scholarly journals Dynamic Modeling and Experimental Validation of a Water Hydraulic Soft Manipulator Based on an Improved Newton—Euler Iterative Method

Micromachines ◽  
2022 ◽  
Vol 13 (1) ◽  
pp. 130
Author(s):  
Yinglong Chen ◽  
Qiang Sun ◽  
Qiang Guo ◽  
Yongjun Gong
Keyword(s):  
Iterative Method ◽  
Dynamic Model ◽  
Hydraulic System ◽  
Inertial Force ◽  
Operating Conditions ◽  
Dynamics Modeling ◽  
Damping Force ◽  
Water Hydraulic ◽  
Water Response ◽  
Soft Manipulator

Compared with rigid robots, soft robots have better adaptability to the environment because of their pliability. However, due to the lower structural stiffness of the soft manipulator, the posture of the manipulator is usually decided by the weight and the external load under operating conditions. Therefore, it is necessary to conduct dynamics modeling and movement analysis of the soft manipulator. In this paper, a fabric reinforced soft manipulator driven by a water hydraulic system is firstly proposed, and the dynamics of both the soft manipulator and hydraulic system are considered. Specifically, a dynamic model of the soft manipulator is established based on an improved Newton–Euler iterative method, which comprehensively considers the influence of inertial force, elastic force, damping force, as well as combined bending and torsion moments. The dynamics of the water hydraulic system consider the effects of cylinder inertia, friction, and water response. Finally, the accuracy of the proposed dynamic model is verified by comparing the simulation results with the experimental data about the steady and dynamic characteristics of the soft manipulator under various conditions. The results show that the maximum sectional error is about 0.0245 m and that the maximum cumulative error is 0.042 m, which validate the effectiveness of the proposed model.

Development of a quadricycle dynamic mathematical model methodology to calculate early design stages loads on the frame and chassis

Trudy NAMI ◽  
2021 ◽  
pp. 46-57
Author(s):  
D. S. Vdovin ◽  
I. V. Chichekin ◽  
Ya. Yu. Levenkov ◽  
A. B. Fominykh
Keyword(s):  
Mathematical Model ◽  
Dynamic Model ◽  
Test Site ◽  
Operating Conditions ◽  
Practical Significance ◽  
Vehicle Dynamic ◽  
Dynamics Modeling ◽  
Virtual Experiments ◽  
Dynamic Mathematical Model ◽  
The Mathematical Model

Introduction (problem statement and relevance). To create a competitive vehicle in modern conditions, it is important to be able to determine its power elements loads at the early stages of design. A vehicle dynamic mathematical models allows you to solve this problem.The purpose of the study was to develop a dynamic mathematical model methodology of a quadricycle to determine its power elements loads under given operating conditions.Methodology and research methods. The article presents a dynamic mathematical model of a wheeled vehicle (quadricycle) technique using a created mathematical model within a solids dynamics modeling program and a real object experimental study to verify the mathematical model with an example of the obtained frame strength calculation under computer simulation loads.Scientific novelty and results. In the article the main stages of an utility quadricycle development and its dynamic mathematical model have been presented taking into account its design features and operating conditions. The main initial data necessary for creating an all-terrain vehicle dynamic mathematical model were identified. To confirm the developed dynamic model adequacy, a series of test site experiments was carried out. The obtained simulated results having been compared to the experimental data were highly convergent, which indicated the adequacy of the developed dynamic model of the ATV.Practical significance. The technique presented in the article allows to carry out virtual experiments to determine the main structural elements loads for subsequent strength, optimization and durability calculations.

scholarly journals Ride comfort evaluation for a double-drum vibratory roller with semi-active hydraulic cab mount system

2021 ◽  
Vol 304 ◽  
pp. 01008
Author(s):  
Nguyen Tien Duy ◽  
Le Van Quynh ◽  
Dang Viet Ha ◽  
Bui Van Cuong ◽  
Le Xuan Long
Keyword(s):  
Dynamic Model ◽  
Fuzzy Logic Controller ◽  
Ride Comfort ◽  
Equations Of Motion ◽  
Ground Surface ◽  
Operating Conditions ◽  
Vertical Force ◽  
Nonlinear Dynamic Model ◽  
Damping Force ◽  
Construction Machinery

The construction machinery market has required increasingly not only on working capacity but also ride comfort quality, therefore it has required increasing toward researchers and manufacturers. The main objective of this paper proposes and evaluates the performance of semi-active hydraulic cab mount system (SHCMs) of a double-drum vibratory roller in the direction of enhancing vehicle ride comfort under different operating conditions. Firstly, a nonlinear dynamic model of passive hydraulic cab mount system (PHCMs) is established to determine its vertical force which is connected with a dynamic model of vehicle - ground surface interaction. And then, a fuzzy logic controller (FLC) is designed to control the value of the damping force of SHCMs. Both the differential equations of motion and FLC are implemented in the MATLAB/Simulink environment. Finally, the ride performance of SHCMs is evaluated under different conditions according to ISO 2631: 1997 (E) standard. The obtained results show that the values of objective functions with SHCMs significantly reduce in comparison with PHCMs under different operating conditions.

Dynamic Model Identification of Collaborative Robots Using a Three-Loop Iterative Method

2021 ◽  
Author(s):  
Jie Deng ◽  
Weiwei Shang ◽  
Bin Zhang ◽  
Shengchao Zhen ◽  
Shuang Cong
Keyword(s):  
Iterative Method ◽  
Dynamic Model ◽  
Model Identification ◽  
Collaborative Robots

scholarly journals DYNAMIC CHARACTERISTICS OF LOW-PRESSURE WATER HYDRAULIC SYSTEM

2002 ◽  
Vol 2002 (5-1) ◽  
pp. 161-166
Author(s):  
Yoshihiro Yata ◽  
Takeshi Nakada ◽  
Yasuo Sakurai ◽  
Kazuhiro Tanaka
Keyword(s):  
Dynamic Characteristics ◽  
Hydraulic System ◽  
Low Pressure ◽  
Pressure Water ◽  
Water Hydraulic

A novel energy dissipation outrigger system with rotational inertia damper

2018 ◽  
Vol 21 (12) ◽  
pp. 1865-1878 ◽  
Author(s):  
Liangkun Liu ◽  
Ping Tan ◽  
Haitao Ma ◽  
Weiming Yan ◽  
Fulin Zhou
Keyword(s):  
Damping Ratio ◽  
Mass Parameter ◽  
Inertial Force ◽  
Rotational Inertia ◽  
Analysis Model ◽  
Damping Force ◽  
Damped System ◽  
Modal Damping ◽  
Assembly Technique ◽  
Excellent Control

Rotational inertia damper, a novel damper, possessing the advantage of displacement amplification, has been employed in outrigger system for seismic mitigation. The equivalent analysis model composed by a uniform cantilever beam and an equivalent spring was proposed to simulate the rotational inertia damper outrigger system, by which the corresponding dynamic characteristic equation was derived based on numerical assembly technique. To gain the response of the damped system, finite element method and state space method have been utilized. Finally, the results show that the pseudo-undamped natural frequency ratios and system modal damping ratios are significantly influenced by stiffness parameter of the exterior column, while the mass parameter of the rotational inertia damper has little effect on them. The optimal damping ratio can be acquired for one mode, but it may be worse for the other mode in the same position equipping rotational inertia damper. Furthermore, numerical simulation results for the typical earthquake records have verified that the rotational inertia damper outrigger has excellent control performance in displacement as well as acceleration. A good agreement between damping force and equivalent force also suggests that the damping force of rotational inertia damper is predominant and the inertial force has no significant effect on the structure.

A Study on Sensitivity of Maneuverability Performance on the Hydrodynamic Coefficients for Submerged Bodies

2000 ◽  
Vol 44 (03) ◽  
pp. 186-196
Author(s):  
Debabrata Sen
Keyword(s):  
Dynamic Model ◽  
Dynamic Models ◽  
Equations Of Motion ◽  
Inertial Force ◽  
Axisymmetric Body ◽  
Hydrodynamic Coefficients ◽  
Damping Coefficients ◽  
Simulated Trajectory ◽  
Linear Damping

Based on a constant-coefficient dynamic model, a study was made to determine the influence of various hydrodynamic coefficients on the predicted maneuverability quality of submerged bodies. Two types of geometries were considered, a submarine and an axisymmetric slender geometry. For the submarine, the equations of motion used were the revised standard submarine equations (Feldman 1979) while for the latter geometry a dynamic model was developed. From computer simulation of a few selected definitive maneuvers based on these two different dynamic models for the two geometries, the sensitivity of the simulated trajectory on changes in different coefficients was found. The results quantified in form of sensitivity values are presented. It is found that the typical measures from the maneuvers do not depend significantly on most of the nonlinear coefficients. The coefficients having significant effects on the trajectories are found to be the linear damping coefficients for the submarine and the linear inertial force coefficients for the axisymmetric body.

Kinematics and Dynamics Modeling of a New 4-DOF Cable-Driven Parallel Manipulator

2013 ◽  
pp. 249-265
Author(s):  
Hamoon Hadian ◽  
Yasser Amooshahi ◽  
Abbas Fattah
Keyword(s):  
Dynamic Model ◽  
Parallel Manipulator ◽  
Joint Space ◽  
Kinematics And Dynamics ◽  
Dynamics Modeling ◽  
Kinematic Constraint ◽  
Control Scheme ◽  
Minimum Number ◽  
Dynamical Properties ◽  
Computed Torque

This paper addresses the kinematics and dynamics modeling of a 4-DOF cable-driven parallel manipulator with new architecture and a typical Computed Torque Method (CTM) controller is developed for dynamic model in SimMechanics. The novelty of kinematic architecture and the closed loop formulation is presented. The workspace model of mechanism’s dynamic is obtained in an efficient and compact form by means of natural orthogonal complement (NOC) method which leads to the elimination of the nonworking kinematic-constraint wrenches and also to the derivation of the minimum number of equations. To verify the dynamic model and analyze the dynamical properties of novel 4-DOF cable-driven parallel manipulator, a typical CTM control scheme in joint-space is designed for dynamic model in SimMechanics.

scholarly journals Nonlinear Static and Dynamic Stiffness Characteristics of Support Hydraulic System of TBM

2019 ◽  
Vol 32 (1) ◽  
Author(s):  
Jianfeng Tao ◽  
Junbo Lei ◽  
Chengliang Liu ◽  
Wei Yuan
Keyword(s):  
Hydraulic System ◽  
Vibrational Energy ◽  
Dynamic Stiffness ◽  
Operating Conditions ◽  
Static Stiffness ◽  
Railway Tunnel ◽  
Relief Valve ◽  
Component Structure ◽  
Stiffness Characteristics ◽  
Stable Stage

AbstractFull-face hard rock tunnel boring machines (TBM) are essential equipment in highway and railway tunnel engineering construction. During the tunneling process, TBM have serious vibrations, which can damage some of its key components. The support system,an important part of TBM, is one path through which vibrational energy from the cutter head is transmitted. To reduce the vibration of support systems of TBM during the excavation process, based on the structural features of the support hydraulic system, a nonlinear dynamical model of support hydraulic systems of TBM is established. The influences of the component structure parameters and operating conditions parameters on the stiffness characteristics of the support hydraulic system are analyzed. The analysis results indicate that the static stiffness of the support hydraulic system consists of an increase stage, stable stage and decrease stage. The static stiffness value increases with an increase in the clearances. The pre-compression length of the spring in the relief valve affects the range of the stable stage of the static stiffness, and it does not affect the static stiffness value. The dynamic stiffness of the support hydraulic system consists of a U-shape and reverse U-shape. The bottom value of the U-shape increases with the amplitude and frequency of the external force acting on the cylinder body, however, the top value of the reverse U-shape remains constant. This study instructs how to design the support hydraulic system of TBM.

scholarly journals Nonlinear modeling and stability analysis of a pilot-operated valve-control hydraulic system

2018 ◽  
Vol 10 (11) ◽  
pp. 168781401881066 ◽  
Author(s):  
Wei Wei ◽  
Hongchao Jian ◽  
Qingdong Yan ◽  
Xiaomei Luo ◽  
Xuhong Wu
Keyword(s):  
Dynamic Model ◽  
Hydraulic System ◽  
Nonlinear Modeling ◽  
Orifice Diameter ◽  
Operating Pressure ◽  
Nonlinear Dynamic Model ◽  
System Parameters ◽  
Excited Vibration ◽  
The Stability ◽  
Valve Control

A nonlinear dynamic model is developed to analyze the stability of a pilot-operated valve-control hydraulic system. The dynamic model includes motion of the valve spool and fluid dynamics in the system. Characteristics such as pressure flow across the valve port and orifices, pressure, and flow rate in valve chambers are taken into consideration. Bifurcation analysis is proposed and examined by numerical simulation results when the feedback orifice diameter changes. The effects of different system parameters such as pilot-operating pressure, spring stiffness, and overlap of inlet port on the stability border of the system are studied by two-dimensional bifurcation analyses. The study identifies that bifurcation can occur in the system and lead to sustained self-excited vibration with parameters in certain region of the parameter space. It suggests that the vibration can be effectively predicted and prevented by selecting system parameters from the asymptotic stable parameter region.

A dynamic model of effective factors on Agile business–IT alignment

Kybernetes ◽  
2019 ◽  
Vol 49 (10) ◽  
pp. 2521-2546
Author(s):  
Elaheh Bigdeli ◽  
Mohammadreza Motadel ◽  
Abbas Toloie Eshlaghy ◽  
Reza Radfar
Keyword(s):  
Dynamic Model ◽  
Dynamic Capabilities ◽  
Dynamics Modeling ◽  
Fuzzy Dematel ◽  
Content Type ◽  
Effective Factors ◽  
It Alignment ◽  
Model Based ◽  
It Capabilities ◽  
Business It Alignment

Purpose This paper aims to present a dynamic model based on casual relationships among the most important effective factors on business–IT alignment in Agile businesses by using system dynamics modeling approach. Design/methodology/approach To study the most important factors on agility and alignment, the data were collected by questionnaires filled by 201 experts and were analyzed by SPSS and PLS. Casual relationships among studied factors and efficiency coefficients of each factor were identified by fuzzy DEMATEL technique and analyzed by MATLAB and EXCELL. Finally, the dynamic model was plotted by VENSIM. Findings According to the results, only “learning IT capabilities” are the most important casual factor that has the highest influence on the other factors. “Business responding capabilities” take the highest effect from the system, and “business sensing capabilities” are in the next rank. Practical implications This study underpins effective IT deployment toward developing efficient IT capabilities to gain greater agility. Originality/value The dynamic capabilities view (DCV) has emerged as an influential theoretical and management framework in modern IS and agility researches. In this regard, we propose a conceptualization of dynamic capabilities in the form of an alignment model. Based on the dynamic capabilities, and on the alignment perspectives found in Henderson and Venkatraman’s seminal model, IT alignment is modeled as a process of reconfiguration of the firm’s IT and organizational resources, competencies and capabilities.

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