scholarly journals Study of forces in a 2T9R robot mechanism

2021 ◽  
Vol 12 (9) ◽  
pp. s741-s773
Author(s):  
Adriana Comanescu ◽  
Alexandra Rotaru ◽  
Florian Ion Tiberiu Petrescu
Keyword(s):  
Calculation Method ◽  
Data Entry ◽  
Inertial Forces ◽  
Logic Function ◽  
Machine Elements ◽  
Centers Of Mass ◽  
The Masses ◽  
Inertia Forces

The paper presents in detail a method of calculating the forces acting on a 2T9R type robot. In order to determine the reactions (forces in the kinematic couples), one must first determine the inertial forces in the mechanism to which one or more useful loads of the robot can be added. The torsor of the inertia forces is calculated with the help of the masses of the machine elements and the accelerations from the centers of mass of the mechanism elements, so the positions, velocities, and accelerations acting on it will be determined, i.e. its complete kinematics. The calculation method applied by a MathCad program intelligently uses data entry through the IFLOG logic function so that the calculations can be automated. So the effective automation of the calculation program is done exclusively through the IFLOG functions originally used in the paper.

Investigation of the Influence of Inertia Forces on the Adhesion of the Coating to the Outer Surface of Bodies of Revolution during Thermal Spraying

2021 ◽  
Vol 316 ◽  
pp. 726-731
Author(s):  
Alexey Yu. Rodichev ◽  
Roman N. Polyakov ◽  
Andrey V. Gorin
Keyword(s):  
Adhesion Strength ◽  
Outer Surface ◽  
External Surface ◽  
Thermal Spraying ◽  
Inertial Forces ◽  
Body Of Revolution ◽  
Mathematical Apparatus ◽  
Bodies Of Revolution ◽  
Steel Base ◽  
Inertia Forces

The article presents the results of a study of the influence of inertial forces on the adhesion of the coating to the external surface of a body of revolution during thermal spraying. A mathematical apparatus is proposed for calculating the inertia forces, acting on a particle of coating, applied to the outer surface of the bodies of revolution. As a result, dependencies have been revealed that allow predicting the adhesion strength of the coating with the steel base during thermal spraying.

scholarly journals Pengaruh Variasi Radius-Dalam Rim Terhadap Pengurangan Massa dan Momen Inersia Massa Dengan Studi Kasus Benda Putar Berdiameter 10 cm

2018 ◽  
Vol 1 (1) ◽  
Author(s):  
Eka Taufiq Firmansjah
Keyword(s):  
Outer Radius ◽  
Moment Of Inertia ◽  
Mass Reduction ◽  
Inner Radius ◽  
Mass Moment ◽  
Mass Moment Of Inertia ◽  
Machine Elements ◽  
The Moment ◽  
The Masses

ABSTRAK Mesin terdiri dari sekumpulan elemen mesin yang diam dan bergerak. Elemen mesin yang bergerak dengan gerakan berputar disebut benda putar. Pada beberapa kasus seringkali diinginkan pengurangan massa dari benda putar tersebut untuk alasan ekonomis, biasanya untuk elemen mesin yag diproduksi massal. Namun pengurangan massa berakibat pada pengurangan momen inersia massa benda putar bersangkutan. Jika tuntutan perancangan tidak mempermasalahkan perubahan tersebut, maka pengurangan massa tidak menjadi masalah. Namun jika momen inersia massa tidak boleh terlalu rendah, maka harus dicari kompromi dimana pengurangan massa sebesar-besarnya namun penurunan momen inersia massa sekecil-kecilnya. Pada penelitian ini dilakukan studi kasus terhadap benda putar berjari- jari 10 cm jari-jari dalam hub 2 cm dan jari-jari luar hub 4 cm. Jumlah jari-jari ada 4 dengan lebar 1 cm dan tebal benda putar 0,5 cm. Variasi pengurangan massa dilakukan dengan memvariasikan jari-jari- dalam rim. Untuk tiap variasi, dilakukan perhitungan untuk mendapatkan jumlah massa yang dapat dikurangi dan momen inersia massa dari benda putar. Ternyata pada nilai jari-jari dalam tertentu, dapat diperoleh nilai kompromi dari permasalahan diatas. Kata kunci: benda putar, penghematan bahan, momen inersia massa.  ABSTRACT Machine consists of a set of machine elements that still and moving. Machine elements that move in a circular motion called rotary object. In some cases it is often desirable reduction in the mass of the rotating object for economic reasons, usually for a mass production of machine elements. But the mass reduction results in a reduction in moment of inertia of the mass. If the demands of the design allow this decrease of moment of inertia, mass reduction is not a problem. But if the moment of inertia of the masses should not be too low, it must find a compromise in which a mass reduction profusely but the decrease in the mass moment of inertia of the smallest. In this research conducted a case study of rotating element radius of 10 cm, radius of the hub 2 cm and outer radius hub 4 cm. The number of spoke are 4 with a width of 1 cm and uniform thickness 0.5 cm all over rotating element. Variations mass reduction is done by varying the inner radius of the rim. For each variation, calculation is performed to obtain the amount of mass that can be reduced and the mass moment of inertia of the rotating object. It turned out that in the certain value of inner radius of the rim in particular, can compromise the values obtained from the above problem. Keywords: rotating element, reducing material, mass moment of inertia.

Balancing the Moments of a VR5 Engine Taking into Account a Desaxial Crank Mechanism and Cylinder Camber Angle

2020 ◽  
pp. 41-49
Author(s):  
N.D. Chainov ◽  
P.R. Vallejo Maldonado
Keyword(s):  
Relative Displacement ◽  
Working Fluid ◽  
Inertial Forces ◽  
Structural Elements ◽  
Connecting Rod ◽  
Cylinder Axis ◽  
Acoustic Characteristics ◽  
Camber Angle ◽  
Inertia Forces ◽  
Crank Mechanism

Automobile piston engines with a desaxial crank mechanism are characterized by increased vibration activity associated with a cyclic change in the pressure of the working fluid in the cylinders and inertial forces associated with the reciprocating and rotational movement of the crank mechanism moving masses. Properties reflecting the consumer properties of the engine, including acoustic characteristics, are largely determined by the level of vibration of the structural elements of the desaxial crank mechanism and, first of all, by the balance of inertial forces during operation. The article discusses balancing of five-cylinder four-stroke VR type engines with a desaxial crank mechanism and uniform flash alternation. The authors introduce formulas that can be used to determine and analyze moments of the inertia forces of the reciprocating and rotating masses arising in VR5 engines at the set values of the cylinder camber angle, the ratio of the crank radius to the connecting rod length and the relative displacement of the cylinder axis. A method of balancing the moments of inertia forces of the reciprocating and rotating masses is proposed.

scholarly journals Velocities of Escapers from Unstable Hierarchical Triple Stars

1995 ◽  
Vol 166 ◽  
pp. 398-398
Author(s):  
L. Kiseleva ◽  
J. Anosova ◽  
J. Colin
Keyword(s):  
Mass Transfer ◽  
High Velocity ◽  
Triple System ◽  
Unstable Systems ◽  
The Galaxy ◽  
Centers Of Mass ◽  
The Masses ◽  
Triple Star ◽  
Triple Stars

We consider unstable hierarchical triple stars which are disrupted by the straightforward ejection and escape of the distant companion. The main aim of the present work is the study of velocities of escaping stars from these unstable systems, and the dependence of these velocities on the masses of the stars and on the distances of the escapers from the centers of mass of the remaining binary and of the triple system as a whole. Velocities of escapers are estimated for actual star systems. It is shown that in the triple star λ Tau, when it becomes unstable as a result of mass transfer in its close semi-detached binary, the velocity of the escaping distant companion with mass M ≈ 0.7M⊙ can be about 100 km/s. A possible application of these results to the problem of anomalous high-velocity stars in the Galaxy is discussed.

Calculation Method for Bridge Temporary Structure Based on Graphic Flow Technology

2011 ◽  
Vol 94-96 ◽  
pp. 2024-2031
Author(s):  
Ling Huang ◽  
Yan Liang Shang ◽  
Hao Zhang
Keyword(s):  
Calculation Method ◽  
Local Structure ◽  
High Efficiency ◽  
Data Entry ◽  
New Method ◽  
Broad Application ◽  
Construction Specifications ◽  
Complex Engineering ◽  
Temporary Structure ◽  
Development Practice

Abstract. For the bridge temporary structures, the present mainstream calculation method is based on dialog box data entry or command flow technology, in view of their insurmountable defects, a new calculation method based on graphic flow technology is presented and implemented in this paper. The comprehensive solving process of bridge temporary structure is planed and decomposed into a series of easily implemented sub-steps, their calculation models can be described by a group of independent and cooperative function graphic object types, in which global or local structure features, construction specifications, dynamics characteristics, engineering experience, intention expression, expert solving plan and other comprehensive application knowledge can be expressed easily. By creating, operating and deducting these function graphic objects, the solving sub-steps can be easily implemented. As a result , the comprehensive solving process for bridge temporary structure based on engineering features can be realized , and the simplification and high efficiency of solving process are achieved. The new method is also can be applied to other complex engineering structure fields, development practice shows its broad application prospect and development space.

Reaction Force Analysis in Generalized Machine Systems

1973 ◽  
Vol 95 (2) ◽  
pp. 617-623 ◽  
Author(s):  
D. A. Smith
Keyword(s):  
Dynamic Systems ◽  
Virtual Work ◽  
Reaction Force ◽  
Inertial Forces ◽  
Force Analysis ◽  
Lagrange’S Equation ◽  
Reaction Forces ◽  
Applied Forces ◽  
Machine Systems ◽  
Centers Of Mass

A method is developed which reduces the calculation of reaction forces for multi-degree-of-freedom, constrained, mechanical, dynamic systems to a process of accumulating a sum of terms representing inertial forces, applied forces, and Lagrange multiplier forces. This method results in an approach to reaction force calculations which is computationally more efficient than either virtual work or equilibrium when these methods are applied in conventional ways. The method is based on selecting a tree for the network being simulated in which the chords of the network correspond to revolute pairs (for two-dimensional systems). When such a tree is determined, Lagrange’s equation with constraint is used to represent the mechanical system. If the paths to the centers of mass and the paths associated with applied forces are developed from tree branches, the Lagrange multipliers are directly interpretable in terms of the total reaction forces at the chords of the network. These multipliers are obtained in the process of determining the system motion. The remaining reaction forces and torques are determined by a sequence of additions.

scholarly journals Equations of motion of masses of the Chelomey pendulum model

2021 ◽  
Author(s):  
N. Kryshchuk ◽  
A. Tsybenko ◽  
Y. Lavrenko ◽  
A. Oleshchuk A.
Keyword(s):  
Software Package ◽  
Numerical Solutions ◽  
Equations Of Motion ◽  
Newtonian Mechanics ◽  
Inertial Forces ◽  
Pendulum Model ◽  
Unit Work ◽  
Conservation Of Momentum ◽  
Mathcad Software ◽  
The Masses

Abstract. To verify the provisions stated by V.I. Bogomolov, B.I. Puzanov. and Linevich E.I. about the possibility of performing over-unit work by inertial forces, a closed mechanical system in the form of kinematically connected rotating masses is proposed for consideration. The research aimed, within the framework of Newtonian mechanics, to study the fulfillment of the laws of conservation of momentum, angular momentum and energy, to establish the possibility of performing work by inertial forces (centrifugal and Coriolis), to assess the change in kinetic parameters using the example of the Chelomey pendulum model. For the complex radial-circular motion of the masses of the Chelomey pendulum model, resolving equations are obtained. To verify the analytical calculations, algorithms for numerical solutions of the above problems have been developed and implemented in the MathCAD software package.

Active Control for the Complete Dynamic Balancing of Linkages

1992 ◽  
Author(s):  
Jorge Angeles ◽  
Meyer A. Nahon ◽  
Thomas Thümmel
Keyword(s):  
Active Control ◽  
Degree Of Freedom ◽  
Dynamic Balancing ◽  
Reaction Forces ◽  
The Masses ◽  
Inertia Forces ◽  
Shaking Moment

Abstract This paper deals with the dynamic balancing of linkages. For one-degree-of-freedom linkages, this task consists of eliminating both the shaking moment and the shaking force exerted by the inertia forces of the moving links on the frame. While the latter can be eliminated by properly deciding on both the location of the mass centers and the ratios of the masses and link lengths involved, the shaking moment due to these forces cannot be eliminated in this way. Indeed, the elimination of the shaking force is attained by having the two transmitted forces cancel each other, although each individual force does not necessarily vanish, thereby still producing a shaking moment. In this paper, we propose the use of redundant motors in order to eliminate the reaction forces transmitted to the base, thereby also eliminating the shaking moment due to these forces. However, the net moment acting on the frame is shown to be unaltered by this technique.

scholarly journals Calculation of solid-state cargo fastener under the influence of longitudinal forces

2020 ◽  
Vol 157 ◽  
pp. 01016 ◽  
Author(s):  
Yadgor Ruzmetov ◽  
Oksana Molchanova ◽  
Jamol Shihnazarov
Keyword(s):  
Comparative Analysis ◽  
Solid State ◽  
Calculation Method ◽  
Longitudinal Force ◽  
The Other ◽  
Calculation Methods ◽  
Railway Industry ◽  
Cargo Transportation ◽  
Inertia Forces ◽  
Elastic Elements

Cargo securing on a railway platform, elastic and retention fasteners, longitudinal transport force of inertia, forces in elastic fastenings. Purpose: The paper presents the calculation of the longitudinal transport force of inertia; determines the longitudinal force perceived by the elastic elements of the cargo securing; determines the reactions of retention bars depending on the number of bars and fasteners (nail); calculates the sum of all holding forces; calculates the forces in the elastic fasteners when exposed to longitudinal forces. Research methods: To determine the forces in the cargo securing devices, existing calculation methods are used. Moreover, the formulas of these techniques are presented in a form convenient for calculation. Main results: The paper proves that according to the existing method, the force in all elastic cargo fasteners under the influence of longitudinal forces has the same value, regardless of the different arrangement of the geometric parameters of the fasteners in space. The forces in them are more than 1.6 times higher than the permissible values. The calculations of forces in the elastic fasteners, which are performed by the specified method, are given. The results of the comparative analysis showed that the forces in all wire fasteners, in contrast to the existing calculation method, have different values. However, the strength of the second pair of wire fasteners of both one and the other direction is not ensured - the force in them more than two times exceeds the permissible value (61/24.8≈2.5), which will result in their destruction during the cargo transportation. Conclusions and their significance for the industry: Existing calculation methods do not provide guarantee strength of cargo fasteners. In the future, to calculate the fastening of cargo by shippers in the railway industry, a new calculation procedure should be applied for the allocation and fastening of cargo on the car.

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