scholarly journals Geometric Non-Linear Approach to Stiffness State of Semi–Rigid Structures

2016 ◽  
Vol 6 (1) ◽  
pp. 63-70
Author(s):  
Moldovan Corina
Keyword(s):  
Degrees Of Freedom ◽  
Virtual Work ◽  
Steel Structures ◽  
Structural Level ◽  
Element Level ◽  
Present Contribution ◽  
Six Degrees Of Freedom ◽  
Non Linear ◽  
Linear Elements ◽  
Global Systems

Abstract Present contribution intends to emphasize the contribution of geometric non-linearity to the stiffness state of semi-rigid multi–storey steel structures. Though semi-rigidity of beam – column connections involves a nonlinearity at constitutive bending momentrelative rotation level, the geometric nonlinearity associated to deformed conFigure uration at element level is less referred to. The main objective of the study is to express the stiffness state of geometric non-linear elements semi-rigidly connected at its ends. Stiffness state is, in its term, expressed by element level stiffness matrix considering the six degrees of freedom of the planar element. Regarding the reference system, both local and global systems are employed allowing a simple and direct transition from element level vectorial relations to their structural level forms. The three fundamental vectorial relations (static equilibrium, kinematic compatibility, material constitutivity) emphasize that the principle of virtual work holds in the case of semi-rigidly connected skeletal structures as well.

Application of non-linear H∞ control to the Tetrabot robot manipulator

1998 ◽  
Vol 212 (6) ◽  
pp. 459-465 ◽  
Author(s):  
I Postlethwaite ◽  
A Bartoszewicz
Keyword(s):  
Degrees Of Freedom ◽  
Robot Manipulator ◽  
Industrial Robot ◽  
External Disturbances ◽  
Six Degrees Of Freedom ◽  
Control Scheme ◽  
Non Linear ◽  
Modelling Uncertainties ◽  
Real Robot ◽  
Robotic Application

In this paper, an application of a non-linear H∞ control law for an industrial robot manipulator is presented. Control of the manipulator motion is formulated into a non-linear H∞ optimization problem, namely optimal tracking performance in the presence of modelling uncertainties and external disturbances. Analytical solutions for this problem are implemented on a real robot. The robot under consideration is the six-degrees-of-freedom GEC Tetrabot. Investigations are made into the selection of weights for the H∞ controller and it is shown how different selections of weights affect the Tetrabot performance. The authors believe this to be the first robotic application of nonlinear H∞ control. Comparisons of the proposed control strategy with conventional proportional-derivative and proportional-integral-derivative controllers show favourable performance of the Tetrabot under the new non-linear H∞ control scheme.

Design, dynamic analysis and experimental evaluation of a hybrid parallel-serial polishing machine with decoupled motions

2021 ◽  
pp. 1-32
Author(s):  
Peng Xu ◽  
Benny C.F. Cheung ◽  
Bing Li ◽  
Chunjin Wang ◽  
Chenyang Zhao
Keyword(s):  
Degrees Of Freedom ◽  
Driving Forces ◽  
Virtual Work ◽  
Accuracy Assessment ◽  
Six Degrees Of Freedom ◽  
Simulation Based ◽  
Rtcp Function ◽  
Functional Extension ◽  
Polishing Tool ◽  
Laboratory Prototype

Abstract In this paper, a novel six degrees-of-freedom (DOF) hybrid kinematic machine (HKM) is designed, analyzed and evaluated for precision polishing. The design adopts a three DOF tripod-based parallel manipulator (PM) to locate the workpiece, a two DOF serial manipulator (SM) to orient the polishing tool and a functional extension limb to provide a redundant DOF for the workpiece with an axially symmetrical shape. Compared with the existing HKMs, the most distinctive feature is that the position and orientation adjustments of the tool with respect to the workpiece are decoupled during the synchronous machining, thus allowing the rotational tool center point (RTCP) function to be conveniently realized. For the developed HKM, the kinematics are studied systematically, including position, velocity, acceleration and workspace. The dynamic model of the PM is derived by employing the principle of virtual work. For a pre-defined trajectory, the required driving forces are obtained through dynamic simulation. Based on these analyses, a laboratory prototype of the HKM is designed and developed. Preliminary accuracy assessment of the HKM is implemented with a double ball-bar and a series of polishing experiments are conducted to show the capacity and feasibility of the developed HKM.

Prediction of Sloshing Effects Using a Coupled Non-Linear Seakeeping and CFD Code

2013 ◽  
Author(s):  
Worakanok Thanyamanta ◽  
Don Bass ◽  
David Molyneux
Keyword(s):  
Degrees Of Freedom ◽  
Linear Time ◽  
Numerical Approach ◽  
Six Degrees Of Freedom ◽  
Non Linear ◽  
Roll Stabilization ◽  
Tank Geometry ◽  
Fully Coupled ◽  
Potential Use ◽  
Good Agreement

In this paper, a numerical approach for predicting sloshing or roll-stabilization effects is proposed. A 3D non-linear time domain seakeeping code, MOTSIM, was coupled with a commercial CFD code (Flow-3D) and used to predict roll stabilizing performance of an unconventional U-tube tank installed in an oceanographic vessel. The codes were fully coupled and thus provided coupled effects of the external flow field and the motion of the fluid with a free surface inside the anti-roll tank on the ship motion in six degrees of freedom. MOTSIM is a well validated code that has been proven to provide accurate motion prediction for various vessels. The CFD code allows for modeling of complex tank geometry as well as detailed investigation of locations in the tank where severe loads might be experienced. Comparisons of the simulation results with experimental data showed good agreement and significant effects of the anti-roll tank on decreasing the ship’s roll motion. This study also demonstrated the coupled code’s potential use for any type of sloshing problems including the design of roll-stabilization tanks and LNG carriers.

Simulation of Train Derailment in Passing Over Rails With Random Irregularities on a Viscoelastic Foundation

2008 ◽  
Author(s):  
Mohammad Durali ◽  
Mohammad Mahdi Jalili
Keyword(s):  
Degrees Of Freedom ◽  
Viscoelastic Foundation ◽  
Train Derailment ◽  
Suspension Systems ◽  
Derailment Coefficient ◽  
Center Pivot ◽  
Non Linear ◽  
Linear Elements ◽  
Secondary Suspension ◽  
New Criterion

Derailment of a passenger wagon on a rail with random irregularities is investigated in this paper. The wagon having 48 degrees of freedom is assumed to travel over a rail on a viscoelastic foundation. The wagon model is a 3-D, non-linear model of a passenger train car, considering non-linear elements for the primary and secondary suspension systems having friction and slack between their elements, the center pivot with kinematics constraints, forces between pads, and bolster. The motion of the wagon on rail with random vertical irregularities is simulated for different line grades and travel speeds. Derailment coefficient and a new derailment criterion are used to investigate probability of wheelset derailment moving on different line grades. The study shows that the new criterion can very well predict wheelset derailment and can duplicate the predictions by conventional derailment coefficient (Q/P). Comparison of the wagon derailment on lines with different sleeper rigidity shows that increase in sleeper rigidity decrease derailment probability.

Non-Linear Forced Response Analysis of Mistuned Bladed Disk Assemblies

2010 ◽  
Author(s):  
M. Ersin Yu¨mer ◽  
Ender Cig˘erog˘lu ◽  
H. Nevzat O¨zgu¨ven
Keyword(s):  
Degrees Of Freedom ◽  
Linear Equations ◽  
Harmonic Balance Method ◽  
Forced Response ◽  
Contact Forces ◽  
Response Analysis ◽  
Disk Model ◽  
Bladed Disk ◽  
Non Linear ◽  
Linear Elements

Forced response analysis of bladed disk assemblies plays a crucial role in rotor blade design, and therefore has been investigated by researchers extensively. However, due to lack of computation power, several studies in the literature utilize either linear mistuned models which are short of capturing nonlinear effects, or non-linear tuned models which do not catch the effects of mistuning. Studying the combined effect of the two, namely non-linearity and mistuning, is relatively recent and generally conducted with methods whose convergence and accuracy depend highly on the number of degrees of freedom related with the non-linear elements. In this paper, a new approach is proposed to predict forced response of frictionally damped mistuned bladed disk assemblies in modal domain. A friction element, which enables normal load variation and separation of the contact interface, is utilized to determine the non-linear contact forces in three-dimensional space, and harmonic balance method is used to obtain a relationship between the non-linear contact forces and the relative motion. As mistuning phenomenon destroys the cyclic symmetry, modeling the whole assembly rather than a sector of it is necessary, which increases the number of non-linear elements required considerably. In the proposed approach, the analysis is carried out in modal domain where the differential equations of motions are converted to a set of non-linear algebraic equations using harmonic balance method and modal superposition technique. Thus, the number of non-linear equations to be solved is proportional to the number of modes retained, rather than the number of degrees of freedom related with the nonlinear elements. Therefore, the proposed approach can be applied to realistic bladed disk models without increasing the number of non-linear equations. Moreover, to accomplish this it is not required to use a reduced order model in the method suggested. Two case studies are presented to illustrate the implementation of the method: a lumped parameter bladed disk model and an academic bladed disk model with shrouds.

Control of processing at multi-tool two-support setup

2020 ◽  
pp. 67-73
Author(s):  
N.D. YUsubov ◽  
G.M. Abbasova
Keyword(s):  
Degrees Of Freedom ◽  
Factor Model ◽  
Angular Displacement ◽  
Factor Models ◽  
Technological System ◽  
Displacement Control ◽  
Model Accuracy ◽  
Six Degrees Of Freedom ◽  
Angular Displacements ◽  
And Control

The accuracy of two-tool machining on automatic lathes is analyzed. Full-factor models of distortions and scattering fields of the performed dimensions, taking into account the flexibility of the technological system on six degrees of freedom, i. e. angular displacements in the technological system, were used in the research. Possibilities of design and control of two-tool adjustment are considered. Keywords turning processing, cutting mode, two-tool setup, full-factor model, accuracy, angular displacement, control, calculation [email protected]

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