SENSOR SYSTEM OPTIMIZATION OF A WALKING MACHINE WITH DYNAMIC STABILITY

2020 ◽  
pp. 60-65
Author(s):  
YURIY G. ALEYNIKOV ◽  
1996 ◽  
Vol 118 (4) ◽  
pp. 733-740 ◽  
Author(s):  
Eungsoo Shin ◽  
D. A. Streit

A new spring balancing technique, called a two-phase optimization method, is presented. Phase 1 uses harmonic synthesis to provide a system configuration which achieves an approximation to a desired dynamic system response. Phase 2 uses results of harmonic synthesis as initial conditions for dynamic system optimization. Optimization techniques compensate for nonlinearities in machine dynamics. Example applications to robot manipulators and to walking machine legs are presented and discussed.


2018 ◽  
Vol 87 ◽  
pp. 113-124 ◽  
Author(s):  
Wolfgang Granig ◽  
Lisa-Marie Faller ◽  
Hubert Zangl

2019 ◽  
pp. 283-316
Author(s):  
Wolfgang Granig ◽  
Lisa-Marie Faller ◽  
Hubert Zangl

2019 ◽  
Vol 19 (1) ◽  
pp. 45-55 ◽  
Author(s):  
Yu. G. Kabaldin ◽  
D. A. Shatagin ◽  
M. S. Anosov ◽  
A. M. Kuzmishina

Introduction. It is shown that the digital twin (electronic passport) of a CNC machine is developed as a cyber-physical system. The work objective is to create neural network models to determine the operation of a CNC machine, its performance and dynamic stability under cutting.Materials and Methods. The development of mathematical models of machining processes using a sensor system and the Industrial Internet of Things is considered. Machine learning methods valid for the implementation of the above tasks are evaluated. A neural network model of dynamic stability of the cutting process is proposed, which enables to optimize the machining process at the stage of work preparation. On the basis of nonlinear dynamics approaches, the attractors of the dynamic cutting system are reconstructed, and their fractal dimensions are determined. Optimal characteristics of the equipment are selected by input parameters and debugging of the planned process based on digital twins.Research Results. Using machine learning methods allowed us to create and explore neural network models of technological systems for cutting, and the software for their implementation. The possibility of applying decision trees for the problem of diagnosing and classifying malfunctions of CNC machines is shown.Discussion and Conclusions. In real production, the technology of digital twins enables to optimize processing conditions considering the technical and dynamic state of CNC machines. This provides a highly accurate assessment of the production capacity of the enterprise under the development of the production program. In addition, equipment failures can be identified in real time on the basis of the intelligent analysis of the distributed sensor system data.


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