Ciliary Vibration Drive Mechanism for Active Scope Cameras

2008 ◽  
Vol 20 (3) ◽  
pp. 490-499 ◽  
Author(s):  
Masashi Konyo ◽  
◽  
Kazuya Isaki ◽  
Kazunari Hatazaki ◽  
Satoshi Tadokoro ◽  
...  
Keyword(s):  
Dynamic Models ◽  
Friction Model ◽  
Activation Mechanism ◽  
Physical Factors ◽  
Stick Slip ◽  
Drive Mechanism ◽  
Inclined Angle ◽  
Optimal Driving ◽  
Flexible Cables ◽  
Physical Phenomena

The active scope camera we proposed has active mobility using a ciliary vibration drive mechanism for long flexible cables. The physical details have yet to be clarified. We determined it based on detailed physical phenomena to design an optimal ciliary vibration drive. We discuss the reasons for design efficiency based on the analysis of dynamic models of ciliary parts, focusing on (1) the characteristic vibration of the cilia and (2) stick-slip contact. We constructed a pseudo linear spring model and a stick-slip friction model to evaluate these phenomena. We determined optimal driving vibration frequencies and the inclined angle of cilia through experiments and analysis. Qualitative comparisons with the dynamic models and the results of experiments indicated the effective physical factors of the activation mechanism. A prototype of the active scope camera showed good performance in practical rescue activities.

scholarly journals Nanomanipulation Modeling and Simulation

2006 ◽  
Author(s):  
Yanto Mualim ◽  
Fathi H. Ghorbel ◽  
James B. Dabney
Keyword(s):  
Friction Model ◽  
Stick Slip ◽  
Interaction Forces ◽  
Mathematical Properties ◽  
Lugre Friction Model ◽  
Novel Approach ◽  
Proposed Model ◽  
Lugre Friction ◽  
Physical Phenomena ◽  
Well Posed

A novel approach to better model nanomanipulation of a nanosphere laying on a stage via a pushing scheme is presented. Besides its amenability to nonlinear analysis and simulation, the proposed model is also effective in reproducing experimental behaviors commonly observed during AFM-type nanomanipulation. The proposed nanomanipulation model consists of integrated subsystems that are identified in a modular fashion. The subsystems consistently define the dynamics of the nanomanipulator tip and nanosphere, interaction forces between the tip and the nanosphere, friction between the nanosphere and the stage, and the contact deformation between the nanomanipulator tip and the nanosphere. The main feature of the proposed nanomanipulation model is the Lund-Grenoble (LuGre) dynamic friction model that reliably represents the stick-slip behavior of atomic friction experienced by the nanosphere. The LuGre friction model introduces a new friction state and has desirable mathematical properties making it a well-posed dynamical model that characterizes friction with fidelity. The proposed nanomanipulation model facilitates further improvement and extension of each subsystem to accommodate other physical phenomena that characterize the physics and mechanics of nanomanipulation. Finally, the versatility and effectiveness of the proposed model is simulated and compared to existing models in the literature.

Modelling and analysis of a high-speed circuit breaker mechanism with a spring-actuated cam

2001 ◽  
Vol 215 (6) ◽  
pp. 663-672 ◽  
Author(s):  
K Y Ahn ◽  
S H Kim
Keyword(s):  
High Speed ◽  
Dynamic Models ◽  
Optimization Technique ◽  
Circuit Breaker ◽  
Friction Model ◽  
Viscous Damping ◽  
Stick Slip ◽  
Stribeck Effect ◽  
Simulation Results ◽  
Pendulum Experiment

The dynamic model of a high-speed circuit breaker mechanism with a spring-actuated cam is derived, and its validation and appropriateness for an analysis of high-speed motion behaviour are checked through experiments. In particular, the characteristics of the friction on the camshaft are investigated using the non-linear pendulum experiment. The parameters of the friction model are estimated using an optimization technique. The analysis shows that the friction of the pendulum depends on stick-slip, the Stribeck effect and viscous damping. The simulation results of derived dynamic models for the rapid closing and opening operations are compared with actual responses using a high-speed camera and are investigated to validate their usefulness. The spring motion, which has much influence on the closing responses, is observed.

Modeling of Piezo-Actuated Stick-Slip Micro-Drives: An Overview

2012 ◽  
Vol 81 ◽  
pp. 39-48 ◽  
Author(s):  
Ha Xuan Nguyen ◽  
Christoph Edeler ◽  
Sergej Fatikow
Keyword(s):  
Mechanical Model ◽  
Integrated Model ◽  
Friction Model ◽  
Fundamental Importance ◽  
Future Research ◽  
Stick Slip ◽  
Research Activities ◽  
Model Combining ◽  
Friction Models

This paper gives an overview about problems of modeling of piezo-actuated stick-slip micro-drives. It has been found that existing prototypes of such devices have been investigated empirically. There is only few research dealing with the theory behind this kind of drives. By analyzing the current research activities in this field, it is believed that the model of the drive depends strongly on the friction models, but in most cases neglecting any influences of the guilding system.These analyses are of fundamental importance for an integrated model combining friction model and mechanical model offering promising possibilities for future research.

A mixed reality approach for interactively blending dynamic models with corresponding physical phenomena

2010 ◽  
Vol 20 (4) ◽  
pp. 1-23 ◽  
Author(s):  
John Quarles ◽  
Paul Fishwick ◽  
Samsun Lampotang ◽  
Ira Fischler ◽  
Benjamin Lok
Keyword(s):  
Dynamic Models ◽  
Mixed Reality ◽  
Physical Phenomena

Stick-Slip Compensation of Micro-Positioning Using Elastic-Plastic Static Friction Model

2008 ◽  
Vol 47-50 ◽  
pp. 246-249
Author(s):  
Min Gyu Jang ◽  
Chul Hee Lee ◽  
Seung Bok Choi
Keyword(s):  
Static Friction ◽  
Friction Model ◽  
Smart Structure ◽  
Asperity Contact ◽  
Stick Slip ◽  
Elastic Plastic ◽  
Highly Nonlinear ◽  
Bridge Type ◽  
Structural Parts ◽  
Rough Surface Contact

In this paper, a stick-slip compensation for the micro-positioning is presented using the statistical rough surface contact model. As for the micro-positioning structure, PZT (lead(Pb) zirconia(Zr) Titanate(Ti)) actuator is used to drive the load for precise positioning with its high resolution incorporating with the PID (Proportional Integral Derivative) control algorithm. Since the stick-slip characteristics for the micro structures are highly nonlinear and complicated, it is necessary to incorporate more detailed stick-slip model for the applications involving the high precision motion control. Thus, the elastic-plastic static friction model is used for the stick-slip compensation considering the elastic-plastic asperity contact in the rough surfaces statistically. Mathematical model of the system for the positioning apparatus was derived from the dynamic behaviors of structural parts. Since the conventional piezoelectric actuator generates the short stroke, a bridge-type flexural hinge mechanism is introduced to amplify the linear motion range. Using the proposed smart structure, simulations under the representative positioning motion were conducted to demonstrate the micro-positioning under the stick-slip friction.

scholarly journals Time Delay and Feedback Control of an Inverted Pendulum With Stick Slip Friction

2007 ◽  
Author(s):  
Sue Ann Campbell ◽  
Stephanie Crawford ◽  
Kirsten Morris
Keyword(s):  
Time Delay ◽  
Basin Of Attraction ◽  
Critical Time ◽  
Viscous Friction ◽  
Experimental System ◽  
Friction Model ◽  
Stable Equilibrium Point ◽  
Feedback Controllers ◽  
Stick Slip ◽  
The Basin Of Attraction

We consider an experimental system consisting of a pendulum, which is free to rotate 360 degrees, attached to a cart which can move in one dimension. There is stick slip friction between the cart and the track on which it moves. Using two different models for this friction we design feedback controllers to stabilize the pendulum in the upright position. We show that controllers based on either friction model give better performance than one based on a simple viscous friction model. We then study the effect of time delay in this controller, by calculating the critical time delay where the system loses stability and comparing the calculated value with experimental data. Both models lead to controllers with similar robustness with respect to delay. Using numerical simulations, we show that the effective critical time delay of the experiment is much less than the calculated theoretical value because the basin of attraction of the stable equilibrium point is very small.

Asperity Spring Friction Model With Application to Belt-Drives

2003 ◽  
Author(s):  
Tamer M. Wasfy
Keyword(s):  
Finite Element ◽  
Coulomb Friction ◽  
Friction Model ◽  
Belt Drive ◽  
Finite Element Code ◽  
Time Step ◽  
Stick Slip ◽  
Normal Contact ◽  
Belt Drives ◽  
Coulomb Friction Model

An asperity spring friction model that uses a variable anchor point spring along with a velocity dependent force is presented. The model is incorporated in an explicit timeintegration finite element code. The friction model is used along with a penalty-based normal contact model to simulate the dynamic response of a two-pulley belt-drive system. It is shown that the present friction model accurately captures the stick-slip behavior between the belt and the pulleys using a much larger time-step than a pure velocity-dependent approximate Coulomb friction model.

Simulacija i odstranjivanje stick-slip efekta servosistema sprovodnog aparata hidraulične turbine

2021 ◽  
Vol 23 (1) ◽  
pp. 37-41
Author(s):  
Darko Babunski ◽  
◽  
Emil Zaev ◽  
Atanasko Tuneski ◽  
Laze Trajkovski ◽  
...  
Keyword(s):  
Hydraulic Cylinder ◽  
Friction Model ◽  
Slip Effect ◽  
Hydraulic Systems ◽  
Hydraulic Actuator ◽  
Stick Slip ◽  
Hydro Turbine ◽  
Servo Mechanism ◽  
The Mathematical Model ◽  
Slip Phenomenon

Friction is a repeatable and undesirable problem in hydraulic systems where always has to be a tendency for its removal. In this paper, the friction model is presented through which the most accurate results are achieved and the way of friction compensation, approached trough technique presented with the mathematical model of a hydraulic cylinder of a hydro turbine wicket gate controlled by a servomechanism. Mathematical modelling of a servo mechanism and hydraulic actuator, and also the simulation of hydraulic cylinder as a part of a hydro turbine wicket gate hydraulic system where the stick-slip phenomenon is present between the system components that are in contact is presented. Applied results in this paper and the theory behind them precisely demonstrate under what circumstances the stick-slip phenomenon appears in such a system. The stick-slip effect is simulated using Simulink and Hopsan software and the analysis of the results are given in this paper. Removal of the stick-slip effect is presented with the design of a cascade control implemented to control the behaviour of the system and remove the appearance of a jerking motion.

A Novel Trans-Scale Precision Positioning Stage Based on the Stick-Slip Effect

2012 ◽  
Vol 2 (2) ◽  
pp. 1-14 ◽  
Author(s):  
Bowen Zhong ◽  
Liguo Chen ◽  
Zhenhua Wang ◽  
Lining Sun
Keyword(s):  
Friction Model ◽  
Slip Effect ◽  
Precision Positioning ◽  
Stick Slip ◽  
Kinematics Model ◽  
Lugre Friction Model ◽  
Positioning Stage ◽  
Simulation Results ◽  
Relationship Of ◽  
The Relationship

This article focuses on developing a novel trans-scale precision positioning stage based on the stick-slip effect. The stick-slip effect is introduced and the rigid kinematics model of the stick-slip driving is established. The forward and return displacement equations of each step of the stick-slip driving are deduced. The relationship of return displacement and the acceleration produced by friction are obtained according to displacement equations. Combining with LuGre friction model, the flexible dynamics model of the stick-slip driving is established and simulated by using Simulink software. Simulation results show that the backward displacement will reduce with the acceleration of the slider produced by dynamic friction force, the rigid kinematics model is also verified by simulation results which are explained in further detail in the article.

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