scholarly journals Analysis and Design of Test Bench for a Hexapod Robot

2020 ◽  
Vol 13 (5) ◽  
pp. 150-156
Author(s):  
N. Sanchez ◽  
◽  
H. D. Torres ◽  
B. F. Contreras ◽  
N. S. Coy ◽  
...  
Keyword(s):  
Test Bench ◽  
Hexapod Robot ◽  
Axial Loads ◽  
Safety Coefficient ◽  
Analysis And Design ◽  
High Elasticity ◽  
Lower Structure ◽  
Structure Density ◽  
Intensive Work ◽  
The Mathematical Model

This article presents the design of a test bench focused on the control of the legs of a hexapod robot, which allows studying the characteristics of the robot and obtaining some primary behaviors, whether mechanical, electrical or programming. In this way, a test bench structure is proposed to validate the control, performance and identification systems according to the efforts exerted by each of the components of the hexapod and also obtain a detailed view of their performance in structured environments and unstructured in order to correct its possible limitations so that in its implementation it can have coherence in response to the tasks that are posed. The results show the development of the test bench in which different types of legs were implemented which were considered the study of the mathematical model of direct kinematics and the selection of materials. For this reason, it is obtained that the best leg was the carbon fiber, since it has a very high safety coefficient, and it is very difficult for a fracture to occur when implementing it in the prototype, it is also chosen for its weight in comparison to other materials, since its characteristics have a lower structure density and high elasticity, it supports more axial loads than the other legs, even when subjected to intensive work. Finally, it is validated that the robot's performance in locomotion actions, basing this validation on the interpretation of the parameters captured by an optical sensor arranged for this task that generates the monitoring of movements in a controlled environment free of obstacles.

scholarly journals Investigation of Suspension Ball Joint Pull Out Force Based on FEA Method and Experimental Study

2018 ◽  
Vol 1 (1) ◽  
pp. 1002-1009
Author(s):  
Alimurtaza Rutci ◽  
Fatih Selman Eren
Keyword(s):  
Experimental Study ◽  
Axial Direction ◽  
Ball Joint ◽  
Axial Loads ◽  
Element Analysis ◽  
Front Suspension ◽  
Analysis And Design ◽  
Pull Out ◽  
Safety Characteristic ◽  
Ball Joints

Suspension ball joints are always used to connect the control arms to the knuckle since they are the only joints which allow three degrees of rotational freedom. On the purpose of an sufficient performance of the ball joint, it is very important to prevent the extraction of the ball stud from the ball joint housing. Ball joint’s housing material and shape design must withstand axial loads in the ball stud from axial direction in order to avoid the ball stud pull out keeping the ball stud inside the housing. The ball stud pull out force is a critical and safety characteristic function because it is related to failure mode for front suspension system. These paper investigate how to determine of suspension ball joint pull out force based on FEA method and experimental study. With respect to results of finite element analysis and experimental study, it is possible to monitoring deformation and displacement versus the load. The result of FE analysis and design verifications make it possible to determination of suspension ball joint pull out force.

Theoretical and experimental study on driving force and flow characteristics of damping control valve of shock absorber

2018 ◽  
Vol 9 (5) ◽  
pp. 693-704
Author(s):  
Fangwei Xie ◽  
Dengshuai Wang ◽  
Cuntang Wang
Keyword(s):  
Experimental Study ◽  
Shock Absorber ◽  
Test Bench ◽  
Flow Characteristics ◽  
Control Valve ◽  
Content Type ◽  
Damping Control ◽  
Driving Current ◽  
The Mathematical Model ◽  
The Relationship

Purpose The purpose of this paper is to study the flow characteristics of damping control valve of shock absorber, and obtain the minimum driving current required under different working conditions. Design/methodology/approach Based on the simplified model of the internal structure of damping control valve and the theory of fluid mechanics, the mathematical model of the damping control valve driving current under rated load is established. The test bench was designed to study the relationship between flow characteristics and driving current of the damping control valve. Findings The results show that the minimum driving current of switching and flowrate show a linear relationship and the minimum current required for the 4-1 switching is the largest that means the minimum current as long as meets the 4-1 switching to meet the needs of all levels switching. Originality/value These results of the theoretical and experimental study provide a reliable guide and reference for the design and application of damping control valve.

A Servo-Pneumatic Positioning System Driven by Fast Switching On/Off Valves

2011 ◽  
Author(s):  
Cristiano Cardoso Locateli ◽  
Victor Juliano De Negri ◽  
Edson Roberto De Pieri
Keyword(s):  
Pulse Width Modulation ◽  
Test Bench ◽  
Position Control ◽  
Flow Equation ◽  
Experimental Results ◽  
Pneumatic System ◽  
System Control ◽  
Fast Switching ◽  
The Mathematical Model ◽  
Position Control System

This paper discusses the theoretical and experimental results of a position control system using a pneumatic actuator driven by fast switching on/off valves. To begin with, there is a brief introduction about servo-pneumatic systems driven by fast switching valves. Subsequently, the mathematical model of the servo-pneumatic system is discussed involving directional fast switching on/off valves and the flow control valves, modeled according to the mass flow equation based on ISO 6358 and the actuator modeled by Newton’s second law and the continuity equation. The system control is performed through the pulse width modulation (PWM) technique used with a proportional-integrative-derivative (PID) controller. The system performance is analyzed in relation to its application for power control of wind turbines. The simulations of the servo-pneumatic system were carried out by Matlab/Simulink with the experimental results obtained through a test bench.

Optimal Design of Bogie Parameters Determination Test Bench Gantry Framework Based on SolidWorks/Simulation

2011 ◽  
Vol 199-200 ◽  
pp. 1253-1256
Author(s):  
Dong Lin Zhang ◽  
Jian Su ◽  
Xiao Ning Cao ◽  
Hai Bin Gong
Keyword(s):  
Optimization Design ◽  
Test Bench ◽  
Mathematic Model ◽  
Simulation Software ◽  
Main Beam ◽  
Manufacturing Cost ◽  
Test Bed ◽  
Analysis And Design ◽  
Design And Manufacturing

On the basis of SolidWorks/Simulation FEA module, statics analysis and design optimization for bogie parameters determination test bench gantry framework are researched in this paper. Taking the optimization design of gantry framework main beam for example, an optimal mathematic model is established, the optimization goal is to reduce the quality of the main beam, and the constraints are displacement and stress. Simultaneously, the model is simulated by the SolidWorks/Simulation software. Compared with the initial design, the results show that the quality of main beam is reduced by 12.69%, the quality optimization goal of the gantry framework test bed is realized. Meanwhile, it not only reduced the design and manufacturing cost, but also enhanced the design efficiency.

Research of Mathematical Model for an Examinee Object at Test Bench Helicopter’s Transmission

2014 ◽  
Vol 698 ◽  
pp. 106-110
Author(s):  
A.M. Borodin ◽  
Y.V. Pankratz ◽  
K.E. Karacheva
Keyword(s):  
Mathematical Model ◽  
Elastic Properties ◽  
Test Bench ◽  
Kinematic Scheme ◽  
The Mathematical Model ◽  
Loading Machine

– A mathematical model of kinematic scheme of helicopter’s tail transmission is created. Helicopter’s tail transmission is an object of testing with motor-driven and loading machine. The mathematical model of kinematic scheme will allow getting process regularities for all coordinates of the object-to-be-tested taking into account essential object’s elastic properties.

Shearer Load Identification of the Load Spectrum of the Pick Based on Chaotic Characteristics

2011 ◽  
Vol 199-200 ◽  
pp. 111-114 ◽  
Author(s):  
Chun Sheng Liu ◽  
De Gen Li ◽  
Xiao Ping Chen
Keyword(s):  
Time Series ◽  
Load Identification ◽  
Load Spectrum ◽  
Characteristic Parameters ◽  
Complex Load ◽  
Analysis And Design ◽  
Cutting Resistance ◽  
Actual Load ◽  
The Mathematical Model ◽  
Experimental And Theoretical Studies

Due to shearer drum suffers a very complex load，the traditional theoretical algorithm of cutting resistance is difficult to satisfy the analysis and design of shearer, and the load features of various conditions is hard to obtain with experimental methods. The study demonstrates that the time series of cutting resistance is of chaotic characteristics, and the cutting time series identified by the C-C method contains the characteristic parameters of the cutting power system. Based on the experimental and theoretical studies, the mathematical model of load of chaotic characteristics is established in the work process of drum, and the simulation results and characteristic quantities of actual load spectrum of shearer show the excellent agreement, which satisfy the theoretical calculation of quantitative load of shearer and provide certain theoretical basis for the analysis and design of shearer.

Mechanical Performance of External Fixators With Wires for the Treatment of Bone Fractures—Part I: Load-Displacement Behavior

1993 ◽  
Vol 115 (1) ◽  
pp. 29-36 ◽  
Author(s):  
C. Delprete ◽  
M. M. Gola
Keyword(s):  
Mathematical Model ◽  
Mechanical Performance ◽  
Bone Fractures ◽  
Fracture Site ◽  
External Fixators ◽  
Axial Loads ◽  
Linear Estimate ◽  
The Common ◽  
Displacement Behavior ◽  
The Mathematical Model

Using matrix algebra, a mathematical model is formulated for a particular type of external fixator with wires (system developed by Ilizarov) for the treatment of bone fractures. The mathematical model is used to give a linear estimate of the stiffness under lateral and axial loads in a representative number of practical conditions. Relative displacements of the bone ends at the fracture site are calculated not only in the common case of a gap, but also for various angles of inclined sliding contact; in this case, a realistic load is applied and nonlinear stiffening of the wires under transversal loads is iteratively taken into account.

Simulation and Test of Seperated and Manually Adjustable Shock Absorber

2013 ◽  
Vol 803 ◽  
pp. 467-470
Author(s):  
Zhen Ping Zhou ◽  
Jing Tong ◽  
Zhi Yuan Gu ◽  
Gong Ke Yang ◽  
Da Feng Song
Keyword(s):  
Mathematical Model ◽  
Shock Absorber ◽  
Test Bench ◽  
Needle Valve ◽  
Depth Study ◽  
Absorber Structure ◽  
Working Principle ◽  
Time Test ◽  
Main Components ◽  
The Mathematical Model

A mathematical model was established on the bases of the analysis of an air-charged split-type adjustable damping shock absorber structure and its working principle, using Matlab to simulate the shock absorber model, at the same time test the shock absorber on the test bench, verified the validity of the mathematical model. On this basis, the main components of the vice-tube such as the nitrogen chamber, the diameter of the needle valve and the spring valve have been simulated to analysis the affection to the shock absorber, so as to lay the foundation for later in-depth study.

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