scholarly journals Assembly and implementation of modular quadrupedal architecture

2019 ◽  
Vol 13 (2) ◽  
pp. 280-288
Author(s):  
Vanessa Cruz Carbonell ◽  
Ricardo Andrés Castillo-Estepa
Keyword(s):  
Mathematical Model ◽  
Degrees Of Freedom ◽  
Research Work ◽  
Robotic System ◽  
Frequency Variation ◽  
Movement Frequency ◽  
The Mathematical Model

This paper describes the assembling process of a quadrupedal architecture using the modular robotic system Mecabot. Several possible topologies are addressed to finally opt for a design that allows the use of an active column. Based on this, the mathematical model of the control is proposed to perform the movements of displacement, open turn and rotation. The locomotion profiles for these first two movement modalities are bio-inspired. For the rotation modality, a characteristic quadrupedal robot transition is used to allow the correct rotation execution without using a great number of degrees of freedom. The robot is tested on structured and unstructured terrains by measuring its speed in function of the movement frequency variation. For the open turn modality, the described circumference radius is measured in function of the offset variation. With the tests, the second Mecabot configuration with legs is finally obtained complementing the research work carried out for apodal configurations (snake, wheel caterpillar) and hexapod.

scholarly journals Motion Simulation for Triangular-Shaped Autonomous Underwater Vehicle (TAUV) with Controllable Rudder

2021 ◽  
Vol 2107 (1) ◽  
pp. 012046
Author(s):  
I Y Amran ◽  
K Isa
Keyword(s):  
Mathematical Model ◽  
Autonomous Underwater Vehicle ◽  
Research Work ◽  
Underwater Vehicle ◽  
Open Loop ◽  
Vehicle Speed ◽  
Motion Simulation ◽  
Loop Control ◽  
Angular Velocities ◽  
The Mathematical Model

Abstract The dynamic model and motion simulation for a Triangular-Shaped Autonomous Underwater Vehicle (TAUV) with independently controlled rudders are described in this paper. The TAUV is designed for biofouling cleaning in aquaculture cage fishnet. It is buoyant underwater and moves by controlling two thrusters. Hence, in this research work, the authors designed a TAUV that is propelled by two thrusters and maneuvered by using an independently controllable rudder. This paper discussed the development of a mathematical model for the TAUV and its dynamic characteristics. The mathematical model was simulated by using Matlab and Simulink to analyze the TAUV’s motion based on open-loop control of different rudder angles. The position, linear and angular velocities, angle of attack, and underwater vehicle speed are all demonstrated in the findings.

Engineering Constraint Management Based on an Occurrence Matrix Approach

1993 ◽  
Vol 115 (1) ◽  
pp. 103-109 ◽  
Author(s):  
R. Agrawal ◽  
G. L. Kinzel ◽  
R. Srinivasan ◽  
K. Ishii
Keyword(s):  
Mathematical Model ◽  
Degrees Of Freedom ◽  
Inequality Constraints ◽  
Design Parameters ◽  
Constraint Management ◽  
Management Concepts ◽  
Occurrence Matrix ◽  
Torsion Bar ◽  
The Mathematical Model ◽  
Management Algorithms

In many mechanical systems, the mathematical model can be characterized by m nonlinear equations in n unknowns. The m equations could be either equality constraints or active inequality constraints in a constrained optimization framework. In either case, the mathematical model consists of (n-m) degrees of freedom, and (n-m) unknowns must be specified before the system can be analyzed. In the past, designers have often fixed the set of (n-m) specification variables and computed the remaining n variables using the n equations. This paper presents constraint management algorithms that give the designer complete freedom in the choice of design specifications. An occurrence matrix is used to store relationships among design parameters and constraints, to identify dependencies among the variables, and to help prevent redundant specification. The interactive design of a torsion bar spring is used to illustrate constraint management concepts.

scholarly journals Mathematical Model of Forest Fire Soil-thrower Movement

2020 ◽  
Author(s):  
Olga Dornyak ◽  
Ivan Bartenev ◽  
Mikhail Drapalyuk ◽  
Dmitry Stupnikov ◽  
Sergey Malyukov ◽  
...  
Keyword(s):  
Mathematical Model ◽  
Forest Fire ◽  
Forest Fires ◽  
Degrees Of Freedom ◽  
Translational Motion ◽  
Steady Motion ◽  
Technological Parameters ◽  
Lagrange Equations ◽  
Milling Tool ◽  
The Mathematical Model

The design of a forest fire soil-thrower made to prevent and eliminate ground forest fires is presented. A mathematical model of machine movement has been developed, which enables to study the laws of the interaction process of the design with the soil. It is accepted that the machine has two degrees of freedom. The mathematical model has been obtained using the Lagrange equations of the second kind. The design and technological parameters of the forest fire soil-throwing machine, affecting the efficiency of its work, including mass and width of the grip of the ripper casing, mass, radius and frequency of rotation of the milling tool, the number and geometric parameters of the blades are taken into account. Mathematical model enables to determine the effect of these parameters on the characteristics of the movement of ripper casing and milling working body. A mathematical model is needed to synchronize the translational motion of the unit and the rotational motion of the rotor. Formulas have been obtained for the steady motion of the forest fire soil-thrower, that determine the hauling power of tractor and torque that ensures the operation of milling tools.

scholarly journals A General Modeling Approach for Shock Absorbers: 2 DoF MR Damper Case Study

2021 ◽  
Vol 7 ◽  
Author(s):  
Jorge de-J. Lozoya-Santos ◽  
Juan C. Tudon-Martinez ◽  
Ruben Morales-Menendez ◽  
Olivier Sename ◽  
Andrea Spaggiari ◽  
...  
Keyword(s):  
Mathematical Model ◽  
Degrees Of Freedom ◽  
Linear Models ◽  
Mr Damper ◽  
Shock Absorbers ◽  
Magneto Rheological ◽  
The Mathematical Model ◽  
Force Displacement ◽  
Standard Tests

A methodology is proposed for designing a mathematical model for shock absorbers; the proposal is guided by characteristic diagrams of the shock absorbers. These characteristic diagrams (Force-Displacement, Velocity-Acceleration) are easily constructed from experimental data generated by standard tests. By analyzing the diagrams at different frequencies of interest, they can be classified into one of seven patterns, to guide the design of a model. Finally, the identification of the mathematical model can be obtained using conventional algorithms. This methodology has generated highly non-linear models for 2 degrees of freedom magneto-rheological dampers with high precision (2–10% errors).

scholarly journals SIMULATION OF MATHEMATICAL MODEL FOR MONORAIL SUSPENSION SYSTEM UNDER DIFFERENT TRACK CONDITIONS

2018 ◽  
Vol 79 (2) ◽  
pp. 15-31
Author(s):  
Wafi A. Mabrouk ◽  
M. F. L. Abdullah
Keyword(s):  
Mathematical Model ◽  
Degrees Of Freedom ◽  
Dynamic Performance ◽  
Equations Of Motion ◽  
Research Work ◽  
Suspension System ◽  
Dynamic Responses ◽  
Central Difference ◽  
Central Difference Method ◽  
Model Features

Designing a new monorail suspension system for an existing monorail bogie to accommodate larger cars, locomotives and more passengers is a difficult and complicated problem to solve. This paper introduces a simulation of a mathematical model for a monorail suspension system that can be used as an analytical tool to investigate and predict the behavior of the model under different speeds and track conditions. In this paper, the simulation is performed to predict some dynamic characteristics monorail suspension system. This research work concentrates on the simulation of 15 degrees of freedom full-car Monorail suspension system. The model features the Monorail body, Front bogie, and rear bogie geometries, adopted equations of motion of the monorail suspension system and system matrices. Numerical Central Difference method was used to obtain the system responses subject to sinusoidal Track excitations. Three Track scenarios that have different loads and different driving speeds were conducted to investigate the monorail suspension system. The system results are analysed in terms of their dynamic responses. Fourier Fast transforms was used to calculate the frequency ranges of dynamic responses. As a result, some very important characteristics of the Monorail suspension system were revealed, with indicators that help to understand the effects of driving speeds and different loads, which can be used to better understand the system dynamic performance, to improve Monorail suspension system designs flaws detection.

Parametric Analysis of the Ride Comfort of Indian Railway Vehicle

2021 ◽  
Vol 13 (4) ◽  
Author(s):  
Rakesh Chandmal Sharma ◽  
Sono Bhardawaj ◽  
Mohd Avesh ◽  
Neeraj Sharma
Keyword(s):  
Mathematical Model ◽  
Parametric Analysis ◽  
Degrees Of Freedom ◽  
Ride Comfort ◽  
Rear Wheel ◽  
Railway Vehicle ◽  
Mass System ◽  
Rail Vehicle ◽  
Indian Railway ◽  
The Mathematical Model

This paper focuses to the parametric analysis of Indian Railway Rajdhani (LHB) coach. A suitable mathematical model of 40 degrees of freedom (DOF) is formulated by Lagrangian method. The mathematical model of rail-vehicle is modelled by considering eleven mass system containing of backseat support (without cushion), a seat, a car body, two (front and Rear) bolsters, two (front and Rear) bogie frame and four wheelaxles (front bogie front and rear wheel axles and rear bogie front and rear wheel axles. The vehicle is simulated to travel at speed of 100 km/hr on a tangent track. The results from the simulation are validated by comparing the same with the results from experimental data which is acquired from research designs and standards organization (RDSO), Lucknow (India). The parametric analysis is performed to estimate the effect of different parameters of rail-vehicle on the ride behaviour.

Design and Modeling of an Experimental ROV with Six Degrees of Freedom

Drones ◽  
2021 ◽  
Vol 5 (4) ◽  
pp. 113
Author(s):  
Aleksey Kabanov ◽  
Vadim Kramar ◽  
Igor Ermakov
Keyword(s):  
Mathematical Model ◽  
Degrees Of Freedom ◽  
Experimental Tests ◽  
Underwater Vehicles ◽  
Six Degrees Of Freedom ◽  
Functional Capabilities ◽  
Classical Design ◽  
Wide Range ◽  
Reduced Costs ◽  
The Mathematical Model

With the development of underwater technology, it is important to develop a wide range of autonomous and remotely operated underwater vehicles for various tasks. Depending on the problem that needs to be solved, vehicles will have different designs and dimensions, while the issues surrounding reduced costs and increasing the functionality of vehicles are relevant. This article discusses the development of inspection class experimental remotely operated vehicles (ROVs) for performing coastal underwater inspection operations, with a smaller number of thrusters, but having the same functional capabilities in terms of controllability (as vehicles with traditionally-shaped layouts). The proposed design provides controllability of the vehicle in six degrees of freedom, using six thrusters. In classical design vehicles, such controllability is usually achieved using eight thrusters. The proposed design of the ROV is described; the mathematical model, the results of modeling, and experimental tests of the developed ROVs are shown.

Mathematical Model of the Servo Drive with Friction Wheals. Simulations and Real Object Examination Results

2013 ◽  
Vol 198 ◽  
pp. 15-20 ◽  
Author(s):  
Lukasz Fracczak
Keyword(s):  
Mathematical Model ◽  
Cardiac Surgery ◽  
Control System ◽  
Simulation Model ◽  
Degrees Of Freedom ◽  
Point Of View ◽  
Real Object ◽  
Servo Drive ◽  
Two Degrees Of Freedom ◽  
The Mathematical Model

In this paper the servo drive with friction wheels is presented. The servo drive is designed to move the automatic laparoscope tool or laparoscope camera (thereinafter laparoscope sleeve or sleeve) in two Degrees of Freedom (DOF). The description of the drive mechanism, operating principle and mathematical model of this drive is presented. Based on this model, the Control System (CS) has been created, and used to the construction of a simulation model. The simulation illustrates the proper functionality of the mathematical model of the servo drive with the described CS. This paper also presents the servo drive test stand and the most important examination results from the point of view of using them in the cardiac surgery Robin Heart robot.

scholarly journals Mathematical Model of the Controlled Object when Regulating the Working Volume of the Manipulator Pump

2018 ◽  
Vol 7 (4.36) ◽  
pp. 1058
Author(s):  
Bulat F. Bairamov ◽  
Artur A. Fardeev ◽  
Albert R. Fardeev
Keyword(s):  
Mathematical Model ◽  
Degrees Of Freedom ◽  
Hot Stamping ◽  
Automated System ◽  
Working Zone ◽  
Working Volume ◽  
Useful Power ◽  
Save Energy ◽  
The Mathematical Model ◽  
Controlled Object

This paper describes the constructed mathematical model of the controlled object of the automated system for controlling the displacement volume of the manipulator pump. The change in pump displacement volume is performed in order to save energy by minimizing the fluid drain through the overflow valve. The use of the considered manipulator is intended in the process of automated supply of blanks to the working area of a press used in forging and hot stamping processes. The reactive forces acting on the moving parts of the mobility modules from the fixed parts of the manipulator are determined. Conversion of the useful power of the pump into the useful power of hydraulic motors is performed. This takes into account the losses using efficiency. An equation describing the mathematical model of the controlled object is obtained. This equation is represented in relative variables. The derivation of this equation and the determination of the reactive forces are made on the basis of the assumption that all transport degrees of freedom are translational. This limitation is caused by the peculiarities of the working area of the press used in technological processes of forging and hot forming of blanks. The working zone is a deep horizontal tunnel, the movement of the working object in which is possible only with translational degrees of freedom.  

Synthesis of Nominal Motion of the Multi-Arm Cooperating Robots With Elastic Interconnections at the Contacts

2004 ◽  
Vol 126 (2) ◽  
pp. 336-346 ◽  
Author(s):  
Milovan Zˇivanovic´ ◽  
Miomir Vukobratovic´
Keyword(s):  
Mathematical Model ◽  
Elastic Properties ◽  
Degrees Of Freedom ◽  
Cooperative System ◽  
Cooperative Manipulation ◽  
Cooperative Motion ◽  
Essential Properties ◽  
Cooperating Robots ◽  
6 Degrees Of Freedom ◽  
The Mathematical Model

A procedure for determining the cooperative system nominal motion whereby the system’s desired motion belongs to a set of nominal motions, is proposed. The procedure originates from the solution of the elastic structure cooperative motion taking into account all specific properties of the cooperative manipulation. The starting basis of the procedure is determined by some essential properties of the mathematical model of the dynamics of the cooperative manipulation of the object by the nonredundant manipulators with 6 degrees of freedom (DOFs), whereby the problem of the force indefiniteness is solved by introducing elastic properties for a part of the cooperative system.

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