Study on numerical analysis of dynamic parameters of mobile walking robot

2020 ◽  
Vol 14 (1) ◽  
pp. 6380-6392 ◽  
Author(s):  
Mikhail Polishchuk ◽  
Mykyta Suyazov ◽  
Mark Opashnyansky
Keyword(s):  
Mathematical Model ◽  
Numerical Analysis ◽  
Coordinate System ◽  
Human Walking ◽  
Dynamic Parameters ◽  
Pneumatic Drive ◽  
Walking Robot ◽  
Walking Machine ◽  
Angular Coordinate ◽  
Made In

A dynamic model of a walking robot is proposed for moving along surfaces of different topologies and orientations to the horizon. The principal difference between walking robot mechanisms is that they are made in the form of flexible pedipulators. Actually the pedipulators are a set of spherical rings with a hydraulic or pneumatic drive. The patented design (Patent UA No 117065, publ. 2018.06.11) of the robot's feet is anthropomorphic and allows the robot to work in the angular coordinate system inherent in the human walking machine. The proposed mathematical model allows us to calculate the dynamic parameters (forces and moments) and compare these parameters with the allowable technological load that a walking robot can perform without losing adhesion with the displacement surface.

scholarly journals Interfacing conditions in the pipeline mathematical model with a kink of profile

2021 ◽  
pp. 28-48
Author(s):  
Олег Павлович Ткаченко
Keyword(s):  
Mathematical Model ◽  
Numerical Analysis ◽  
Boundary Value Problem ◽  
Coordinate System ◽  
Strain State ◽  
Coordinate Line ◽  
Curvilinear Coordinate System ◽  
Conjugation Conditions ◽  
Local Coordinates ◽  
Curvilinear Coordinate

Сформулирована замкнутая краевая задача расчета напряженно-деформированного состояния трубопровода как оболочки Власова с линией излома поверхности. Выведены разрешающие уравнения оболочки в перемещениях в избранной криволинейной системе координат; в локальных координатах, связанных с линией излома, выведены кинематические условия сопряжения; на линии излома поверхности наложены и доказаны условия сопряжения для моментов и усилий в оболочке. Условия сопряжения выведены в перемещениях оболочки на линии излома, не являющейся координатной линией. Доказано наличие сингулярности в условиях сопряжения. Установлена согласованность результатов численного анализа с известными результатами. A closed-ended formulation of the boundary-value problem of calculating the pipeline stress-strain state as a Vlasov shell with a kink line of surface was given. The resolving equations of the shell in displacements in the chosen curvilinear coordinate system were derived; in the local coordinates associated with the kink line, the kinematic conjugation conditions on this line were derived; conjugation conditions for moments and forces in the shell on the surface kink line were stated and proved. All conjugation conditions were deduced in the displacements of the shell on the kink line, which is not a coordinate line. The presence of a singularity in the obtained conjugation conditions was proved. The consistency of the numerical analysis results with known results was established.

Optimum Design of a Bipedal Walking Robot

1991 ◽  
Author(s):  
Karen Martin ◽  
Mark Reuber
Keyword(s):  
Walking Speed ◽  
Design For Manufacturing ◽  
Bipedal Walking ◽  
Human Walking ◽  
Walking Robot ◽  
Walking Machine ◽  
Start Up ◽  
Final Weight ◽  
Computer Controlled ◽  
Structural Parts

Abstract This paper describes the design, fabrication, and testing of “Bigfoot,” a bipedal walking machine designed to optimize speed, cost, and ease of assembly. Bigfoot walks at near-human walking speed (0.24 m/s), can be assembled/disassembled in two hours, and has a programmable, computer-controlled start-up procedure. Design for manufacturing and assembly techniques (DFMA) were used to reduce the final weight of the robot to 12 kg, the number of structural parts to 39 individual pieces held together with 50 fasteners, and the final robot cost to $300.

scholarly journals Simulation of a Walking Robot-Exoskeleton Movement on a Movable Base

2021 ◽  
Author(s):  
Sergey Jatsun ◽  
Andrei Malchikov ◽  
Andrey Yatsun ◽  
Al Manji Khalil ◽  
Andres Santiago Martinez Leon
Keyword(s):  
Numerical Experiments ◽  
Position Control ◽  
Software Implementation ◽  
Dynamic Parameters ◽  
Mathematical Apparatus ◽  
Walking Robot ◽  
Walking Machine ◽  
One Step ◽  
The One ◽  
Position Control System

The paper studies the problem of movement of a two-legged walking machine on a movable base. This task is relevant for design rehabilitation and mechanotherapy complexes for people with impaired functions of the musculoskeletal system. Presents a mathematical model that allows obtaining the kinematic and dynamic parameters of the movement of the executive units of the device under study. The paper presents a method for planning the trajectory of exoskeleton links, its algorithmic and software implementation. The paper proposes the structure of the automatic link position control system, which ensures the movement of the executive links along a given trajectory. A mathematical apparatus is proposed for studying the dynamics of the controlled movement of the links of the human-machine system of the exoskeleton. The article presents the results of numerical experiments on the movement of the low-limb exoskeleton leg in the one step mode and analyzes them.

Imprecision of Laboratory Determinations and Diagnostic Accuracy: Theoretical Considerations

1974 ◽  
Vol 13 (03) ◽  
pp. 151-158 ◽  
Author(s):  
D. A. B. Lindbebo ◽  
Fr. R. Watson
Keyword(s):  
Mathematical Model ◽  
Diagnostic Accuracy ◽  
Diagnostic Process ◽  
Clinical Laboratories ◽  
Non Linear ◽  
Theoretical Considerations ◽  
Made In

Recent studies suggest the determinations of clinical laboratories must be made more precise than at present. This paper presents a means of examining benefits of improvement in precision. To do this we use a mathematical model of the effect upon the diagnostic process of imprecision in measurements and the influence upon these two of Importance of Diagnosis and Prevalence of Disease. The interaction of these effects is grossly non-linear. There is therefore no proper intuitive answer to questions involving these matters. The effects can always, however, be calculated.Including a great many assumptions the modeling suggests that improvements in precision of any determination ought probably to be made in hospital rather than screening laboratories, unless Importance of Diagnosis is extremely high.

scholarly journals Identical Limb Dynamics for Unilateral Impairments through Biomechanical Equivalence

Symmetry ◽  
2021 ◽  
Vol 13 (4) ◽  
pp. 705
Author(s):  
Fatemeh Rasouli ◽  
Kyle B. Reed
Keyword(s):  
Mathematical Model ◽  
Numerical Solution ◽  
Dynamic Models ◽  
Assistive Devices ◽  
Assistive Device ◽  
Human Walking ◽  
Physical Parameters ◽  
Gait Rehabilitation ◽  
And Performance ◽  
Two Sides

Dynamic models, such as double pendulums, can generate similar dynamics as human limbs. They are versatile tools for simulating and analyzing the human walking cycle and performance under various conditions. They include multiple links, hinges, and masses that represent physical parameters of a limb or an assistive device. This study develops a mathematical model of dissimilar double pendulums that mimics human walking with unilateral gait impairment and establishes identical dynamics between asymmetric limbs. It introduces new coefficients that create biomechanical equivalence between two sides of an asymmetric gait. The numerical solution demonstrates that dissimilar double pendulums can have symmetric kinematic and kinetic outcomes. Parallel solutions with different physical parameters but similar biomechanical coefficients enable interchangeable designs that could be incorporated into gait rehabilitation treatments or alternative prosthetic and ambulatory assistive devices.

scholarly journals Theoretical and numerical analysis of novel COVID-19 via fractional order mathematical model

2021 ◽  
Vol 20 ◽  
pp. 103676
Author(s):  
Amjad Ali ◽  
Muhammad Yasin Khan ◽  
Muhammad Sinan ◽  
F.M. Allehiany ◽  
Emad E. Mahmoud ◽  
...  
Keyword(s):  
Mathematical Model ◽  
Numerical Analysis ◽  
Fractional Order ◽  
Theoretical And Numerical Analysis

The Numerical Analysis of the Velocity and Pressure Distribution of the Oil Film in Heavy Hydrostatic Thrust Bearing

2014 ◽  
Vol 541-542 ◽  
pp. 658-662
Author(s):  
Jian Li ◽  
Yuan Chen ◽  
Yang Chun Yu ◽  
Zhu Xin Tian ◽  
Yu Huang
Keyword(s):  
Mathematical Model ◽  
Numerical Analysis ◽  
Pressure Distribution ◽  
Working Conditions ◽  
Thrust Bearing ◽  
Rotation Speed ◽  
The Other ◽  
Surface Load ◽  
Oil Film ◽  
Volume Method

To study the velocity and pressure distribution of the oil film in a heavy hydrostatic thrust bearing, a mathematical model of the velocity is proposed and the finite volume method (FVM) has been used to simulate the flow field under different working conditions. Some pressure experiments were carried out and the results verified the correctness of the simulation. It is concluded that the pressure distribution varies small under different rotation speed when the surface load on the workbench is constant. But the velocity of the oil film is influenced greatly by the rotation speed. When the rotation speed of the workbench is as quick as enough, the velocity of the oil film on one radial side of the pad will be zero, that is to say the lubrication oil will be drained from the other three sides of the recess.

The New Measurement and Calculation Method for Dynamic Parameters of DC Motor Based on dSPACE System

2012 ◽  
Vol 562-564 ◽  
pp. 1496-1500
Author(s):  
Qiang Li ◽  
Wei Chen ◽  
Ren He
Keyword(s):  
Mathematical Model ◽  
Duty Cycle ◽  
Calculation Method ◽  
Dc Motor ◽  
Control Algorithms ◽  
Dynamic Parameters ◽  
Hardware In The Loop ◽  
Test Results ◽  
Complex Control ◽  
Measurement And Calculation Method

To investigate the accuracy of modeling DC motor, the platform for measurement and calculation dynamic parameters is built by the Hardware-In-the-Loop(HIL) method based on dSPACE system. The running state of DC motor has to be changed with adjustment of PWM duty-cycle using ControlDesk software. Having got measurement and calculation parameters value of DC motor, we compare the test results with simulation value using the model of DC motor with cascade control in Matlab/Simulink software according to the classical mathematical model. It confirms the established model of DC motor accurately and reliability using new parameters, which provides the basis of more complex control algorithms and also indicates that the feasibility and generalization application value of measurement and calculation method for DC motor.

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