scholarly journals Modeling and Control of Flexible Hydraulic Robotic Arm

2011 ◽  
Vol 2-3 ◽  
pp. 334-339 ◽  
Author(s):  
Li Dai ◽  
Yao Wu ◽  
Jian Wang ◽  
Yun Gong Li ◽  
Yu Liu
Keyword(s):  
Hydraulic System ◽  
Virtual Work ◽  
Lagrange Equation ◽  
Hydraulic Cylinder ◽  
Simulation Software ◽  
Robotic Arm ◽  
Converse Problem ◽  
Loop Control ◽  
Multi Body ◽  
Close Loop Control

Flexible hydraulic robotic arm is a complicated system which coupled by mechanics and hydraulics. It is widely applied in all kinds of large engineering equipments, such as concrete pump truck, bridge monitor truck, arm frame of crane, etc. The arm system of the hydraulic robotic arm is a multi-body system with redundant freedom, strong nonlinear, coupled with rigid and flexible characters. So it is of great theoretic value and real engineering significance to study the arm system of the robotic arm. In this theme, the movement of flexible hydraulic robotic arm and hydraulic cylinders are seperately analyzed with flexible multi-body dynamics, and the mechanical hydraulic dynamic model of the driving system and the arm system is built with Lagrange Equation and Virtual Work Theory. And the dynamic differential equation is built with the driving force of the hydraulic cylinder as the main force. With the track programming and the optimization method, the dynamic converse problem of the arm end track is researched, so as to get the optimized rotation angle when the arm end reaches the expected point. By using the PD control theory, without decoupling and rank-decreasing, only with feed back from the hydraulic system to realize the close loop control of the arm end position, pose and movement, the relationship between the hydraulic system and the end position & pose is studied, so that the flexible distortion is reduced and the libration is restrained. What’s more, the simulation model of the mechanical arms is built by the dynamic simulation software. The simulation result prove that the movement equation built by this way can clearly describe each dynamic character of the mechanical arms.

Modeling and Simulation of Flexible Hydraulic Robotic Arm

2012 ◽  
Vol 538-541 ◽  
pp. 773-776 ◽  
Author(s):  
Li Dai ◽  
Da Lu Xu ◽  
Yu Liu ◽  
Jian Wang
Keyword(s):  
Coupled Model ◽  
Position Angle ◽  
Hydraulic Cylinder ◽  
Simulation Software ◽  
Robotic Arm ◽  
Body Dynamics ◽  
Hydraulic Cylinders ◽  
Concrete Pump Truck ◽  
Concrete Pump ◽  
Multi Body

The flexible robotic arm drived by hydraulic are widely applied in most kinds of large engineering equipments, such as concrete pump truck, bridge monitor truck,etc. Nevertheless, the flexible distortion always break the precision of end-position and cause liberation of the whole arm system. In this paper, the movement of flexible hydraulic robotic arm and hydraulic cylinders are separately analyzed with flexible multi-body dynamics. And the dynamic differential equation is built with the driving force of the hydraulic cylinder as the main force. The equation is based on the theory of flexible multi-body dynamics, building the coupled model of robotic arm system and hydraulic-driving system to study the relation between the end-position, angle and the hydraulic system. What’s more, the simulation model of the mechanical arms is built by the dynamic simulation software. The project will theorectically support the intelligent control or auxiliary control of large engineering equipments.

Dynamic Characteristics Simulation of Radiator Fin Blanking Machine Hydraulic System

2014 ◽  
Vol 687-691 ◽  
pp. 496-499
Author(s):  
Jie Wang
Keyword(s):  
Simulation Model ◽  
Dynamic Characteristics ◽  
Hydraulic System ◽  
Simulation Analysis ◽  
Good Condition ◽  
Hydraulic Cylinder ◽  
Simulation Software ◽  
Product Line ◽  
Leading Role

The hydraulic system of radiator fin blanking machine plays a leading role in the radiator fin production. Its performance directly affects the efficiency and quality of product line. The hydraulic system of blanking machine for radiator was composed of blanking circuit and support circuit. The hydraulic system realizes the cutting action using the reciprocating movement of the hydraulic cylinder. The hydraulic system simulation model was built by the simulation software of AMESim in this paper. Using the simulation model, the simulation analysis of the dynamic characteristics of hydraulic system were completed. The hydraulic system has been through the debugging and put into production, running in good condition.

Coupled Simulation Study on the Working Device of the Excavator Based on VL Motion

2012 ◽  
Vol 229-231 ◽  
pp. 1679-1683
Author(s):  
Shao Xun Jin ◽  
Hui Peng Chen ◽  
Guo Jin Chen
Keyword(s):  
Hydraulic System ◽  
Three Dimensional ◽  
Three Dimensional Model ◽  
Coupled Simulation ◽  
Device Structure ◽  
Loop Control ◽  
Closed Loop Control System ◽  
Loop Control System ◽  
Multi Body ◽  
Working Device

On the foundation of analyzing the excavator’s working device structure, this paper built its three-dimensional model in Catia embedded in the VL Motion, created the bodies, defined the joints and corresponding drive interface to produce the multi-body dynamic model. According to the analysis on the hydraulic system of the working device, it built the electro-hydraulic system with the interface of Motion in AMEsim and then performed the coupled simulation between the Motion and AMEsim. Aiming at the working device’s performance defects, such as the worse displacement tracking, the slow respond, it designed the PID closed loop control system to improve the system’s performance. The simulation results show that the working device’s combination performance has been improved greatly, respond speed becomes fast and the ability of displacement tracking is better.

The Simulation Analysis of Control Performance on Closed-Loop Control the Digital Hydraulic Cylinder

2013 ◽  
Vol 288 ◽  
pp. 219-222
Author(s):  
Dong Hai Su ◽  
Xin Li ◽  
Yue Ling Wang
Keyword(s):  
Pid Control ◽  
Closed Loop ◽  
Simulation Analysis ◽  
Hydraulic Cylinder ◽  
Control Performance ◽  
Fuzzy Pid Control ◽  
Loop Control ◽  
Working Principle ◽  
Response State ◽  
Close Loop Control

The working principle and design features of close-loop control digital stepping hydraulic cylinder were described, the ways to improve precision were analyzed. Base on the detailed analysis to response state of PID control, technology of fuzzy control and table the arithmetic of fuzzy-PID control was applied, which preferably satisfied control request.

Analysis of Automatic Welding Finned Tube Hydraulic System Based on Automation Studio

2011 ◽  
Vol 199-200 ◽  
pp. 416-420
Author(s):  
Yue Hua Sun ◽  
Hong Tao Li ◽  
Chun Sheng Liu
Keyword(s):  
Hydraulic System ◽  
Hydraulic Cylinder ◽  
Finned Tube ◽  
Simulation Software ◽  
Automatic Welding ◽  
Running Speed ◽  
Step Process ◽  
Welding Machine ◽  
Tube Welding ◽  
Push And Pull

This article use Automation Studio simulation software to make analysis on rib tube welding machine hydraulic system.Briefly introduces the software, theoretically analye welding machine hydraulic system, using software to make a detailed analysis on push (pull) acting hydraulic cylinder to push and pull two movements operation By analyzing the stable running speed, equal in size and opposite in direction which is consistent with reality step process.

Simulation Analysis of Proportional Valve Controlled Cylinder Hydraulic System Based on AMESim

2013 ◽  
Vol 668 ◽  
pp. 420-425 ◽  
Author(s):  
Ning Xie ◽  
Xi Chen ◽  
Jin Jin Guo
Keyword(s):  
System Performance ◽  
Hydraulic System ◽  
Simulation Analysis ◽  
Dynamic Performance ◽  
Hydraulic Cylinder ◽  
Simulation Software ◽  
Proportional Valve ◽  
Position Accuracy ◽  
Simulation Results ◽  
Amesim Simulation

Focusing on the performance of proportional valve controlled cylinder, by using AMESim simulation software, dynamic performance of the system has been simulated. Starting by the control strategy, using Genetic Algorithm,the PID parameters which can affect the hydraulic cylinder position accuracy will be optimized. The simulation results show that the optimized parameters can improve system performance, and achieved excellent results.

Multi-Body Dynamics Model of a Tracked Vehicle Using a Towing Winch for Optimal Mobility Control and Terrain Identification

2016 ◽  
Author(s):  
Joshua T. Cook ◽  
Laura Ray ◽  
James Lever
Keyword(s):  
Hydraulic System ◽  
Open Loop ◽  
Mobility Control ◽  
Dynamics Model ◽  
Tracked Vehicle ◽  
Loop Control ◽  
Power Load ◽  
Body Dynamics ◽  
Simulation Results ◽  
Multi Body

This paper presents a generalized, multi-body dynamics model for a tracked vehicle equipped with a winch for towing operations. The modeling approach couples existing formulations in the literature for the powertrain components and the vehicle-terrain interaction to provide a comprehensive model that captures the salient features of terrain trafficability. This coupling is essential for making realistic predictions of the vehicle’s mobility capabilities due to the power-load relationship at the engine output. Simulation results are presented jointly with experimental data to validate these dynamics under conditions where no action is taken by the winch. Extended modeling includes dynamics of the hydraulic system that powers the winch so that the limitation of the winch as an actuator and the load it puts on the engine are realized. A second set of simulation results show that for a set of open loop control actions by the winch, the vehicle is able to maintain its mobility in low traction terrain by paying the towed load in and out.

The Simulation Research on Travel-Driven System of Powered Platform Lorry

2012 ◽  
Vol 619 ◽  
pp. 522-527
Author(s):  
En Zhe Song ◽  
Chang Xi Ji ◽  
Mei Liang Yin ◽  
Jun Sun ◽  
Cheng Shun Yin
Keyword(s):  
Control Strategy ◽  
Hydraulic Drive ◽  
Simulation Method ◽  
Simulation Software ◽  
Power Performance ◽  
Simulation Research ◽  
Loop Control ◽  
Driven System ◽  
Close Loop Control ◽  
Amesim Simulation

In order to improve the power performance and fuel economy performance of powered platform lorry, this paper analyses the characteristics of hydraulic system and engine to make three-close-loop control strategy. Its physical model is built with AMESim simulation software and the three-close-loop control strategy controller for the system is constructed in Matlab/Simulink environment. To evaluate the three close-loop control strategy, a co-simulation method with AMESim/Simulink is used. The simulation results show the control strategy is effective to improve the efficiency of the hydraulic drive system, the utilization of engine power, and the life of hydraulic components.

An Efficient Approach for Modeling and Control of a Quadrotor

2016 ◽  
Vol 4 (2) ◽  
pp. 1-16
Author(s):  
Ahmed S. Khusheef
Keyword(s):  
Pid Control ◽  
Control Method ◽  
Mechanical Design ◽  
Loop Control ◽  
Modeling And Control ◽  
Loop Control System ◽  
And Control ◽  
Close Loop Control ◽  
Close Loop Control System ◽  
Made In

 A quadrotor is a four-rotor aircraft capable of vertical take-off and landing, hovering, forward flight, and having great maneuverability. Its platform can be made in a small size make it convenient for indoor applications as well as for outdoor uses. In model there are four input forces that are essentially the thrust provided by each propeller attached to each motor with a fixed angle. The quadrotor is basically considered an unstable system because of the aerodynamic effects; consequently, a close-loop control system is required to achieve stability and autonomy. Such system must enable the quadrotor to reach the desired attitude as fast as possible without any steady state error. In this paper, an optimal controller is designed based on a Proportional Integral Derivative (PID) control method to obtain stability in flying the quadrotor. The dynamic model of this vehicle will be also explained by using Euler-Newton method. The mechanical design was performed along with the design of the controlling algorithm. Matlab Simulink was used to test and analyze the performance of the proposed control strategy. The experimental results on the quadrotor demonstrated the effectiveness of the methodology used.

Virtual Work & d’Alembert’s Principle

2018 ◽  
Author(s):  
Peter Mann
Keyword(s):  
Euler Equations ◽  
Virtual Work ◽  
Lagrange Equation ◽  
Classical Mechanics ◽  
Rigid Bodies ◽  
Gibbs Function ◽  
Constraint Force ◽  
Appell Equations ◽  
Jourdain's Principle ◽  
D'alembert's Principle

This chapter discusses virtual work, returning to the Newtonian framework to derive the central Lagrange equation, using d’Alembert’s principle. It starts off with a discussion of generalised force, applied force and constraint force. Holonomic constraints and non-holonomic constraint equations are then investigated. The corresponding principles of Gauss (Gauss’s least constraint) and Jourdain are also documented and compared to d’Alembert’s approach before being generalised into the Mangeron–Deleanu principle. Kane’s equations are derived from Jourdain’s principle. The chapter closes with a detailed covering of the Gibbs–Appell equations as the most general equations in classical mechanics. Their reduction to Hamilton’s principle is examined and they are used to derive the Euler equations for rigid bodies. The chapter also discusses Hertz’s least curvature, the Gibbs function and Euler equations.

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