches the real system. The research process provides an effective reference for the development of the acquisition mechanism of the oscillating flapping wing wave energy power generation device.

Dynamic Characteristics Investigation on Hydraulic System of Power-Slipway for Combined Machine Tools

2014 ◽  
Vol 1006-1007 ◽  
pp. 142-146
Author(s):  
Xi Juan Qi ◽  
Jun Qi Ge
Keyword(s):  
Optimal Design ◽  
Performance Analysis ◽  
Dynamic Model ◽  
Dynamic Simulation ◽  
Dynamic Characteristics ◽  
Machine Tools ◽  
Hydraulic System ◽  
Bond Graph ◽  
Power Bond Graph ◽  
Simulation Results

The power bond graph of hydraulic system of power-slipway for combined machine tools was built on the basis of analysis on its hydraulic system and actual working cases. Dynamic model of hydraulic system of power-slipway was built. At the same time, making use of Simulink, dynamic simulation of hydraulic system of power-slipway was carried out. Influence law of primary technology parameters on dynamic characteristics of the hydraulic system of power-slipway was expounded. The simulation results will provide theory basis for performance analysis and optimal design of hydraulic system of power-slipway for combined machine tools.

Bond Graph Models for Linear Motion Magnetostrictive Actuators

1996 ◽  
Vol 118 (1) ◽  
pp. 161-167 ◽  
Author(s):  
M. D. Bryant
Keyword(s):  
Transfer Functions ◽  
Mechanical Energy ◽  
Constitutive Relations ◽  
Graph Model ◽  
Bond Graph ◽  
Linear Motion ◽  
State Equations ◽  
Graph Models ◽  
Magnetostrictive Actuator ◽  
Audio Range

Bond graph models for the audio range response of a dynamically continuous, linear motion magnetostrictive actuator are formulated and presented. The actuator involves a continuous rod of magnetostrictive material that extends, contracts, and vibrates in modes when energized by magnetic flux produced by a coil. The left end is fixed, force is extracted from the right end. The bond graph model includes dynamics of the energizing coil, the flux routing circuit, magnetic to mechanical energy conversion, and mechanical elements. Constitutive relations for magnetostriction suggest use of a multipart capacitor with ports for magnetic and mechanical power flow; constraints imposed by modal dynamics require a separate mechanical port for each vibration mode. Values were assigned to bond graph parameters in a non-empirical manner: solely from theory and handbook data. State equations and transfer functions were extracted from the bond graph. For audio range operation, theory (the bond graph model) compared well with experiment (measurements taken on a magnetostrictive actuator designed and built by the author).

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