scholarly journals Trapezoidal Motion Profile to Suppress Residual Vibration of Flexible Object Moved by Robot

Electronics ◽  
2019 ◽  
Vol 8 (1) ◽  
pp. 30 ◽  
Author(s):  
Hyun Joong Yoon ◽  
Seong Youb Chung ◽  
Han Sol Kang ◽  
Myun Joong Hwang
Keyword(s):  
High Speed ◽  
Robot Manipulator ◽  
Control Algorithms ◽  
Residual Vibration ◽  
Motion Characteristic ◽  
The Relationship ◽  
Being Moved ◽  
Additional Feedback ◽  
Motion Profile ◽  
Deceleration Time

The residual vibration when a robot manipulator is operated at high speed needs to be suppressed. These vibrations are generated by the resonance of a flexible object being moved by the robot, and research on control algorithms and motion profiles is ongoing to reduce them. In this paper, we propose a method to reduce the residual vibration of an object moved by a robot manipulator by optimizing the acceleration/deceleration time calculated using the object’s natural frequency. The relationship between acceleration/deceleration time and the residual vibration in a trapezoidal velocity profile is considered by analyzing the scenario when the jerking motion characteristic of such vibrations occurs. The results of experiments using a commercial robot show that residual vibrations can be reduced by the proposed method without the need for an additional feedback control algorithm while transferring a flexible object over small and large distances.

Motion Profile Design to Reduce Residual Vibration of High-Speed Positioning Stages

2009 ◽  
Vol 14 (2) ◽  
pp. 264-269 ◽  
Author(s):  
Huaizhong Li ◽  
M.D. Le ◽  
Z.M. Gong ◽  
W. Lin
Keyword(s):  
High Speed ◽  
Residual Vibration ◽  
Profile Design ◽  
Motion Profile

A Solid-State On-Load Tap Changer for the Power Transformers of 10—0.4 kV Distribution Networks

Vestnik MEI ◽  
2020 ◽  
Vol 6 (6) ◽  
pp. 82-90
Author(s):  
Dmitriy I. Panfilov ◽  
◽  
Mikhail G. Astashev ◽  
Aleksandr V. Gorchakov ◽  
◽  
...  
Keyword(s):  
Solid State ◽  
Physical Model ◽  
High Speed ◽  
Power Transformer ◽  
Voltage Control ◽  
Power Transformers ◽  
Control Algorithms ◽  
Load Voltage ◽  
Tap Changer ◽  
Load Tap Changer

The specific features relating to voltage control of power transformers at distribution network transformer substations are considered. An approach to implementing high-speed on-load voltage control of serially produced 10/0.4 kV power transformers by using a solid-state on-load tap changer (SOLTC) is presented. An example of the SOLTC circuit solution on the basis of thyristor switches is given. On-load voltage control algorithms for power transformers equipped with SOLTC that ensure high reliability and high-speed operation are proposed. The SOLTC performance and the operability of the suggested voltage control algorithms were studied by simulation in the Matlab/Simulink environment and by experiments on the SOLTC physical model. The structure and peculiarities of the used simulation Matlab model are described. The SOLTC physical model design and its parameters are presented. The results obtained from the simulating the SOLTC operation on the Matlab model and from the experiments on the SOLTS physical model jointly with a power transformer under different loads and with using different control algorithms are given. An analysis of the experimental study results has shown the soundness of the adopted technical solutions. It has been demonstrated that the use of an SOLTC ensures high-speed voltage control, high efficiency and reliability of its operation, and arcless switching of the power transformer regulating taps without load voltage and current interruption. By using the SOLTC operation algorithms it is possible to perform individual phase voltage regulation in a three-phase 0.4 kV distribution network. The possibility of integrating SOLTC control and diagnostic facilities into the structure of modern digital substations based on the digital interface according to the IEC 61850 standard is noted.

Predictive Failure Analysis of Solder Joints with Simultaneous High Speed EBSD and EDS

2018 ◽  
Author(s):  
J. Lindsay ◽  
P. Trimby ◽  
J. Goulden ◽  
S. McCracken ◽  
R. Andrews
Keyword(s):  
High Speed ◽  
Solder Joints ◽  
Phase Distribution ◽  
Bond Failure ◽  
Microstructural Parameters ◽  
Snpb Solder ◽  
Grain Orientations ◽  
Accelerated Thermal Cycling ◽  
The Relationship ◽  
Opening Up

Abstract The results presented here show how high-speed simultaneous EBSD and EDS can be used to characterize the essential microstructural parameters in SnPb solder joints with high resolution and precision. Analyses of both intact and failed solder joints have been carried out. Regions of strain localization that are not apparent from the Sn and Pb phase distribution are identified in the intact bond, providing key insights into the mechanism of potential bond failure. In addition, EBSD provides a wealth of quantitative detail such as the relationship between parent Sn grain orientations and Pb coarsening, the morphology and distribution of IMCs on a sub-micron scale and accurate grain size information for all phases within the joint. Such analyses enable a better understanding of the microstructural developments leading up to failure, opening up the possibility of improved accelerated thermal cycling (ATC) testing and better quality control.

scholarly journals Research on the Ignition Height and Reaction Flame Temperature of PTFE/Al/Si/CuO with Different Mass Ratios of PTFE/Si

Materials ◽  
2021 ◽  
Vol 14 (13) ◽  
pp. 3464
Author(s):  
Xuan Zou ◽  
Jingyuan Zhou ◽  
Xianwen Ran ◽  
Yiting Wu ◽  
Ping Liu ◽  
...  
Keyword(s):  
Energy Release ◽  
High Speed ◽  
Flame Temperature ◽  
Sintering Process ◽  
Release Process ◽  
Reactive Material ◽  
Temperature Changes ◽  
Release Capacity ◽  
Mass Ratios ◽  
The Relationship

Recent studies have shown that the energy release capacity of Polytetrafluoroethylene (PTFE)/Al with Si, and CuO, respectively, is higher than that of PTFE/Al. PTFE/Al/Si/CuO reactive materials with four proportions of PTFE/Si were designed by the molding–sintering process to study the influence of different PTFE/Si mass ratios on energy release. A drop hammer was selected for igniting the specimens, and the high-speed camera and spectrometer systems were used to record the energy release process and the flame spectrum, respectively. The ignition height of the reactive material was obtained by fitting the relationship between the flame duration and the drop height. It was found that the ignition height of PTFE/Al/Si/CuO containing 20% PTFE/Si is 48.27 cm, which is the lowest compared to the ignition height of other Si/PTFE ratios of PTFE/Al/Si/CuO; the flame temperature was calculated from the flame spectrum. It was found that flame temperature changes little for the same reactive material at different drop heights. Compared with the flame temperature of PTFE/Al/Si/CuO with four mass ratios, it was found that the flame temperature of PTFE/Al/Si/CuO with 20% PTFE/Si is the highest, which is 2589 K. The results show that PTFE/Al/Si/CuO containing 20% PTFE/Si is easier to be ignited and has a stronger temperature destruction effect.

Roller–rail parameters on the transverse vibration characteristics of super-high-speed elevators

2019 ◽  
Vol 43 (4) ◽  
pp. 535-543 ◽  
Author(s):  
Shunxin Cao ◽  
Ruijun Zhang ◽  
Shuohua Zhang ◽  
Shuai Qiao ◽  
Dongsheng Cong ◽  
...  
Keyword(s):  
High Speed ◽  
Relative Displacement ◽  
Guide Rail ◽  
Coupled Vibration ◽  
Vibration Acceleration ◽  
Vibration Model ◽  
Vibration Problems ◽  
Equivalent Method ◽  
Relationship Of ◽  
The Relationship

Interaction and wear between wheel and rail become increasingly serious with the increase in elevator speed and load. Uneven roller surface, eccentricity of rollers, and the looseness of rail brackets result in serious vibration problems of high-speed and super-high-speed elevators. Therefore, the forced vibration differential equation representing elevator guide rails is established based on Bernoulli–Euler theory, and the vibration equation of the elevator guide shoes and the car is constructed using the Darren Bell principle. Then, the coupled vibration model of guide rail, guide shoes, and car can be obtained using the relationship of force and relative displacement among these components. The roller–rail parameters are introduced into the established coupled vibration model using the model equivalent method. Then, the influence of roller–rail parameters on the horizontal vibration of super-high-speed elevator cars is investigated. Roller eccentricity and the vibration acceleration of the car present a linear correlation, with the amplitude of the car vibration acceleration increasing with the eccentricity of the roller. A nonlinear relationship exists between the surface roughness of the roller and the vibration acceleration of the car. Increased continuous loosening of the guide rail results in severe vibration of the car at the loose position of the support.

A Generic Method to Generate AS-Curve Profile in Commercial Motion Controller

2017 ◽  
Author(s):  
Youdun Bai ◽  
Xin Chen ◽  
Zhijun Yang
Keyword(s):  
Motion Controller ◽  
Residual Vibration ◽  
Practical Applications ◽  
Analytic Polynomial ◽  
Acceleration And Deceleration ◽  
Special Knowledge ◽  
Curve Profile ◽  
S Curve ◽  
Motion Profile ◽  
Better Than

It is well believed that S-curve motion profiles are able to reduce residual vibration, and are widely applied in the motion control fields. Recently, a new asymmetric S-curve (AS-curve) motion profile, which is able to effectively adjust the acceleration and deceleration periods, is proposed to enhance the performance of S-curve motion profile, and proved to be better than the traditional symmetric S-curve in many cases. However, most commercial motion controllers do not support the AS-curve motion profiles inherently. Special knowledge or expensive advanced controlling systems, such as dSPACE system, are required to generate the AS-curve motion command, which limits the applications of the AS-curve motion profile in many practical applications. In this paper, a generic method based on the Position-Velocity-Time (PVT) mode move supported by most commercial motion controllers is proposed to generate exact AS-curve motion command in real machines. The analytic polynomial functions of AS-curve motion profile are also derived to simplify the further application, and the effectiveness of the proposed method is verified by numerical simulation.

scholarly journals Online-Offline Optimized Motion Profile for High-Dynamic Positioning of Ultraprecision Dual Stage

Complexity ◽  
2018 ◽  
Vol 2018 ◽  
pp. 1-13 ◽  
Author(s):  
Yang Liu ◽  
Yue Dong ◽  
Jiubin Tan
Keyword(s):  
Model Identification ◽  
Direct Drive ◽  
Motion Platform ◽  
Residual Vibration ◽  
Dual Stage ◽  
Stage System ◽  
Curve Profile ◽  
High Dynamic ◽  
S Curve ◽  
Motion Profile

The wafer stage in dual-stage lithographic system is an air-bearing servo motion platform requiring high positioning accuracy and high transient performance. However, the residual vibration, resulting from almost zero damping, high velocity, parallel decoupling structure, and direct drive, brings about unacceptable overshoot and settling time. To suppress these unfavorable elements in high dynamic motion, a novel motion profile planning method combined with input shaping is proposed in this paper. Firstly, a trajectory named all free S-curve (AFS-curve) is derived, which has less constraints and better performance than traditional S-curve profile. Then, AFS-curve combined with a zero vibration shaper (ZV) is developed to further suppress residual vibration. Due to the very complex parameter adjustment, the online tuning may cause system oscillation that leads to damage of the precision stage. This paper, furthermore, proposes an online-offline method to optimize the parameters in the motion profile. Online step is performed to collect input and output data. Offline step includes the system model identification based on I/O data and parameter self-learning based on particle swarm optimization (PSO). The simulation and experimental results indicate that the proposed method achieves significant reduction of the positioning time and the overshoot in the dual-stage system.

Effect of links deformation on motion precision of parallel manipulator based on flexible dynamics

2017 ◽  
Vol 44 (6) ◽  
pp. 776-787 ◽  
Author(s):  
Chunxia Zhu ◽  
Jay Katupitiya ◽  
Jing Wang
Keyword(s):  
Parallel Manipulator ◽  
High Speed ◽  
Beam Theory ◽  
Parallel Manipulators ◽  
Dynamic Responses ◽  
Axial Deformation ◽  
Content Type ◽  
High Performing ◽  
Coupling Equations ◽  
The Relationship

Purpose Manipulator motion accuracy is a fundamental requirement for precision manufacturing equipment. Light weight manipulators in high speed motions are vulnerable to deformations. The purpose of this work is to analyze the effect of link deformation on the motion precision of parallel manipulators. Design/methodology/approach The flexible dynamics model of the links is first established by applying the Euler–Bernoulli beam theory and the assumed modal method. The rigid-flexible coupling equations of the parallel mechanism are further derived by using the Lagrange multiplier approach. The elastic energy resulting from spiral motion and link deformations are computed and analyzed. Motion errors of the 3-link torque-prismatic-torque parallel manipulator are then evaluated based on its inverse kinematics. The validation experiments are also conducted to verify the numerical results. Findings The lateral deformation and axial deformation are largest at the middle of the driven links. The axial deformation at the middle of the driven link is approximately one-tenth of the transversal deformation. However, the elastic potential energy of the transversal deformation is much smaller than the elastic force generated from axial deformation. Practical implications Knowledge on the relationship between link deformation and motion precision is useful in the design of parallel manipulators for high performing dynamic responses. Originality/value This work establishes the relationship between motion precision and the amount of link deformation in parallel manipulators.

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