MATHEMATICAL MODEL OF TWO-DOF FIVE LINKS CLOSED-CHAIN MECHANISM (PANTOGRAPH)

2021 ◽  
Vol 2 (2) ◽  
pp. 65-78
Author(s):  
laylaa EL-Tehewy ◽  
Mohamed Shamseldin ◽  
Mohamed Sallam ◽  
Abdel Ghany Mohamed
Keyword(s):  
Mathematical Model ◽  
Chain Mechanism ◽  
Closed Chain

Modeling and prototyping of a soft closed-chain modular gripper

2019 ◽  
Vol 46 (1) ◽  
pp. 135-145 ◽  
Author(s):  
Muddasar Anwar ◽  
Toufik Al Khawli ◽  
Irfan Hussain ◽  
Dongming Gan ◽  
Federico Renda
Keyword(s):  
Mathematical Model ◽  
Degrees Of Freedom ◽  
Kinematic Model ◽  
Chain Structure ◽  
Mathematical Representation ◽  
Mathematical Framework ◽  
Complex Objects ◽  
Content Type ◽  
Design And Optimization ◽  
Closed Chain

Purpose This paper aims to present a soft closed-chain modular gripper for robotic pick-and-place applications. The proposed biomimetic gripper design is inspired by the Fin Ray effect, derived from fish fins physiology. It is composed of three axisymmetric fingers, actuated with a single actuator. Each finger has a modular under-actuated closed-chain structure. The finger structure is compliant in contact normal direction, with stiff crossbeams reorienting to help the finger structure conform around objects. Design/methodology/approach Starting with the design and development of the proposed gripper, a consequent mathematical representation consisting of closed-chain forward and inverse kinematics is detailed. The proposed mathematical framework is validated through the finite element modeling simulations. Additionally, a set of experiments was conducted to compare the simulated and prototype finger trajectories, as well as to assess qualitative grasping ability. Findings Key Findings are the presented mathematical model for closed-loop chain mechanisms, as well as design and optimization guidelines to develop controlled closed-chain grippers. Research limitations/implications The proposed methodology and mathematical model could be taken as a fundamental modular base block to explore similar distributed degrees of freedom (DOF) closed-chain manipulators and grippers. The enhanced kinematic model contributes to optimized dynamics and control of soft closed-chain grasping mechanisms. Practical implications The approach is aimed to improve the development of soft grippers that are required to grasp complex objects found in human–robot cooperation and collaborative robot (cobot) applications. Originality/value The proposed closed-chain mathematical framework is based on distributed DOFs instead of the conventional lumped joint approach. This is to better optimize and understand the kinematics of soft robotic mechanisms.

A mathematical model for hydrocarbon autoignition at high pressures

1975 ◽  
Vol 346 (1647) ◽  
pp. 515-538 ◽  
Keyword(s):  
Mathematical Model ◽  
High Pressures ◽  
The Other ◽  
Chain Mechanism ◽  
Rapid Compression Machine ◽  
High Pressure And Temperature ◽  
Cool Flame ◽  
Induction Periods ◽  
Branched Chain ◽  
Low Pressures

We have developed a generalized mathematical model for the autoignition of hydrocarbons under the conditions of high pressure and temperature achieved in a rapid-compression machine. The model is able to simulate the essential phenomena of the two-stage autoignition of alkanes under these conditions; these are a well-defined cool flame that is often quenched rapidly and completely before the onset of a sharp ignition. It also pre­dicts correctly the transition to single-stage autoignition at even higher temperatures and the variation with temperature of the characteristic induction periods. The model is based on a degenerate-branched-chain mechanism. We show that it must contain as necessary features two termination processes, one linear and the other quadratic in radial concen­tration, and two routes for the formation of branching agent, one of which involves intermediate products of oxidation. The model also predicts, without any adjustment of the kinetic parameters, the essential pheno­mena of cool-flame and ignition behaviour that are observed at low pressures.

Design and position precision analysis of helicoids pushing chain mechanism

2015 ◽  
Vol 230 (4) ◽  
pp. 583-591 ◽  
Author(s):  
Leiyu Zhang ◽  
Yang Yang ◽  
Peng Su
Keyword(s):  
Mathematical Model ◽  
Error Compensation ◽  
Static Condition ◽  
Design Criteria ◽  
Basic Design ◽  
Chain Mechanism ◽  
Mechanics Of Materials ◽  
Machining Errors ◽  
Position Precision ◽  
The Mathematical Model

The helicoids pushing chain mechanism is a novel telescopic mechanism used to push target from one position to another rapidly. The structure of the telescopic mechanism is developed and the basic design criteria are given. The position precision of the pushing chain influenced by various factors is very important to accomplish the task of pushing target. The mathematical model of position precision under the static condition is established in order to forecast the final effects and achieve some desired results by the machining. The influence of each factor is obtained through the numerical simulation. Furthermore, the bended deformation of the extended chain is calculated using the mechanics of materials method. According to the influences and the bended deformations, an error compensation method for a certain pushing distance is proposed so as to improve the position precision of chain head and achieve a satisfactory shape of the extended part. This research provides theoretical and methodological guidance for controlling machining errors and manufacturing of the pushing chain.

Design and Optimization of a Closed-Chain Mechanism for Constrained Position and Force Control

2004 ◽  
Vol 37 (14) ◽  
pp. 693-698
Author(s):  
A. Mesbah Nejad ◽  
M. Madani ◽  
M. Moallem ◽  
R.V. Patel
Keyword(s):  
Force Control ◽  
Chain Mechanism ◽  
Design And Optimization ◽  
Closed Chain

A new revolute robot manipulator adapting the closed-chain mechanism

2005 ◽  
Vol 22 (2) ◽  
pp. 99-109 ◽  
Author(s):  
Hyeung-Sik Choi ◽  
Jungmin Oh
Keyword(s):  
Robot Manipulator ◽  
Chain Mechanism ◽  
Closed Chain

Design and Implementation of a Control System for a Flexible Planar Manipulator

Volume 1 ◽  
2004 ◽  
Author(s):  
Adriano Biason ◽  
Alessandro Gasparetto ◽  
Marco Giovagnoni ◽  
Alberto Trevisani ◽  
Vanni Zanotto
Keyword(s):  
Dynamic Model ◽  
Pid Controller ◽  
Controller Synthesis ◽  
Test Case ◽  
Chain Mechanism ◽  
Design And Implementation ◽  
Practical Usefulness ◽  
Closed Chain ◽  
Engineering Environment ◽  
Complex Test

The need for light and flexible robots is greatly increasing in the industrial engineering environment. This paper presents the design and the implementation of a PID controller for a flexible planar manipulator. The controller synthesis and tuning is based on a very accurate dynamic model of the system and is applied to a significant test case, namely a five-bar closed-chain mechanism, driven by two electric motors. The chosen PID controller is described, and the experimental results are presented and discussed. The approach followed proves the practical usefulness of the dynamic model proposed even when applied to a complex test case.

Active Position and Vibration Control of a Flexible Links Mechanism Using Model-Based Predictive Control

2009 ◽  
Vol 132 (1) ◽  
Author(s):  
Paolo Boscariol ◽  
Alessandro Gasparetto ◽  
Vanni Zanotto
Keyword(s):  
Predictive Control ◽  
High Speed ◽  
Position Control ◽  
Robotic Manipulators ◽  
Chain Mechanism ◽  
Flexible Links ◽  
Model Based ◽  
Closed Chain ◽  
Link Flexibility ◽  
Constrained Model

In order to develop an efficient and fast position control for robotic manipulators, vibration phenomena have to be taken into account. Vibrations are mainly caused by the flexibility of manipulator linkages, especially when dealing with high-speed and lightweight robots. In this paper, a constrained model-based predictive control is employed for controlling both position and vibrations in a mechanism with high link flexibility. This kind of controller has so far been used mainly to control slow processes, but here simulation results that show its effectiveness in dealing with high-speed and nonlinear processes are presented. The mechanism chosen to evaluate the performances is a four-link closed chain mechanism laying on the horizontal plane and driven by a single torque-controlled electric motor.

scholarly journals Sustainable Closed-Loop Mask Supply Chain Network Design Using Mathematical Modeling and a Fuzzy Multi-Objective Approach

2021 ◽  
Vol 13 (10) ◽  
pp. 5353
Author(s):  
Roy Setiawan ◽  
Rabia Salman ◽  
Bari G. Khairov ◽  
Valeriy V. Karpov ◽  
Svetlana Dmitrievna Danshina ◽  
...  
Keyword(s):  
Mathematical Model ◽  
Supply Chain ◽  
Social Responsibility ◽  
Fuzzy Optimization ◽  
Optimization Approach ◽  
Supply Chain Network ◽  
Sustainable Supply Chain ◽  
Multi Objective ◽  
Closed Chain ◽  
Total Profit

The outbreak of the deadly coronavirus, which is increasing the number of victims every day, has created many changes in today’s world. The use of various masks is the most important social tool against this virus. Given the importance of rapid and quality supply of masks in the current situation, it is necessary to study supply chain in particular. In this research, the design of a closed chain supply chain network for different types of masks is assessed. The studied supply chain includes suppliers, manufacturers, distributors, and retailers in the forward flow and collection centers, separate centers, recycling centers, and disposal centers in the backward flow. In this regard, a multi-objective mathematical model with the objectives of increasing the total profit and reducing the total environmental impact, and maximizing social responsibility is presented. The optimization of this mathematical model has been done using a fuzzy optimization approach in GAMS software. The results of this study show that maximizing the total profit and minimizing the environmental effects and maximizing social responsibility are in contrast to each other. In addition, the sensitivity analysis indicated that the customers’ demand can affect all aspects of the sustainable supply chain simultaneously.

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