scholarly journals A Dynamic Modeling Method for the Bi-Directional Pneumatic Actuator Using Dynamic Equilibrium Equation

Actuators ◽  
2021 ◽  
Vol 11 (1) ◽  
pp. 7
Author(s):  
Yiqing Li ◽  
Wen Zhou ◽  
Junwu Wu ◽  
Guoxu Hu
Keyword(s):  
Dynamic Model ◽  
Dynamic Modeling ◽  
Equilibrium Equation ◽  
Dynamic Equilibrium ◽  
Research Field ◽  
Modeling Method ◽  
Pneumatic Actuator ◽  
Pneumatic Actuators ◽  
Challenging Research ◽  
Rubber Block

Dynamic modeling of soft pneumatic actuators are a challenging research field. In this paper, a dynamic modeling method used for a bi-directionaly soft pneumatic actuator with symmetrical chambers is proposed. In this dynamic model, the effect of uninflated rubber block on bending deformation is considered. The errors resulting from the proposed dynamic equilibrium equation are analyzed, and a compensation method for the dynamic equilibrium equation is proposed. The equation can be solved quickly after simplification. The results show that the proposed dynamic model can describe the motion process of the bi-directional pneumatic actuator effectively.

Dynamic Modelling and Simulation of Pneumatic Actuators

2011 ◽  
Vol 88-89 ◽  
pp. 657-661 ◽  
Author(s):  
Yi Fang He ◽  
Sha Nen Yu ◽  
Qun Li Shang ◽  
Fu Kai Deng
Keyword(s):  
Computer Simulation ◽  
Dynamic Model ◽  
Dynamic Modelling ◽  
Experimental Tests ◽  
Industrial Applications ◽  
Modelling And Simulation ◽  
Pneumatic Actuator ◽  
Nonlinear Characteristic ◽  
Pneumatic Actuators

Pneumatic operated spring-diaphragm actuator is the most popular acting device in industrial applications. Precise modelling of pneumatic actuator continues to remain a major challenge because of its nonlinear characteristic. In this work, the characteristics of pneumatic actuator are analysed in details, and then the dynamic model, which considers effects of stem friction and compressibility of air, is developed. Computer simulation and experimental tests have been carried out on the developed model. The results show the model has a better performance.

Dynamic Modeling of a Multi-Legged Robotic Vehicle: Part 1 — Kinematic Analysis

1987 ◽  
Author(s):  
R. A. Hart ◽  
N. D. Ebrahimi
Keyword(s):  
Dynamic Model ◽  
Dynamic Modeling ◽  
Dynamic Equilibrium ◽  
Contact Forces ◽  
System Response ◽  
Kinematic Chains ◽  
Locomotion System ◽  
Robotic Vehicle ◽  
Ground Profile ◽  
Legged Vehicle

Abstract This two-part paper presents a dynamic model of a legged vehicle for travel on a variable-topographic terrain. In Part 1 of the paper, we develop expressions for the kinematics of the vehicular system. These expressions, in turn, form the foundation for the dynamic analysis of the robotic vehicle presented in Part 2 of the paper. The model applies to a system composed of a cargocarrying body supported by four multi-degree-of-freedom linkage assemblies whose configurations are adjustable to accommodate terrain irregularities. The mobility of the locomotion system is provided by four rigid wheels which serve as a base to the kinematic chains that extend from the platform of the vehicle. To assure dynamic equilibrium of all members in the system, torque actuators are employed at the joints between inter-connecting bodies to facilitate the adjustment of each articulated chain configuration without reducing the adaptability of the vehicle to ground profile variations. The dynamic model used for determining the system response to environmental contact forces is based on a Newton-Euler recursive formulation.

scholarly journals Dynamic Equilibrium Equations in Unified Mechanics Theory

2021 ◽  
Vol 2 (1) ◽  
pp. 63-80
Author(s):  
Noushad Bin Jamal Bin Jamal M ◽  
Hsiao Wei Lee ◽  
Chebolu Lakshmana Rao ◽  
Cemal Basaran
Keyword(s):  
Energy Loss ◽  
Entropy Generation ◽  
Equilibrium Equation ◽  
Dynamic Equilibrium ◽  
Free Vibration Analysis ◽  
Newtonian Mechanics ◽  
Equilibrium Equations ◽  
Time Coordinate ◽  
Proposed Model ◽  
Laws Of Thermodynamics

Traditionally dynamic analysis is done using Newton’s universal laws of the equation of motion. According to the laws of Newtonian mechanics, the x, y, z, space-time coordinate system does not include a term for energy loss, an empirical damping term “C” is used in the dynamic equilibrium equation. Energy loss in any system is governed by the laws of thermodynamics. Unified Mechanics Theory (UMT) unifies the universal laws of motion of Newton and the laws of thermodynamics at ab-initio level. As a result, the energy loss [entropy generation] is automatically included in the laws of the Unified Mechanics Theory (UMT). Using unified mechanics theory, the dynamic equilibrium equation is derived and presented. One-dimensional free vibration analysis with frictional dissipation is used to compare the results of the proposed model with that of a Newtonian mechanics equation. For the proposed entropy generation equation in the system, the trend of predictions is comparable with the reported experimental results and Newtonian mechanics-based predictions.

Urban Dynamics and Urban Cycles

1978 ◽  
Vol 10 (1) ◽  
pp. 43-49 ◽  
Author(s):  
D S Dendrinos
Keyword(s):  
Dynamic Model ◽  
Urban Area ◽  
Catastrophe Theory ◽  
Dynamic Equilibrium ◽  
Urban System ◽  
Type A ◽  
Parameter Control ◽  
Economic Activities ◽  
Urban Dynamics ◽  
Behavioral Variables

Some basic elements of catastrophe theory are discussed insofar as they relate to discontinuities observed in the allocation of economic activities in urban settings. The case of a dynamic model of the allocation of manufacturing and residential activities is presented in an open urban area as a model of a hyperbolic umbilic catastrophe. The dynamic equilibrium allocations of these two activities are identified as possible paths in the bifurcation set of the three parameter (control variables) and two behavioral-variables catastrophe type. A regulating function governing the urban system at the macroscale is discussed.

scholarly journals Planetary Gearbox Dynamic Modeling Considering Bearing Clearance and Sun Gear Tooth Crack

Sensors ◽  
2021 ◽  
Vol 21 (8) ◽  
pp. 2638
Author(s):  
Xianhua Chen ◽  
Xingkai Yang ◽  
Ming J. Zuo ◽  
Zhigang Tian
Keyword(s):  
Dynamic Model ◽  
Dynamic Modeling ◽  
Failure Modes ◽  
Gear Tooth ◽  
Working Environment ◽  
The Sun ◽  
Planetary Gearbox ◽  
Bearing Clearance ◽  
Vibration Responses ◽  
Planet Gear

Planetary gearbox systems are critical mechanical components in heavy machinery such as wind turbines. They may suffer from various failure modes, due to the harsh working environment. Dynamic modeling is a useful method to support early fault detection for enhancing reliability and reducing maintenance costs. However, reported studies have not considered the sun gear tooth crack and bearing clearance simultaneously to analyze their combined effect on vibration characteristics of planetary gearboxes. In this paper, a dynamic model is developed for planetary gearboxes considering the clearance of planet gear, sun gear, and carrier bearings, as well as sun gear tooth crack levels. Bearing forces are calculated considering bearing clearance, and the dynamic model equations are updated accordingly. The results reveal that the combination of bearing clearances can affect the vibration response with sun gear tooth crack by increasing the kurtosis. It is found that the effect of planet gear bearing clearance is very small, while the sun gear and carrier bearing clearance has clear impact on the vibration responses. These findings suggest that the incorporation of bearing clearance is important for planetary gearbox dynamic modeling.

Sensor Dynamic Modeling Based on LS-SVM and NGA

2008 ◽  
Vol 381-382 ◽  
pp. 439-442
Author(s):  
Qi Wang ◽  
Zhi Gang Feng ◽  
K. Shida
Keyword(s):  
Genetic Algorithm ◽  
Neural Networks ◽  
Support Vector Machine ◽  
Least Squares ◽  
Dynamic Model ◽  
Dynamic Modeling ◽  
Support Vector ◽  
Local Minima ◽  
Highly Nonlinear ◽  
Sharing Function

Least squares support vector machine (LS-SVM) combined with niche genetic algorithm (NGA) are proposed for nonlinear sensor dynamic modeling. Compared with neural networks, the LS-SVM can overcome the shortcomings of local minima and over fitting, and has higher generalization performance. The sharing function based niche genetic algorithm is used to select the LS-SVM parameters automatically. The effectiveness and reliability of this method are demonstrated in two examples. The results show that this approach can escape from the blindness of man-made choice of LS-SVM parameters. It is still effective even if the sensor dynamic model is highly nonlinear.

A Dynamic Assembly Modeling Method for Satellite Final Assembly Sequence Planning

2010 ◽  
Vol 156-157 ◽  
pp. 332-338
Author(s):  
Yuan Zhang ◽  
Kai Fu Zhang ◽  
Jian Feng Yu ◽  
Lei Zhao
Keyword(s):  
Dynamic Model ◽  
Static Model ◽  
Modeling Method ◽  
Assembly Sequence Planning ◽  
Assembly Model ◽  
Assembly Sequence ◽  
Final Assembly ◽  
Model Tree ◽  
Assembly Sequences ◽  
Dynamic Assembly

To study the effect of assembly process information combining disassemble and assemble on satellite assembly sequence, this paper presents an object-oriented and assembly information integrated model, which is composed of static model and dynamic model. The feasibility determination based on Cut-set theory is presented and the construction algorithm of dynamic model is established by static model, the dynamic assembly model tree is obtained by analyzing in layers and verifying possible states using this algorithm, where the assembly model tree includes all the geometric feasible assembly sequences of satellite. Finally, this modeling method is verified by a satellite product.

The Method of Tree Dynamic Modeling under Rainfall Field

2013 ◽  
Vol 475-476 ◽  
pp. 1551-1554
Author(s):  
Tie Nan Li ◽  
Shun Yu ◽  
Feng Yang
Keyword(s):  
Dynamic Modeling ◽  
Young Modulus ◽  
Modeling Method ◽  
Tree Modeling ◽  
Almost All

Almost all the fields use tree modeling in society, so it analyses the tree modeling in the academic circles. But it is difficult to find an efficient tree modeling method because its own complexity and wind, rain acting on tree. The object suffers rain power that the force calculated by momentum theorem. And then compare the value of rupture limit to Young modulus. It is determined object to fracture or sway. Then it constructs tree dynamic modeling in the nature.

Dynamic Modeling of Planar Flexible Multi-Link Manipulators with Accounting for both Link Foreshortening and Link Material Damping

2011 ◽  
Vol 199-200 ◽  
pp. 19-24
Author(s):  
Jin Fu Zhang
Keyword(s):  
Dynamic Model ◽  
Dynamic Modeling ◽  
Dynamic Performance ◽  
Material Damping ◽  
Motion Responses ◽  
Case Simulation ◽  
Tip Mass ◽  
Lagrange Approach

In order to investigate dynamic performance of flexible multi-link manipulators more exactly, establishing the dynamic model with accounting for link foreshortening and link material damping is needed. In this paper, a new dynamic model for planar flexible multi-link manipulators is established by using Lagrange approach. Both link foreshortening and link material damping are accounted for in this model. As a case simulation, this model is applied to a planar flexible two-link manipulator with a tip mass, and the motion responses of the manipulator are obtained using Gear method.

Sign in / Sign up

Export Citation Format

Share Document