On Dynamic Modelling of Parallel Manipulators: the Five-Bar Mechanism as a Case Study

Author(s):  
Israel Soto ◽  
Ricardo Campa
2021 ◽  
Author(s):  
Jorge Rodriguez ◽  
Susana Gómez ◽  
Ngoc Tran Dinh ◽  
Giovanni Ortuño ◽  
Narendra Borole

Abstract The paper presents the application of a holistic approach to corrosion prediction that overcomes classical pitfalls in corrosion testing and modelling at high pressure, high temperature and high CO2 conditions. Thermodynamic modelling of field and lab conditions allows for more accurate predictions by a novel CO2/H2S general corrosion model validated by laboratory tests. In the proposed workflow, autoclave tests at high pressure and temperature are designed after modeling corrosion in a rigorous thermodynamic framework including fluid-dynamic modelling; the modeled steps include preparation, gas loading and heating of fluid samples at high CO2 concentration, and high flow velocities. An autoclave setup is proposed and validated to simultaneously test different conditions. Corrosion rates are extrapolated to compute service life of the materials and guide material selection. The results from the model and tests extend the application of selected stainless steel grade beyond the threshold conditions calculated by simplistic models and guidelines. Consideration of fugacities and true aqueous compositions allows for accurate thermodynamic representation of field conditions. Computation by rigorous fluid dynamics of shear stress, multiphase flow and heat transfer effects inside completion geometry lead to a proper interpretation of corrosion mechanisms and models to apply. In the case study used to showcase the workflow, conventional stainless steel is validated for most of the tubing. It is observed that some sections of the system in static condition are not exposed to liquid water, allowing for safe use of carbon steel, while as for other critical parts, more noble materials are deemed necessary. Harsh environments pose a challenge to the application of conventional steel materials. The workflow applied to the case study allows accurate representation and application of materials in its application limit region, allowing for safe use of carbon steel or less noble stainless steels in those areas of the completion where corrosion is limited by multiphase fluid-dynamics, heat transfer or the both. The approximation is validated for real case study under high CO2 content, and is considered also valid in the transportation of higher amounts of CO2, for example, in CCUS activities.


Robotica ◽  
2011 ◽  
Vol 30 (6) ◽  
pp. 941-950 ◽  
Author(s):  
Leila Notash

SUMMARYWire-actuated parallel manipulators and their failures are studied in this paper taking into consideration their failure modes. A methodology for investigating the effect of wire/actuator failures on the force/moment capability of manipulators is presented, and the criteria for full and partial recovery from these failures are established. The methodology is also applicable for the cases that the minimum norm solution for the vector of wire tensions gives a negative value for tension by treating the corresponding wire as failed. The proposed criteria are also valid for the manipulators that utilize hybrid actuation of wires and joints. Three planar wire-actuated parallel manipulators are used as the case study to illustrate the proposed methodology and criteria.


Author(s):  
Li Li ◽  
Yong Chen

Abstract A symbolic-numerical approach for the dynamic modelling of parallel manipulators is proposed in this paper. By extending the symbolic algebraic operation rules of the structural matrices and using an improved algorithm for the optimal operation of structural matrices, matrix elements in dynamic equations are generated automatically on the computer with minimization of number of floating-point multiplications/additions.


Author(s):  
Carlo Innocenti

Abstract The paper presents an original analytic procedure for unambiguously determining the relative position and orientation (location) of two rigid bodies based on the readings from seven linear transducers. Each transducer connects two points arbitrarily chosen on the two bodies. The sought-for rigid-body location simply results by solving linear equations. The proposed procedure is suitable for implementation in control of fully-parallel manipulators with general geometry. A numerical example shows application of the reported results to a case study.


Author(s):  
Haitao Liu ◽  
Weifeng Chen ◽  
Tian Huang ◽  
Huafeng Ding ◽  
Andres Kecskemethy

Author(s):  
Oscar Altuzarra ◽  
Philipp Marcel Eggers ◽  
Francisco J. Campa ◽  
Constantino Roldan-Paraponiaris ◽  
Charles Pinto

2015 ◽  
Vol 55 (1) ◽  
pp. 291
Author(s):  
Bert Filippi ◽  
Bahman Joodi ◽  
Mohammad Sarmadivaleh

Populating water saturation is a critical step in dynamic modelling. This work introduces a different height function that equates directly with the Leverett-J formula. In doing so, the model initialises under quiescent conditions without the need for end-point scaling. The resulting water saturation is a function of permeability, porosity, clay volume and height above the free water level. The Vcl—or clay content—is an important feature in this formulation because it compensates between extreme values of permeability and porosity. This peer-reviewed paper describes how a single height function was sufficient to match the log-derived water saturation for all wells in the Coracle sand of the Surprise Field in the North Sea. The process involved fitting a simple height formula, with the least possible parameters, to the J-function calculated from all the special core analysis (SCAL) data. These parameters were then tuned to match the log-derived water saturation. This technique was subsequently used in other fields where a single height function, which honoured the measured capillary pressures, accurately matched water saturation in all of the wells.


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