scholarly journals A Kinematical Analysis of the Flap and Wing Mechanism of a Light Sport Aircraft Using Topological Models

Symmetry ◽  
2021 ◽  
Vol 13 (7) ◽  
pp. 1243
Author(s):  
Sorin Vlase ◽  
Ion-Marius Ghiţescu ◽  
Marius Paun
Keyword(s):  
Graph Theory ◽  
Mechanical System ◽  
Linear Systems ◽  
Kinematic Analysis ◽  
Control Mechanism ◽  
Practical Application ◽  
Dynamic Level ◽  
New Formulation ◽  
Topological Models ◽  
Independent Loops

In this, paper, we propose a method of kinematic analysis of a planar mechanism with application to the flap and wing mechanism of a light sport aircraft. A topological model is used to describe a mechanical system, which is a model that allows the study of the maneuverability of the system. The proposed algorithm is applied to determine the velocity and acceleration field of this multibody mechanical system. The graph associated with the mechanical system is generated in a new formulation and based on it, the fundamental loops of the graph are identified (corresponding to the independent loops of the mechanism), the equations for closing vectorial contours are written, and the kinematic conditions for determining velocities and accelerations and the associated linear systems are solved, which provides the field of speeds and accelerations. Graph Theory is applied at a kinematic level and not at a dynamic level, as in previous studies. A practical application for the kinematic analysis of the control mechanism of a light aircraft illustrates the proposed method.

The Automatic Generation of a Mathematical Model for Machinery Systems

1973 ◽  
Vol 95 (2) ◽  
pp. 629-635 ◽  
Author(s):  
D. A. Smith ◽  
M. A. Chace ◽  
A. C. Rubens
Keyword(s):  
Mathematical Model ◽  
Graph Theory ◽  
Computer Program ◽  
Mechanical System ◽  
Input Data ◽  
Automatic Generation ◽  
Electrical Networks ◽  
Lagrange’S Equation ◽  
Detailed Explanation ◽  
Independent Loops

This paper presents a detailed explanation of a technique for automatically generating a mathematical model for machinery systems. The process starts from a relatively small amount of input data and develops the information required to model a mechanical system with Lagrange’s equation. The technique uses elements of graph theory which were developed for electrical networks. The basic identifications required for mechanical systems are: paths from ground to mass centers, the independent loops of parts, if any, and paths associated with applied force effects. The techniques described in this paper have been used successfully in a generalized computer program, DAMN.

Signal Measurement Error Analysis of the Bayesian Network of Mechanical Fault Detection

2014 ◽  
Vol 945-949 ◽  
pp. 2183-2186
Author(s):  
Yun Xia Zhang ◽  
Ling Lan ◽  
Xiao Hui Wang
Keyword(s):  
Measurement Error ◽  
Fault Detection ◽  
Error Analysis ◽  
Bayesian Network ◽  
Mechanical System ◽  
Gibbs Sampling ◽  
Sampling Method ◽  
Practical Application ◽  
Denoising Method ◽  
Signal Measurement

Based on measurement error of observation nodes is commom in mechanical system fault detection, but the traditional denoising method has many shortcomings. This paper introduce the Gibbs sampling method, which can be used to denoise and eliminate measurement error for node discreted information. We discuss it, and expect some promotion in practical application.

An Adding Mass Method for Stiffly Mechanical System Simulation and Applications to Construction Machinery

2001 ◽  
Author(s):  
Etsujiro Imanishi ◽  
Satoshi Yonezawa ◽  
Naoki Sugano ◽  
Eiko Hirooka ◽  
Takahiro Kobayashi
Keyword(s):  
Mechanical System ◽  
Dynamic Simulation ◽  
Hydraulic System ◽  
Piecewise Linear ◽  
Hydraulic Systems ◽  
Practical Application ◽  
Construction Machinery ◽  
Linear Elements ◽  
Improvement Method ◽  
And Control

Abstract A characteristic improvement method for dynamic simulation of a stiff mechanical system by adding mass is presented. Hydraulic systems with check valves and control valves on construction machinery exhibit piecewise-linear characteristics for hydraulic flow rate and spool stroke. The proposed improvement method involves no time delay in determining the mass by considering both eigenvalue distortion of the system and time response. This paper shows a practical application to the boom derricking system of a rough terrain crane, and demonstrates that this method is useful for dynamic simulation of hydraulic system including stiff piecewise-linear elements.

Kinematic Analysis of Mechanisms Using Motor Algebra and Graph Theory

1998 ◽  
Vol 10 (6) ◽  
pp. 464-474
Author(s):  
Michisuke Jo ◽  
◽  
Tomoyoshi Sasaki
Keyword(s):  
Graph Theory ◽  
Kinematic Analysis ◽  
Relative Displacement ◽  
Transformation Matrix ◽  
Motion Simulation ◽  
Robot Trajectory ◽  
Angular Velocities ◽  
Tree Path ◽  
Loop Matrix ◽  
Relative Transformation

The Kathri-Rao product of the circuit and pair-motor matrixes gives an exhaustive criterion of mechanism DOF. The pair-loop matrix with driving conditions determines relative angular velocities. Integration yields relative displacement angles, then transformed into a relative transformation matrix superposed on a tree path to determine absolute link and pair axis movement. We then show results of motion simulation including robot trajectory generation.

Study on Vibration Transmission, with Application to the Calibration of a Measuring Stand

2013 ◽  
Vol 430 ◽  
pp. 153-157
Author(s):  
Andrei Craifaleanu ◽  
Cristian Dragomirescu ◽  
Nicolaie Orăşanu ◽  
Adrian Costache
Keyword(s):  
Mechanical System ◽  
Experimental Model ◽  
Forced Vibration ◽  
Mechanical Characteristics ◽  
Final Part ◽  
Practical Application ◽  
Vibration Transmission ◽  
Vibration Measuring ◽  
Theoretical Results

The paper studies the vibration transmitted by a mechanical oscillating system to its fixing device. The influence of the mechanical characteristics (inertial and elastic) of the device on the quantities specific to the free and forced vibration, respectively, of the principal system, is analyzed. In this context, the paper investigates the possibility to correlate the vibrations of the mechanical system with the vibrations measured on the fixing device. The conclusions of this study can be used for the calibration of vibration measuring stands. In the final part, a practical application is presented, aimed to compare the theoretical results with the data obtained by measurements performed on an experimental model built by the authors.

scholarly journals Minimum energy control of positive 2D continuous-discrete linear systems with bounded inputs

2015 ◽  
Vol 25 (3) ◽  
pp. 319-331
Author(s):  
Tadeusz Kaczorek
Keyword(s):  
Control Problem ◽  
Linear Systems ◽  
Minimum Energy ◽  
Sufficient Conditions ◽  
Energy Control ◽  
Discrete Linear Systems ◽  
Minimum Energy Control ◽  
New Formulation ◽  
Necessary And Sufficient ◽  
The Given

AbstractA new formulation of the minimum energy control problem for the positive 2D continuous-discrete linear systems with bounded inputs is proposed. Necessary and sufficient conditions for the reachability of the systems are established. Conditions for the existence of the solution to the minimum energy control problem and a procedure for computation of an input minimizing the given performance index are given. Effectiveness of the procedure is demonstrated on numerical example.

Kinematics of a 6-DOF parallel manipulator with two limbs actuated by spherical motion generators

2021 ◽  
pp. 095440622110329
Author(s):  
Kun Wang ◽  
Xiaoyong Wu ◽  
Yujin Wang ◽  
Jun Ding ◽  
Shaoping Bai
Keyword(s):  
Kinematic Analysis ◽  
Parallel Manipulator ◽  
Parallel Manipulators ◽  
Practical Application ◽  
Numerical Examples ◽  
Position Analysis ◽  
Kinematic Study ◽  
Small Footprint ◽  
Dual Arm ◽  
Spherical Motion

Inspired by dual-arm-like manipulation, a novel 6-DOF parallel manipulator with two spherical-universal-revolute limbs is proposed. Compared with general 6-DOF parallel manipulators with six limbs, this new manipulator actuated by spherical motion generators has only two limbs, which brings advantages such as fewer active limbs for avoiding interference, larger reachable and orientational workspace for complex operating, more actuators integrated in active modules for decreasing installation errors and increasing compactness. In this paper, the kinematics of this novel parallel manipulator is solved and illustrated, covering its inverse and forward position analysis, workspace and singularities. The kinematic study reveals interesting features of this manipulator such as multiple working and assembly modes, small footprint and large workspace volume with high dexterity. Numerical examples of kinematic analysis are included. Practical application of the new manipulator is illustrated.

scholarly journals Kinematic Analysis of Tendon-Driven Robotic Mechanisms Using Graph Theory

1989 ◽  
Vol 111 (1) ◽  
pp. 59-65 ◽  
Author(s):  
Lung-Wen Tsai ◽  
Jyh-Jone Lee
Keyword(s):  
Graph Theory ◽  
Kinematic Analysis ◽  
Graph Representation ◽  
Kinematic Structure ◽  
Kinematic Chains ◽  
Epicyclic Gear ◽  
Gear Trains ◽  
Robotic Devices

The kinematic structure of tendon-driven robotic mechanisms has been investigated with the aid of graph theory. The correspondence between the graph representation of the kinematic structure and the mechanism has been established. We have shown that the kinematic structure of tendon-driven kinematic chains is similar to that of epicyclic gear trains. We also have shown that, using the concept of fundamental circuits, the displacement equations of tendon-driven robotic mechanisms can be systematically derived from the kinematic structure. The theory has been demonstrated by the kinematic analysis of three articulated robotic devices.

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