scholarly journals Adaptive Balancing of Robots and Mechatronic Systems

Robotics ◽  
2018 ◽  
Vol 7 (4) ◽  
pp. 68 ◽  
Author(s):  
Liviu Ciupitu
Keyword(s):  
Vertical Plane ◽  
Approximate Solutions ◽  
Gravity Compensation ◽  
Mechatronic Systems ◽  
Static Loads ◽  
Static Balancing

Present paper is dealing with the adaptive static balancing of robot or other mechatronic arms that are rocking in vertical plane and whose static loads are variable, by using counterweights and springs. Some simple passive and approximate solutions are proposed, and an example is shown. The results show that a very simple passive solution which is using for gravity compensation a simple translational counterweight (that could be for example the actuating motor itself) articulated by one single bar leads to very good results in case of approximate balancing when the payload has a known variation.

scholarly journals Adaptive Balancing of Robots and Mechatronic Systems

2018 ◽  
Author(s):  
Liviu Ciupitu
Keyword(s):  
Exact Solutions ◽  
Real Time ◽  
Solid Mechanics ◽  
Vertical Plane ◽  
Approximate Solutions ◽  
Real Time Control ◽  
Mechatronic Systems ◽  
Static Loads ◽  
Time Control ◽  
Romanian Academy

Present paper is dealing with the adaptive static balancing of robot or other mechatronic arms that are moving in vertical plane and whose static loads are variable, by using counterweights and springs. Some simple passive and approximate solutions are proposed and an example is shown. The active and exact solutions by using adaptive real time control in the case of unknown variation of static loads are simulated on VIPRO platform developed at Institute of Solid Mechanics of Romanian Academy.

Active Static Balancing of Mechatronic Systems - An Overview

2015 ◽  
Vol 811 ◽  
pp. 253-259 ◽  
Author(s):  
Liviu Ciupitu
Keyword(s):  
Finite Number ◽  
Mechanical System ◽  
Mechanical Systems ◽  
Mechatronic System ◽  
Mechatronic Systems ◽  
Static Loads ◽  
Static Balancing ◽  
Active Balancing ◽  
Controlling System ◽  
Static Conditions

Static balancing of a mechanical system can be regarded as the total or partial cancellation of the mechanical effects (force or moment) of static loads to the actuating system of it, in all configurations, respectively in a finite number of configurations, from functioning domain, under quasi-static conditions. Active balancing is taking into consideration the variation of static loads during the functioning of mechanical systems. As a consequence the active balancing requires an adaptive controlling system and a dynamic model of mechatronic system. In this article, some aspects of the active static balancing problem of mechanical systems are surveyed.

Static Balancing of Mechanical Systems Used in Medical Engineering Field – Continuous Balancing

2012 ◽  
Vol 463-464 ◽  
pp. 890-894 ◽  
Author(s):  
Liviu Ciupitu ◽  
Ion Simionescu ◽  
Adrian Olaru
Keyword(s):  
Elastic System ◽  
Mechanical Systems ◽  
Vertical Plane ◽  
Medical Engineering ◽  
Medical Field ◽  
Mechatronic Systems ◽  
Static Balancing ◽  
Helical Springs ◽  
Elastic Forces ◽  
New Devices

In medical field are used many categories of mechanical systems, from simple mechanisms to the complex mechatronic systems. Present paper is focused to those mechanical systems that are working in vertical plane by supporting loads or by lifting weights. The targets are both patients and medical workers. Paper is proposing some new devices and mechanisms for supporting the weights that are hanged to the ceiling. These mechanical systems are called too with zero-stiffness because the balancing force does not depend to elongation of elastic system. For all the presented solutions the balancing of the weight forces will be done by using the elastic forces of torsion spiral springs and cylindrical helical springs with straight characteristics. The balancing is made exactly for all positions throughout the work field.

Modular Advantage and Kinematic Decoupling in Gravity Compensated Robotic Systems

2013 ◽  
Vol 5 (4) ◽  
Author(s):  
Nick Eckenstein ◽  
Mark Yim
Keyword(s):  
Vertical Plane ◽  
Robotic Systems ◽  
Gravity Compensation ◽  
Pulley System ◽  
Free Length ◽  
Low Profile ◽  
Serial Chain ◽  
Manipulator Arm ◽  
Spring Method ◽  
Position And Orientation

Two new designs for gravity compensated modular robotic systems are presented and analyzed. The gravity compensation relies on using zero-free-length springs approximated by a cable and pulley system. Simple yet powerful parallel four-bar modules enable the low-profile self-contained modules with sequential gravity compensation using the spring method for motion in a vertical plane. A second module that is formed as a parallel six-bar mechanism adds a horizontal motion to the previous system that also yields a complete decoupling of position and orientation of the distal end of a serial chain. Additionally, we introduce the concept of vanishing effort where as the number of modules that comprise an articulated serial chain increases, the actuation authority required at any joint reduces. Essentially, this results in a method for distributing actuation along the length of an articulated chain. Prototypes were designed and constructed validating the analysis and accomplishing the functions of a general serial-type manipulator arm.

Static Balancing of a Parallel Kinematics Machine With Linear-Delta Architecture

2014 ◽  
Author(s):  
Alberto Martini ◽  
Marco Troncossi ◽  
Marco Carricato ◽  
Alessandro Rivola
Keyword(s):  
General Theory ◽  
Closed Loop ◽  
Parallel Robot ◽  
Design Solution ◽  
Robot Design ◽  
Gravity Compensation ◽  
Parallel Kinematics ◽  
Static Balancing ◽  
Milling Operation ◽  
Working Performance

The study deals with the compensation of gravity loads in closed-loop mechanisms as a possible strategy for enhancing their working performance. This work focuses on the Orthoglide 5-axis, a prototypal parallel robot for milling operation, characterized by linear-delta architecture with two further serial DOFs. Starting from a general theory formerly proposed by the authors, gravity compensation of the mechanism is analytically carried out. The statically balanced Orthoglide 5-axis can be obtained by installing on one leg a proper set of extension springs and a simple additional linkage. A feasible design solution for developing the device in practice is presented. The proposed balancing device can be implemented with minor modifications of the original robot design, thus appearing a profitable solution to be possibly extended to other machinery with similar architecture.

scholarly journals On the motion of a triple pendulum system under the influence of excitation force and torque

2021 ◽  
Vol 48 (4) ◽  
Author(s):  
T. S. Amer ◽  
◽  
A. A. Galal ◽  
A. F. Abolila ◽  
◽  
...  
Keyword(s):  
Degrees Of Freedom ◽  
Multiple Scales ◽  
Equations Of Motion ◽  
Nonlinear Dynamical System ◽  
Vertical Plane ◽  
Approximate Solutions ◽  
Circular Path ◽  
Nonlinear Stability Analysis ◽  
Pendulum System ◽  
Triple Pendulum

In this article, a nonlinear dynamical system with three degrees of freedom (DOF) consisting of multiple pendulums (MP) is investigated. The motion of this system is restricted to be in a vertical plane, in which its pivot point moves in a circular path with constant angular velocity, under the action of an external harmonic force and a moment acting perpendicular to the direction of the last arm of MP and at the suspension point respectively. Multiple scales technique (MST) among other perturbation methods is used to obtain the approximate solutions of the equations of motion up to the third approximation because it is authorizing to execute a specific analysis of the system behaviour and to realize the solvability conditions given the resonance cases. The stability of the considered dynamical model utilizing the nonlinear stability analysis approach is examined. The solutions diagrams and resonance curves are drawn to illustrate the extent of the effect of various parameters on the solutions. The importance of this work is due to its uses in human or robotic walking analysis.

Stability of Two-Dimensional Blind Grasping under the Gravity Effect and Rolling Constraints

Robotica ◽  
2008 ◽  
Vol 26 (3) ◽  
pp. 255-266 ◽  
Author(s):  
S. Arimoto ◽  
M. Yoshida ◽  
J.-H. Bae
Keyword(s):  
Motor Coordination ◽  
Vertical Plane ◽  
Two Dimensional ◽  
Gravity Compensation ◽  
Coordination Control ◽  
Flat Surfaces ◽  
Rigid Objects ◽  
Control Scheme ◽  
Object Parameters ◽  
Blind Manner

SUMMARYThis paper aims to show a sensory-motor coordination control scheme that realizes stable pinching of rigid objects with parallel or nonparallel flat surfaces movable in 2-dimensional vertical plane by a pair of robot fingers with hemispherical ends. The proposed control signal is composed of gravity compensation for fingers, damping shaping, exertion of forces to the object from opposite directions, generation of moments for balancing of rotational moments, and regressors for estimating unknown steady-state terms, all of which neither need the knowledge of object parameters nor use any object sensing data. In other words, stable grasping can be realized by using only finger-joint sensing in a blind manner without using force sensors or tactile sensing. Stability of pinching motion with convergence to the state of force/torque balance is shown through computer simulations and is also proved theoretically.

scholarly journals Full-Scale Field Experimental Investigation on the Intended Irregularity of CWR Track in Vertical Plane

Energies ◽  
2021 ◽  
Vol 14 (22) ◽  
pp. 7477
Author(s):  
Włodzimierz Andrzej Bednarek
Keyword(s):  
Static Load ◽  
Optical Measurement ◽  
Vertical Plane ◽  
Railway Track ◽  
Support Condition ◽  
Static Loads ◽  
Static And Dynamic Analysis ◽  
Field Investigations ◽  
Railway Sleeper ◽  
Locomotive Wheels

The purpose of the following paper is to present the author’s experimental field investigations of a jointless railway track subjected to a generated imperfection and analysis of track response to applied static loads. An optical measurement system, Pontos, was used for the static and dynamic analysis of the track’s deflections in 3D. The investigations allow us to recommend a direct application of this system for the non-contact measurement, visualization and analysis of simulated defects in the jointless track, as presented by the author. It is stated that simulation of an effect called the hanging sleeper, a short irregularity in the railway track with the initial parameters provided (a gap and a length of irregularity), is possible. The proposed method, based on the measurement in the loaded track (a static load from the locomotive wheels), allows for a description of the effect of the changing track support condition. Moreover, it also proves its usefulness for the analysis of the changes in deflection and stress values and the force transferred from the rail on the railway sleeper and for the assumed shape of defects simulating the short irregularities arising in the operated railway track. The arising irregularity in the track affects driving comfort and the safety of travellers.

Classic and Nonclassic Methods in Synthesis of the Transverse Vibrating Mechatronic Systems

2015 ◽  
Vol 220-221 ◽  
pp. 21-26
Author(s):  
Andrzej Buchacz
Keyword(s):  
Modal Analysis ◽  
Cross Sections ◽  
Natural Frequencies ◽  
Practical Implication ◽  
Approximate Solutions ◽  
Mechatronic System ◽  
Mechatronic Systems ◽  
Modeling And Analysis ◽  
Mechanical Subsystem ◽  
Vibrating Beams

In the paper, the modeling and analysis of mechanical subsystem of vibrating continuous-discrete mechatronic system have been presented. This approach was established to nominate the relevance or irrelevance between the characteristics obtained by considered methods – especially concerning the relevance of the natural frequencies-poles of characteristics of beam as the subsystem of mechatronic one. At the beginning of the approach, the modeling and frequency – modal analysis of simply beam as the subsystem of vibrating mechatronic system with constant cross sections are presented. It is the research limitation, that linear continuous transverse vibrating beam is considered (Eg. [1, 2]. Findings of this approach is a fact, that approximate solutions fulfill all conditions for only subsystem, that means vibrating beams, modeled by graphs & hypergraphs and analyzed by different category structural numbers as well [3–5, 6]. Practical implication of this study is that the main point is the introduction to synthesis of transverse vibrating continuous-discrete mechatronic systems.

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