Determination of control actions and energy consumption during programmed motion of the manipulator

2022 ◽  
Vol 14 (4) ◽  
pp. 122-129
Author(s):  
Nadezhda Yudina ◽  
I. Kushcheva ◽  
Tatyana Skvortsova
Keyword(s):  
Energy Consumption ◽  
Computer Aided Design ◽  
Unified Model ◽  
Control Force ◽  
Automated Control ◽  
Control Moment ◽  
Control Actions ◽  
Forestry Industry ◽  
Aided Design ◽  
And Control

The paper presents the modeling of the solution to one of the problems of mechanics - the automated control of the manipulator used in the forestry industry for moving operations at various stages of the technological process. A unified model has been developed that allows generating control actions and energy consumption of the object under study. As a result of solving the problem, a system of equations was obtained for determining the control moment and control force, which allow the manipulator to be set in motion, as well as to determine the energy consumption for the implementation of the program motion, in which the load moves at a given speed from point a to point b along a straight line inclined at a given angle to the horizon. The proposed algorithm is generalized for solving computer-aided design problems and is a simulation experiment. The software solution is implemented in two forms. In the first module, the database is filled with the initial metric, angular and physical and mathematical characteristics of the manipulator. In the second, according to the unified model described above, the indicators are calculated that are necessary for the movement of the object and characterize the dynamics of movement, as well as the necessary energy consumption for performing the operations performed. The possibility of converting the calculated values from the database into an MS Excel table is provided.

scholarly journals Optimization of the Bi-Axial Tracking System for a Photovoltaic Platform

Energies ◽  
2021 ◽  
Vol 14 (3) ◽  
pp. 535
Author(s):  
Cătălin Alexandru
Keyword(s):  
Computer Aided Design ◽  
Tracking System ◽  
Control Device ◽  
Computer Applications ◽  
Optimization Study ◽  
Solar Tracker ◽  
Diurnal Movement ◽  
Multi Body ◽  
Aided Design ◽  
And Control

The article deals with the optimization of the azimuthal tracking mechanism for a photovoltaic (PV) platform, which uses linear actuators as actuation elements for both movements (diurnal and elevation). In the case of diurnal movement, where the platform’s angular field of orientation is large, a mechanism with a relatively simple structure is used for amplifying the actuator’s stroke and avoiding the risk of the system locking itself (by limiting the values of the transmission angle). The optimization study targets the mechanical device, the control device, and the bi-axial tracking program (embodied by the laws of motion in time for the platform’s diurnal and elevation angles) with the purpose of obtaining a high input of solar radiation, with a minimal energy consumption to achieve tracking. The study is carried out by using a virtual prototyping platform, which includes Computer Aided Design (CAD), Multi-Body Systems (MBS), and Design for Control (DFC) computer applications. The mechanical and control devices of the solar tracker are integrated and tested in mechatronic concept. The simulations’ results, which were performed for a set of representative days throughout the year, prove the effectiveness of the proposed design.

scholarly journals Prototype of Augmented Reality Technology for Orthodontic Bracket Positioning: An In Vivo Study

2021 ◽  
Vol 11 (5) ◽  
pp. 2315
Author(s):  
Yu-Cheng Lo ◽  
Guan-An Chen ◽  
Yin Chun Liu ◽  
Yuan-Hou Chen ◽  
Jui-Ting Hsu ◽  
...  
Keyword(s):  
Augmented Reality ◽  
Navigation System ◽  
Computer Aided Design ◽  
Control Group ◽  
Orthodontic Bracket ◽  
Bracket Position ◽  
Aided Design ◽  
Clinical Error ◽  
And Control

To improve the accuracy of bracket placement in vivo, a protocol and device were introduced, which consisted of operative procedures for accurate control, a computer-aided design, and an augmented reality–assisted bracket navigation system. The present study evaluated the accuracy of this protocol. Methods: Thirty-one incisor teeth were tested from four participators. The teeth were bonded by novice and expert orthodontists. Compared with the control group by Boone gauge and the experiment group by augmented reality-assisted bracket navigation system, our study used for brackets measurement. To evaluate the accuracy, deviations of positions for bracket placement were measured. Results: The augmented reality-assisted bracket navigation system and control group were used in the same 31 cases. The priority of bonding brackets between control group or experiment group was decided by tossing coins, and then the teeth were debonded and the other technique was used. The medium vertical (incisogingival) position deviation in the control and AR groups by the novice orthodontist was 0.90 ± 0.06 mm and 0.51 ± 0.24 mm, respectively (p < 0.05), and by the expert orthodontist was 0.40 ± 0.29 mm and 0.29 ± 0.08 mm, respectively (p < 0.05). No significant changes in the horizontal position deviation were noted regardless of the orthodontist experience or use of the augmented reality–assisted bracket navigation system. Conclusion: The augmented reality–assisted bracket navigation system increased the accuracy rate by the expert orthodontist in the incisogingival direction and helped the novice orthodontist guide the bracket position within an acceptable clinical error of approximately 0.5 mm.

Design of Mine Ventilation Systems Based on Artificial Intelligence

2014 ◽  
Vol 614 ◽  
pp. 107-112
Author(s):  
Xiao Yu Yin ◽  
Xian Ping Xie ◽  
Zhen Li ◽  
Jian Gong Li ◽  
Ting Jun Wang ◽  
...  
Keyword(s):  
Expert System ◽  
Computer Aided Design ◽  
Design Method ◽  
Mine Ventilation ◽  
Design System ◽  
Knowledge Based ◽  
Aided Design ◽  
And Control ◽  
Intelligent Computer ◽  
Ventilation Systems

Expert systems, or knowledge based systems, are programs in which the answer to a user-posed question is reached by logical or plausible inference rather than strictly by calculation, although calculation routines can form a major part of an expert system. Based on the integration of expert system technology and optimization technology, an intelligent computer aided design method for mine ventilation systems is proposed in this paper. Firstly, the structure and control algorithm of the intelligent design system are explored. Secondly, the knowledge types required for the mine ventilation expert system and the acquiring method of knowledge are discussed. Finally, the inference method of this expert system is put forward.

Computer-Aided Dynamic Analysis and Simulation of Multibody Manufacturing Systems

2015 ◽  
Vol 764-765 ◽  
pp. 757-761 ◽  
Author(s):  
Yunn Lin Hwang ◽  
Jung Kuang Cheng ◽  
Van Thuan Truong
Keyword(s):  
Dynamic Analysis ◽  
Computer Aided Design ◽  
Manufacturing Systems ◽  
Robot Arm ◽  
Effective Factors ◽  
Driving System ◽  
Computer Aided ◽  
Numerical Tools ◽  
Aided Design ◽  
And Control

This paper presents simulation of multibody manufacturing systems with the support of numerical tools. The dynamic and cybernetic characteristics of driving system are discussed. Simple prototype models of robot arm and machine tool’s driving system are quickly established in Computer Aided Design (CAD) software inwhich the whole specification of material, inertia and so on are involved. The prototypes therefore are simulated in RecurDyn- a Computer Aided Engineering (CAE) software. The models are driven by controllers built in Matlab/Simulink via co-simulation. The results are suitable with theory and able to exploied for expansion of complexly effective factors. The research indicates that dynamic analysis and control could be done via numerical method instead of directly dynamic equation creation for multibody manufacturing systems.

scholarly journals Features of technological basing in machining parts on CNC machines

2018 ◽  
Vol 224 ◽  
pp. 01078
Author(s):  
Nicolay V. Nosov ◽  
Andrey A. Cherepashkov
Keyword(s):  
Computer Aided Design ◽  
Complex Shape ◽  
Electronic Measuring ◽  
Cnc Machines ◽  
Control Programs ◽  
Integrated Technique ◽  
Aided Design ◽  
And Control ◽  
Numerical Program ◽  
Numerical Program Control

The article discusses the problems of computer aided design and technological preparation of production of complex shape parts on machines with numerical program control. An integrated technique for designing processes and control programs for CNC machines is proposed and described, using the technique of software-based referencing and modern electronic measuring tools.

scholarly journals Computer-aided design system for control moment gyroscope

2018 ◽  
Vol 158 ◽  
pp. 01021
Author(s):  
Tamara Kostyuchenko ◽  
Nelya Indygasheva
Keyword(s):  
Design Process ◽  
Computer Aided Design ◽  
Electromechanical System ◽  
Design System ◽  
Optimal Parameters ◽  
Control Moment Gyroscope ◽  
Control Moment ◽  
Computer Aided ◽  
Aided Design ◽  
Orientation Systems

Control moment gyroscope or two-axis balking gyroscope is used in spacecraft orientation systems. The control moment gyroscope is a complex electromechanical system with different parameters which connect by means of specific instant and inverse dependences. This fact could complicate the design process as of getting the optimal parameters the search of construction variations becomes harder. To simplify the control moment gyroscope designing process and increase its efficiency the computer-aided design system could be as highly useful. The computer-aided design system which is used in the present research and described in the article consists of five main subsystems. They cover the main stages of control moment gyroscope designing.

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