scholarly journals Analysis and Control of Vibrations of a Cartesian Cutting Machine Using an Equivalent Robotic Model

Machines ◽  
2021 ◽  
Vol 9 (8) ◽  
pp. 162
Author(s):  
Matteo Bottin ◽  
Giulio Cipriani ◽  
Domenico Tommasino ◽  
Alberto Doria
Keyword(s):  
Analytical Model ◽  
System Approach ◽  
Experimental Results ◽  
Full Model ◽  
Robot Arm ◽  
Mode Superposition ◽  
Cutting Head ◽  
Cutting Machine ◽  
And Control ◽  
Pneumatic Tool

The vibrations of a Cartesian cutting machine caused by the pneumatic tool are studied with a sub-system approach. The cutting head is modeled as an equivalent robot arm which is able to mimic the measured resonances. The Cartesian structure is modeled according to the mode superposition approach. A global analytical model is obtained coupling the aforementioned models, and is solved in MATLAB. The full model is able to predict the variations in the response of the machine to tool excitation that are caused by the motion of the head along the rails of the Cartesian structure. Comparisons with experimental results are made.

scholarly journals Analysis and Control of Vibrations of a Cartesian Cutting Machine Using an Equivalent Robotic Model

2021 ◽  
Author(s):  
Matteo Bottin ◽  
Giulio Cipriani ◽  
Domenico Tommasino ◽  
Alberto Doria
Keyword(s):  
System Approach ◽  
Vibration Absorber ◽  
Full Model ◽  
Robot Arm ◽  
Main Resonance ◽  
Cutting Head ◽  
Cutting Machine ◽  
And Control ◽  
The Mathematical Model ◽  
Pneumatic Tool

The vibrations of a Cartesian cutting machine caused by the pneumatic tool are studied with a sub-system approach. The cutting head is modeled as an equivalent robot arm which is able to mimic the measured resonances, The Cartesian structure is modeled according to the mode superposition approach. The full model is able to predict the variations in the response of the machine to tool excitation that are caused by the motion of the head along the rails of the Cartesian structure. Comparisons with experimental results are made. Finally, the mathematical model is used for assessing the effectiveness of a vibration absorber tuned to main resonance frequency of the cutting head.

DESIGN, CONTROL AND EVALUATION OF A WHOLE-SENSITIVE ROBOT ARM FOR PHYSICAL HUMAN-ROBOT INTERACTION

2009 ◽  
Vol 06 (04) ◽  
pp. 699-725 ◽  
Author(s):  
DZMITRY TSETSERUKOU ◽  
NAOKI KAWAKAMI ◽  
SUSUMU TACHI
Keyword(s):  
High Performance ◽  
Design Procedure ◽  
Human Robot Interaction ◽  
Experimental Results ◽  
Physical Interaction ◽  
Robot Arm ◽  
Robot Interaction ◽  
Active Compliance ◽  
And Control ◽  
Damping Of Vibrations

The paper focuses on design and control of a new anthropomorphic robot arm enabling the torque measurement in each joint to ensure safety while performing tasks of physical interaction with human and environment. When the contact of the robot arm with an object occurs, local admittance algorithm provides active compliance of corresponding robot arm joint. Thus, the whole structure of the manipulator can safely interact with an unstructured environment. The detailed design procedure of the 4-DOF robot arm and optical torque sensors is described in the paper. The experimental results of joint admittance control revealed the feasibility of the proposed approach to provide safe interaction of entire structure of robot arm with a person. The control system with load angle position feedback and lead compensator is proposed to improve dynamic behavior of flexible joint arm. The experimental results show high performance of the developed controller in terms of successful damping of vibrations.

scholarly journals Development of a VTOL mini UAV for multi-tasking missions

2009 ◽  
Vol 113 (1140) ◽  
pp. 87-98 ◽  
Author(s):  
B. Bataillé ◽  
J.-M. Moschetta ◽  
D. Poinsot ◽  
C. Bérard ◽  
A. Piquereau
Keyword(s):  
Analytical Model ◽  
Aerodynamic Characteristics ◽  
Experimental Results ◽  
Flight Mechanics ◽  
Forward Flight ◽  
Control Loops ◽  
Transition Mechanism ◽  
Recent Developments ◽  
Points Of View ◽  
And Control

Abstract Recent developments in the field of Mini-UAVs lead to successful designs in both hovering rotorcraft and fixed wing aircraft. However, a polyvalent MAV capable of stable hovering and fast forward flight is still expected. A promising candidate for such versatile missions consists of a tilt-body tail-sitter configuration. That concept is studied in this paper both from the flight mechanics and control points of view. Developments are based on an existing prototype called Vertigo. It consists of a tail sitter fixed-wing mini-UAV equipped with a contra-rotating pair of propellers in tractor configuration. A wind-tunnel campaign was carried out to extract experimental results from the Vertigo aerodynamic characteristics. A 6-component sting balance was fitted in the powered model enabling excursion in angles of attack and sideslip angles up to 90°. Thus, a detailed understanding of the transition mechanism could be obtained. An analytical model including propwash effects was derived from experimental results. The analytical model was used to compute stability modes for specific flight conditions. This allowed an appropriate design of the autopilot capable of stabilisation and control over the whole flight envelope. A gain sequencing technique was chosen to ensure stability while minimising control loop execution time. A MATLAB-based flight simulator including an analytical model for the propeller slipstream has been developed in order to test the validity of airborne control loops. Simulation results are presented in the paper including hover flight, forward flight and transitions. Flight tests lead to successful inbound and outbound transitions of the Vertigo.

scholarly journals Generalized analytical model based on harmonic coupling for hybrid plasmonic modes: comparison with numerical and experimental results

2015 ◽  
Vol 23 (21) ◽  
pp. 27376 ◽  
Author(s):  
Mitradeep Sarkar ◽  
Jean-François Bryche ◽  
Julien Moreau ◽  
Mondher Besbes ◽  
Grégory Barbillon ◽  
...  
Keyword(s):  
Analytical Model ◽  
Experimental Results ◽  
Model Based

Convective Losses From Cavity Solar Receivers—Comparisons Between Analytical Predictions and Experimental Results

1983 ◽  
Vol 105 (1) ◽  
pp. 29-33 ◽  
Author(s):  
A. M. Clausing
Keyword(s):  
Experimental Data ◽  
Experimental Evidence ◽  
Analytical Model ◽  
Excellent Agreement ◽  
Experimental Results ◽  
Simple Analytical Model ◽  
Refined Model ◽  
Wall Area

Cavity solar receivers are generally believed to have higher thermal efficiencies than external receivers due to reduced losses. A simple analytical model was presented by the author which indicated that the ability to heat the air inside the cavity often controls the convective loss from cavity receivers. Thus, if the receiver contains a large amount of inactive hot wall area, it can experience a large convective loss. Excellent experimental data from a variety of cavity configurations and orientations have recently become available. These data provided a means of testing and refining the analytical model. In this manuscript, a brief description of the refined model is presented. Emphasis is placed on using available experimental evidence to substantiate the hypothesized mechanisms and assumptions. Detailed comparisons are given between analytical predictions and experimental results. Excellent agreement is obtained, and the important mechanisms are more clearly delineated.

EXPERIMENTAL RESULTS ON COMMAND AND CONTROL OF UNMANNED AIR VEHICLE SYSTEMS

2007 ◽  
Vol 40 (15) ◽  
pp. 239-244 ◽  
Author(s):  
Pedro Almeida ◽  
Ricardo Bencatel ◽  
Gil M. Gonçalves ◽  
JoãTo Borges Sousa ◽  
Christoph Ruetz
Keyword(s):  
Command And Control ◽  
Experimental Results ◽  
Unmanned Air Vehicle ◽  
Air Vehicle ◽  
Vehicle Systems ◽  
And Control

scholarly journals Design and Control of a Magnetically Suspended Ceiling Actuator with Infinite Planar Stroke

2013 ◽  
Vol 416-417 ◽  
pp. 492-502 ◽  
Author(s):  
T.T. Overboom ◽  
J.P.C. Smeets ◽  
J.W. Jansen ◽  
E.A. Lomonova
Keyword(s):  
Permanent Magnet ◽  
Analytical Model ◽  
Normal Force ◽  
Tracking Error ◽  
Fe Model ◽  
Optimized Design ◽  
Three Phase ◽  
Linear Actuators ◽  
And Control ◽  
Infinite Planar

This paper presents the design and control of a magnetically suspended ceiling actuator which combines four iron-cored linear actuators and a checkerboard permanent magnet array for an infinite planar stroke. When the actuators are rotated with respect to the PM array, it is shown that the thrust and normal force produced by the three-phase linear actuators can be controlled by applying Park's transformation. The design of the iron-cored linear actuators is optimized for minimum losses when the translator inside the ceiling actuator and a payload are accelerated in the xy-plane. The optimization is performed using an analytical model is. Simulations of the optimized design with a 3D FE-model, show a maximum tracking error of 1 μm and rotations of 30 μrad when the translator is moved and controlled in 6 DOF.

scholarly journals Adaptive Broadcasting Mechanism for Bandwidth Allocation in Mobile Services

2014 ◽  
Vol 2014 ◽  
pp. 1-14
Author(s):  
Gwo-Jiun Horng ◽  
Chi-Hsuan Wang ◽  
Chih-Lun Chou
Keyword(s):  
Analytical Model ◽  
Bandwidth Allocation ◽  
Data Dissemination ◽  
Data Access ◽  
Experimental Results ◽  
Bandwidth Utilization ◽  
Access Latency ◽  
The Mean ◽  
Access Efficiency ◽  
Broadcast Program

This paper proposes a tree-based adaptive broadcasting (TAB) algorithm for data dissemination to improve data access efficiency. The proposed TAB algorithm first constructs a broadcast tree to determine the broadcast frequency of each data and splits the broadcast tree into some broadcast wood to generate the broadcast program. In addition, this paper develops an analytical model to derive the mean access latency of the generated broadcast program. In light of the derived results, both the index channel’s bandwidth and the data channel’s bandwidth can be optimally allocated to maximize bandwidth utilization. This paper presents experiments to help evaluate the effectiveness of the proposed strategy. From the experimental results, it can be seen that the proposed mechanism is feasible in practice.

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