scholarly journals ALGORITHM OF EULER-LAGRANGE METHOD FOR DEISGNING OF DYNAMIC MODEL

2018 ◽  
pp. 89-95
Author(s):  
Virgala Ivan ◽  
Filakovský Filip
Keyword(s):  
Dynamic Model ◽  
Dynamic Modeling ◽  
Degrees Of Freedom ◽  
Computing Time ◽  
Kinematic Model ◽  
Difficult Problem ◽  
Kinematic Structure ◽  
Lagrange Method ◽  
Inverse Dynamic ◽  
Whole Process

Urgency of the research. Nowadays robotics and mechatronics come to be mainstream. With development in these areas also grow computing fastidiousness. Since there is significant focus on numerical modeling and algorithmization in kinematic and dynamic modeling. Target setting. By automation of whole process of dynamic model design the errors are eliminated as well as the time of designing significantly decreases. Actual scientific researches and issues analysis. Designing of dynamic model by analytical way is very difficult especially in the cases considering high number of DOF. For hyperredundant manipulators it is practically impossible. From this reason whole process is automatized. Uninvestigated parts of general matters defining. The theory of Euler – Lagrange method is automatized by means of robotic view on this issue. The research objective. In the paper, an algorithm for design of dynamic model was introduced. The statement of basic materials. The paper deals with automatic design process of dynamic model for serial kinematic structure mechanisms. In the paper Euler – Lagrange formula is discussed. Analytical way of dynamic modeling should be difficult problem especially for mechanisms with high number of degrees of freedom. From this reason the paper shows the way of automatically designing of dynamic modeling in MATLAB. Our study shows dependence of computing time on increasing DOF. The relation is expressed by function of 3rd order. Subsequently the paper presents automatically generated inverse dynamic model in cooperation with inverse kinematic model as well as trajectory planning task. Conclusions. The paper introduces automatically generated dynamic model for mechanisms with serial kinematic structure. The paper also established the time for designing of dynamic model for several mechanisms with changing DOF.

scholarly journals Kinematic and dynamic modeling of a 3gdl robot for educational purposes

2020 ◽  
pp. 1-7
Author(s):  
Aleyda Irene Reyes-González ◽  
José Luis Ortiz-Simón ◽  
Martha Isabel Aguilera-Hernández ◽  
Gustavo Emilio Rojo-Velázquez
Keyword(s):  
Dynamic Analysis ◽  
Dynamic Model ◽  
Dynamic Modeling ◽  
Kinematic Analysis ◽  
Degrees Of Freedom ◽  
Kinematic Model ◽  
The Other ◽  
Final Position ◽  
Specific Point ◽  
Simulink Model

The following article presents the process to obtain the kinematic and dynamic model of a Cartesian robot with 3 degrees of freedom. The robot that is used was designed for educational purposes, it allows two linear movements and one angular. The kinematic model has two forms, direct and inverse, the first provides the final position of the robot if desired values are given to each of the robot's joints, the second provides the values of the joints if there are desired values for the effector final. On the other hand, the obtaining of the dynamic model is presented in detail, which obtains the torques and forces necessary for the robot to be able to move to a specific point. The procedure includes kinematic analysis using Denavit-Hartenberg parameters and dynamic analysis using Jacobeans. As a result, responses obtained from a Simulink model are presented that show the behavior of the developed models.

Dynamic modeling and power optimization of a 4RPSP+PS parallel flight simulator machine

Robotica ◽  
2021 ◽  
pp. 1-26
Author(s):  
Soheil Zarkandi
Keyword(s):  
Power Consumption ◽  
Dynamic Modeling ◽  
Parallel Manipulator ◽  
Degrees Of Freedom ◽  
Pareto Front ◽  
Essential Role ◽  
Power Optimization ◽  
Optimal Designs ◽  
Flight Simulator ◽  
Lagrange Method

Abstract Reducing consumed power of a robotic machine has an essential role in enhancing its energy efficiency and must be considered during its design process. This paper deals with dynamic modeling and power optimization of a four-degrees-of-freedom flight simulator machine. Simulator cabin of the machine has yaw, pitch, roll and heave motions produced by a 4RPSP+PS parallel manipulator (PM). Using the Euler–Lagrange method, a closed-form dynamic equation is derived for the 4RPSP+PS PM, and its power consumption is computed on the entire workspace. Then, a newly introduced optimization algorithm called multiobjective golden eagle optimizer is utilized to establish a Pareto front of optimal designs of the manipulator having a relatively larger workspace and lower power consumption. The results are verified through numerical examples.

Dynamic Modeling of a High-Dynamic Flight Simulator

2014 ◽  
Vol 687-691 ◽  
pp. 610-615 ◽  
Author(s):  
Hui Liu ◽  
Li Wen Guan
Keyword(s):  
Dynamic Modeling ◽  
Degrees Of Freedom ◽  
Flight Simulator ◽  
Inverse Dynamic ◽  
Dynamic Formulation ◽  
Time Histories ◽  
Rotational Degrees Of Freedom ◽  
High Dynamic ◽  
Euler Approach ◽  
Simulation Results

High-dynamic flight simulator (HDFS), using a centrifuge as its motion base, is a machine utilized for simulating the acceleration environment associated with modern advanced tactical aircrafts. This paper models the HDFS as a robotic system with three rotational degrees of freedom. The forward and inverse dynamic formulations are carried out by the recursive Newton-Euler approach. The driving torques acting on the joints are determined on the basis of the inverse dynamic formulation. The formulation has been implemented in two numerical simulation examples, which are used for calculating the maximum torques of actuators and simulating the time-histories of kinematic and dynamic parameters of pure trapezoid Gz-load command profiles, respectively. The simulation results can be applied to the design of the control system. The dynamic modeling approach presented in this paper can also be generalized to some similar devices.

Kinetic and Dynamic Modeling of Single ActuatorWave-Like Robot

Robotica ◽  
2019 ◽  
Vol 37 (11) ◽  
pp. 1971-1986
Author(s):  
Ruoyu Feng ◽  
Peng Zhang ◽  
Junfeng Li ◽  
Hexi Baoyin
Keyword(s):  
Power Consumption ◽  
Dynamic Analysis ◽  
Dynamic Modeling ◽  
Dynamic Equation ◽  
Kinematic Model ◽  
Theoretical Models ◽  
Equation Of Motion ◽  
Kinematics And Dynamics ◽  
Inverse Dynamic ◽  
Inverse Dynamic Analysis

SummaryIn this study, the kinematics and dynamics of a single actuator wave (SAW)-like robot are explored. Comprising a helical spine and links, SAW has the potential for miniaturization. A kinematic model for SAW is firstly established, and the dynamic equation of motion is derived based on Kane’s method. For validation, the motion of SAW is simulated using both MATLAB and ADAMS, and the comparison of results demonstrates the effectiveness of the theoretical models. Then the inverse dynamic analysis is performed to reveal the power consumption. Finally, robot prototypes are developed and tested to confirm the robot velocity predicted by simulations.

scholarly journals Kinematic Modelling of FES Induced Sit-to-stand Movement in Paraplegia

2017 ◽  
Vol 7 (6) ◽  
pp. 3060
Author(s):  
Mohammed Ahmed ◽  
M. S. Huq ◽  
B. S. K. K. Ibrahim
Keyword(s):  
Dynamic Model ◽  
Initial Phase ◽  
Degrees Of Freedom ◽  
Kinematic Model ◽  
Future Research ◽  
Upper Limbs ◽  
Body System ◽  
Segmental Dynamics ◽  
Sit To Stand ◽  
Kinematic Modelling

FES induced movements from indication is promising due to encouraging results being obtained by scholars. The kinematic model usually constitute the initial phase towards achieving the segmental dynamics of any rigid body system. It can be used to ascertain that the model is capable of achieving the desired goal. The dynamic model builds on the kinematic model and is usually mathematically cumbersome depending on the number of degrees-of-freedom. This paper presents a kinematic model applicable for human sit-to-stand movement scenario that will be used to obtain the dynamic model the FES induced movement in a later study. The study shows that the 6 DOF conceptualized sit-to-stand movement can be achieved conveniently using 4 DOF. The 4 DOF has an additional joint compared to similar earlier works which makes more it accurate and flexible. It is more accurate in the sense that it accommodates additional joint i.e. the neck joint whose dynamics could be captured. And more flexible in the sense that if future research uncover more contributions by the segments it can be easily incorporated including that of other segments e.g. the trunk, neck and upper limbs.

Dynamic Modeling and Response Analysis of a Planar Rigid-Body Mechanism With Clearance

2019 ◽  
Vol 14 (5) ◽  
Author(s):  
Chen Xiulong ◽  
Jiang Shuai ◽  
Deng Yu ◽  
Wang Qing
Keyword(s):  
Rigid Body ◽  
Dynamic Model ◽  
Dynamic Modeling ◽  
Contact Force ◽  
Kinematic Model ◽  
Dynamic Responses ◽  
Response Analysis ◽  
Prototype Model ◽  
Force Model ◽  
Normal Contact

In order to understand dynamic responses of planar rigid-body mechanism with clearance, the dynamic model of the mechanism with revolute clearance is proposed and the dynamic analysis is realized. First, the kinematic model of the revolute clearance is built; the amount of penetration depth and relative velocity between the elements of the revolute clearance joint is obtained. Second, Lankarani-Nikravesh (L-N) and the novel nonlinear contact force model are both used to describe the normal contact force of the revolute clearance, and the tangential contact force of the revolute clearance is built by modified Coulomb friction model. Third, the dynamic model of a two degrees-of-freedom (2DOFs) nine bars rigid-body mechanism with a revolute clearance is built by the Lagrange equation. The fourth-order Runge–Kutta method has been utilized to solve the dynamic model. And the effects of different driving speeds of cranks, different clearance values, and different friction coefficients on dynamic response are analyzed. Finally, in order to prove the validity of numerical calculation result, the virtual prototype model of 2DOFs nine bars mechanism with clearance is modeled and its dynamic responses are analyzed by adams software. This research could supply theoretical basis for dynamic modeling, dynamic behaviors analysis, and clearance compensation control of planar rigid-body mechanism with clearance.

scholarly journals Biomechanical Design and Prototyping of a Powered Ankle-Foot Prosthesis

Materials ◽  
2020 ◽  
Vol 13 (24) ◽  
pp. 5806
Author(s):  
Stefano Alleva ◽  
Michele Gabrio Antonelli ◽  
Pierluigi Beomonte Zobel ◽  
Francesco Durante
Keyword(s):  
Range Of Motion ◽  
Dynamic Model ◽  
Lower Limb ◽  
Sagittal Plane ◽  
Kinematic Model ◽  
Experimental Methodology ◽  
Inverse Dynamic ◽  
Inverse Dynamic Model ◽  
Ankle Torque ◽  
Wide Range

Powered ankle-foot prostheses for walking often have limitations in the range of motion and in push-off power, if compared to a lower limb of a healthy person. A new design of a powered ankle-foot prosthesis is proposed to obtain a wide range of motion and an adequate power for a push-off step. The design methodology for this prosthesis has three points. In the first one, a dimensionless kinematic model of the lower limb in the sagittal plane is built, through an experimental campaign with healthy subjects, to calculate the angles of lower limb during the gait. In the second point a multibody inverse dynamic model of the lower limb is constructed to calculate the foot-ground contact force, its point of application and the ankle torque too, entering as input data the calculated angles of the lower limb in the previous point. The third point requires, as input of the inverse dynamic model, the first dimensioning data of the ankle-foot prosthesis to obtain the load acting on the components of the prosthesis and the angle torque of the actuator during the gait cycle. Finally, an iteration cycle begins with the inverse dynamic model modifying the ankle torque and angle until these quantities during the gait are as close as possible to the physiological quantities. After the mechanical design and the construction of the prototype of the prosthesis, an experimental methodology was used for preliminary validation of the design. The preliminary tests in the laboratory on the prototype alone show that the range of motion of the ankle angle during the gait is close to a healthy person’s: 27.6° vs. 29°. The pushing force of the distal area of the prototype is 1.000 N, instead of 1.600 N, because a budget reduction forced us to choose components for the prototype with lower performance.

scholarly journals A Novel Approach for a Inverse Kinematics Solution of a Redundant Manipulator

2018 ◽  
Vol 8 (11) ◽  
pp. 2229 ◽  
Author(s):  
Michal Kelemen ◽  
Ivan Virgala ◽  
Tomáš Lipták ◽  
Ľubica Miková ◽  
Filip Filakovský ◽  
...  
Keyword(s):  
Degrees Of Freedom ◽  
Computing Time ◽  
Kinematic Model ◽  
Field Method ◽  
Inverse Kinematic ◽  
Avoidance Task ◽  
Redundant Manipulator ◽  
Secondary Tasks ◽  
Novel Approach ◽  
Flexible Behavior

Kinematically-redundant manipulators present considerable difficulties, especially from the view of control. A high number of degrees of freedom are used to control so-called secondary tasks in order to optimize manipulator motion. This paper introduces a new algorithm for the control of kinematically-redundant manipulator considering three secondary tasks, namely a joint limit avoidance task, a kinematic singularities avoidance task, and an obstacle avoidance task. For path planning of end-effector from start to goal point, the potential field method is used. The final inverse kinematic model is designed by a Jacobian-based method considering weight matrices in order to prioritize particular tasks. Our approach is based on the flexible behavior of priority value due to the acceleration of numerical simulation. The results of the simulations show the advantage of our approach, which results in a significant decrease of computing time.

scholarly journals Dynamic modeling study on the slope steering performance of articulated tracked vehicles

2017 ◽  
Vol 9 (7) ◽  
pp. 168781401771241
Author(s):  
Chao Dong ◽  
Kai Cheng ◽  
Kangle Hu ◽  
WenQiang Hu
Keyword(s):  
Dynamic Model ◽  
Dynamic Modeling ◽  
Model Comparison ◽  
Driving Forces ◽  
Kinematic Model ◽  
Road Transportation ◽  
Tracked Vehicle ◽  
Tracked Vehicles ◽  
Evaluation Indicator ◽  
Comparison Results

Articulated tracked vehicles are used as special off-road transportation vehicles, and their mobility is gaining more attention now than before. As an important evaluation indicator of the mobility of articulated tracked vehicles, steering performance receives wide attention in particular. Most of the present studies focus on the planar steering performance; few studies employing current models concentrate on the slope steering performance of articulated tracked vehicles. To address this research gap, this study proposes a dynamic modeling method for analyzing the slope steering performance of articulated tracked vehicles. A kinematic model of a vehicle is initially constructed to analyze its kinematic characteristics during slope steering; these characteristics include velocity and acceleration. A dynamic model of a vehicle is then developed to analyze its mechanical characteristics during slope steering; these characteristics include vertical loads, driving forces, and driving moments of tracks. The created dynamic model is then applied to analyze the slope steering performance of a specific articulated tracked vehicle. A mechanical-control united simulation model and an actual test of an articulated tracked vehicle are suggested to verify the established steering model. Comparison results show the effectiveness of the proposed dynamic steering model.

Dynamic Modeling of a 2-DOF Cable Driven Powered Ankle-Foot Prosthesis

2016 ◽  
Author(s):  
Houman Dallali ◽  
Evandro Ficanha ◽  
Mohammad Rastgaar Aagaah
Keyword(s):  
Dynamic Model ◽  
Dynamic Modeling ◽  
Degrees Of Freedom ◽  
Control Design ◽  
Dynamic Decoupling ◽  
Prosthetic Foot ◽  
Bode Plots ◽  
Simulation And Control ◽  
And Control ◽  
And Inversion

The first step to study and develop a two Degrees of Freedom (DOF) prosthesis is to derive a dynamic model for simulation and control design. In this paper, the ankle-foot prosthesis has controllable Dorsi-Plantarflexion (DP) and Inversion-Eversion (IE) DOF. We derive a compliant dynamic model for a recently developed ankle-foot prosthesis followed by identification of the actuators, transmission, and prosthetic foot parameters. The resulting model is then verified experimentally and in simulation. Dynamic decoupling of the actuators to the ankle’s DP and IE DOF is also investigated using Bode plots. The code used for simulating the prosthesis is provided on GitHub for the community.

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