scholarly journals Experimental Estimation of Inertia Tensor and Centre of Gravity of a Mini Helicopter

2018 ◽  
pp. 1-8
Keyword(s):  
Center Of Gravity ◽  
Inertia Tensor ◽  
Degree Of Freedom ◽  
Measurement Unit ◽  
Frequency Data ◽  
Test Rig ◽  
Centre Of Gravity ◽  
Experimental Estimation ◽  
Three Degree Of Freedom ◽  
Oscillation Frequencies

This paper describes the experimental estimation of the mini-helicopter inertia and center of gravity (CG) location. A three degree of freedom inertia test rig and an Inertia Measurement Unit (IMU) were used to measure the oscillation frequencies about three axes under different configurations. These frequency data are then manipulated to estimate the inertia tensor and CG location of the mini-helicopter model.

InTenso+ System: Measured Centre of Gravity Locations and Inertia Tensors of Road Vehicles

2014 ◽  
Author(s):  
Massimiliano Gobbi ◽  
Giampiero Mastinu ◽  
Mario Pennati ◽  
Giorgio Previati
Keyword(s):  
Initial Conditions ◽  
Measured Data ◽  
The Body ◽  
Inertia Tensor ◽  
Test Rig ◽  
Road Vehicles ◽  
Centre Of Gravity ◽  
Vehicle Data ◽  
Mass Properties ◽  
Short Time

The InTenso+ system has been developed at Politecnico di Milano (Technical University of Milan) for the measurement of the centre of gravity location and of the inertia tensor of vehicles and their components (such as gearboxes and engines). The test rig is basically a multi-bar pendulum carrying the body under investigation and oscillating from well-known initial conditions. By means of a proper mathematical procedure, the mass properties of the body are accurately measured within a very short time. The InTenso+ System has been employed for a number of measurements of the mass properties of road vehicles. In this paper, the measured data are collected and analyzed. Formulas for the estimation of the mass properties (mass, centre of gravity location and inertia tensor) from easily accessible vehicle data are proposed and tested against the measured values. It is confirmed that the mass properties coming from the considered estimations are useless if accurate simulations of the dynamic behavior of a vehicle have to be performed.

Test rig for measuring the center of gravity coordinates and inertia tensor of spacecrafts: Data acquisition and control system

2013 ◽  
Vol 74 (4) ◽  
pp. 679-683 ◽  
Author(s):  
Yu. K. Blokin-Mechtalin ◽  
V. V. Bogdanov ◽  
I. N. Panchenko ◽  
V. V. Petronevich ◽  
V. A. Sabrekov ◽  
...  
Keyword(s):  
Control System ◽  
Data Acquisition ◽  
Center Of Gravity ◽  
Inertia Tensor ◽  
Test Rig ◽  
And Control

Test rig for measuring the object's mass, center of gravity coordinates and inertia tensor

2011 ◽  
Vol 72 (2) ◽  
pp. 425-434 ◽  
Author(s):  
V. V. Bogdanov ◽  
N. V. Veselov ◽  
I. N. Panchenko ◽  
V. A. Parshev ◽  
V. V. Petronevich ◽  
...  
Keyword(s):  
Center Of Gravity ◽  
Inertia Tensor ◽  
Mass Center ◽  
Test Rig

Optimalisasi sistem pergudangan pada industri air minum dalam kemasan (studi kasus pergudangan pt. ima montaz sejahtera).

2010 ◽  
Vol 8 (2) ◽  
pp. 803
Author(s):  
Ramli Usman ◽  
Achmad As'ad Sonief ◽  
Bambang Indrayadi
Keyword(s):  
Center Of Gravity ◽  
Centre Of Gravity

PT. Ima Montaz Sejahtera merupakan suatu Perusahaan Industri Air Minum Dalam Kemasan (AMDK) dengan merk “Mount Agua” dan perusahaan ini menghasilkan produk berupa produk gallon 19 liter, produk botol 1500 ml, produk botol 600 ml, dan produk gelas 240 ml. Pabrik PT. Ima Montaz Sejahtera memiliki dua buah gudang yaitu gudang material dan gudang produk jadi, didalam pengoperasian proses produksi banyak waktu yang terbuang untuk mengangkut material dari gudang ke mesin produksi dan ini disebabkan letak gudang material jauh dari mesin produksi dan juga dalam mengangkut material dari gudang ke mesin produksi harus melalui gudang produk jadi sehingga mengganggu aktifitas proses produksi. Metode yang digunakan pada penelitian ini menggunakan metode center of gravity yaitu menentukan titik pusat letak gudang baru berdasarkan tata letak mesin-mesin produksi.Dengan meningkatnya waktu produksi maka dengan sendirinya kapasitas produksi juga meningkat untuk produk gallon 19 liter sebesar 36 gallon per minggu (0,490 %), produk botol 1500 ml sebesar 211 karton per minggu (2,475 %), produk botol 600 ml sebesar 71 karton per minggu (1,172 %), dan produk gelas 240 ml sebesar 186 karton per minggu(0,731 %).Kata Kunci: Optimalisasi, Tata Letak Gudang, Centre of Gravity, Lay Out.

scholarly journals Development of a Compound Speckle Interferometer for Precision Three-Degree-of-Freedom Displacement Measurement

Sensors ◽  
2021 ◽  
Vol 21 (5) ◽  
pp. 1828
Author(s):  
Hung-Lin Hsieh ◽  
Bo-Yen Sun
Keyword(s):  
Speckle Interferometry ◽  
Degree Of Freedom ◽  
Heterodyne Interferometry ◽  
Beam Splitting ◽  
Speckle Interferometer ◽  
Real World Applications ◽  
Three Degree Of Freedom ◽  
Contact Displacement ◽  
Displacement Measurements ◽  
Measurement Capabilities

In this study, a compound speckle interferometer for measuring three-degree-of-freedom (3-DOF) displacement is proposed. The system, which combines heterodyne interferometry, speckle interferometry and beam splitting techniques, can perform precision 3-DOF displacement measurements, while still having the advantages of high resolution and a relatively simple configuration. The incorporation of speckle interferometry allows for non-contact displacement measurements by detecting the phase of the speckle interference pattern formed from the convergence of laser beams on the measured rough surface. Experiments were conducted to verify the measurement capabilities of the system, and the results show that the proposed system has excellent measurement capabilities suitable for future real-world applications.

scholarly journals Analytical Investigation on Torque of Three-Degree-of-Freedom Electromagnetic Actuator for Image Stabilization

2021 ◽  
Vol 11 (15) ◽  
pp. 6872
Author(s):  
Chien-Sheng Liu ◽  
Yi-Hsuan Lin ◽  
Chiu-Nung Yeh
Keyword(s):  
Power Efficiency ◽  
Rotation Angle ◽  
Analytical Investigation ◽  
Degree Of Freedom ◽  
Electromagnetic Actuator ◽  
3D Fem ◽  
Image Stabilization ◽  
Large Rotation ◽  
Spherical Motor ◽  
Three Degree Of Freedom

In keeping with consumers’ preferences for electromagnetic motors of ever smaller power consumption, it is necessary to improve the power efficiency of the electromagnetic motors used in unmanned aerial vehicles and robots without sacrificing their performance. Three-degree-of-freedom (3-DOF) spherical motors have been developed for these applications. Accordingly, this study modifies the 3-DOF spherical motor proposed by Hirata’s group in a previous study (Heya, A.; Hirata, K.; Niguchi, N., Dynamic modeling and control of three-degree-of-freedom electromagnetic actuator for image stabilization, IEEE Transactions on Magnetics 2018, 54, 8207905.) to accomplish a 3-DOF spherical motor for camera module with higher torque output in the large rotation angle. The main contribution of this study is to improve the static torque in the X- and Y-axes with an improved electromagnetic structure and a particular controlling strategy. In the structural design, eight symmetrical coils with specific coil combination are used instead of conventional four symmetrical coils. In this study, the development of the proposed 3-DOF spherical motor was constructed and verified by using a 3D finite-element method (3D FEM). The simulation results show that the proposed 3-DOF spherical motor has higher torque output in the large rotation angle when compared to the original 3-DOF spherical motor.

Three-Degree-of-Freedom Parallel Robot Arm

2006 ◽  
Author(s):  
Martin Hosek ◽  
Michael Valasek ◽  
Jairo Moura
Keyword(s):  
Parallel Robot ◽  
Degree Of Freedom ◽  
Motion Path ◽  
Angular Orientation ◽  
Robot Arm ◽  
Flat Panel Display ◽  
End Effector ◽  
Cluster Tools ◽  
Manufacturing Applications ◽  
Three Degree Of Freedom

This paper presents single- and dual-end-effector configurations of a planar three-degree of freedom parallel robot arm designed for automated pick-place operations in vacuum cluster tools for semiconductor and flat-panel-display manufacturing applications. The basic single end-effector configuration of the arm consists of a pivoting base platform, two elbow platforms and a wrist platform, which are connected through two symmetric pairs of parallelogram mechanisms. The wrist platform carries an end-effector, the position and angular orientation of which can be controlled independently by three motors located at the base of the robot. The joints and links of the mechanism are arranged in a unique geometric configuration which provides a sufficient range of motion for typical vacuum cluster tools. The geometric properties of the mechanism are further optimized for a given motion path of the robot. In addition to the basic symmetric single end-effector configuration, an asymmetric costeffective version of the mechanism is derived, and two dual-end-effector alternatives for improved throughput performance are described. In contrast to prior attempts to control angular orientation of the end-effector(s) of the conventional arms employed currently in vacuum cluster tools, all of the motors that drive the arm can be located at the stationary base of the robot with no need for joint actuators carried by the arm or complicated belt arrangements running through the arm. As a result, the motors do not contribute to the mass and inertia properties of the moving parts of the arm, no power and signal wires through the arm are necessary, the reliability and maintenance aspects of operation are improved, and the level of undesirable particle generation is reduced. This is particularly beneficial for high-throughput applications in vacuum and particlesensitive environments.

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