Dynamics Analysis of a Sinking Winch Mechanism

This paper investigates the dynamics of a sinking winch mechanism in the framework of non-smooth dynamics. The previous works ignored the unilateral property of the cable (it can only pull the platform but can’t push it), which is specially taken into consideration in this paper. We propose the set-valued tension law to model the unilateral constraints of the cables. The equations of motion are derived by use of the Lagrange multiplier method. The dynamics model of the mechanism is obtained by combining the equations of motion and the set-valued tension law. Its solution is solved by the Moreau midpoint method. We present a numerical simulation study to demonstrate that the non-smooth dynamics framework is effective and suitable for the dynamic analysis of the sinking winch mechanism.

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Non-smooth dynamical analysis and experimental validation of the cable-suspended parallel manipulator

Proceedings of the Institution of Mechanical Engineers Part C Journal of Mechanical Engineering Science ◽

10.1177/0954406211435585 ◽

2012 ◽

Vol 226 (10) ◽

pp. 2456-2466 ◽

Cited By ~ 9

Author(s):

Xing-Guo Shao ◽

Zhen-Cai Zhu ◽

Qing-Guo Wang ◽

Peter CY Chen ◽

Bin Zi ◽

...

Keyword(s):

Dynamic Analysis ◽

Parallel Manipulator ◽

Inequality Constraints ◽

Parallel Robot ◽

Differential Algebraic Equations ◽

Dynamical Analysis ◽

Algebraic Equations ◽

Dynamics Model ◽

Midpoint Method ◽

Smooth Dynamics

The cable-suspended parallel manipulator replaces the rigid links of traditional parallel robot. The unilateral property of the cable complicates the dynamic analysis of such manipulator and further induces difficulty in control problem. The set-valued tension law is proposed to model the unilateral constraint of the cable, and the dynamics of cable-suspended parallel manipulator is analyzed in the framework of non-smooth dynamics. The resulting non-smooth dynamics model consists of a set of differential–algebraic equations with inequality constraints. Its solution is found by the Moreau midpoint method. An experimental setup was established to verify and validate the effectiveness and accuracy of non-smooth dynamics. And the simulation results generally agree with the experimental results, which demonstrate that the non-smooth dynamics is effective and reasonable for the dynamic analysis of the cable-suspended parallel manipulator. The results of this article deeply reveal the dynamics of the cable-suspended parallel manipulator, and may be used to design more accurate controller for its trajectory control.

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Study on Dynamics Model of Macro/Micro Mechanical Arm of the New Workover

Advanced Materials Research ◽

10.4028/www.scientific.net/amr.538-541.1002 ◽

2012 ◽

Vol 538-541 ◽

pp. 1002-1005

Author(s):

Yan Wang ◽

Yu Lian Chang ◽

Sheng Gao ◽

Jing Wang

Keyword(s):

Rigid Body ◽

Mathematical Models ◽

Rate Equation ◽

Theoretical Basis ◽

Equations Of Motion ◽

Kinematics And Dynamics ◽

Dynamics Analysis ◽

Dynamics Model ◽

Constraint Equations ◽

Working Principle

Macro/micro mechanical arm is an important component of workover mechanical system. According to its composition characteristics and working principle, the arm was simplified to a plane system that all components were working in the same plane. Based on rigid body kinematics and dynamics theories, the kinematics and dynamics mathematical models of arm lifting progress were established by using constraint equations, rate equation, acceleration equations, virtual principle work, lagrange multiplier and differential-algebraic mixed equations of motion. It provides theoretical basis for kinematics and dynamics analysis of the macro/micro mechanical arm in lifting process.

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Development of the Lower Extremity Exoskeleton Dynamics Model Using in the Task of the Patient Verticalization

Journal of Physics Conference Series ◽

10.1088/1742-6596/2096/1/012042 ◽

2021 ◽

Vol 2096 (1) ◽

pp. 012042

Author(s):

M R Saypulaev ◽

Yu Yu Zuev ◽

G R Saypulaev

Keyword(s):

Numerical Simulation ◽

Mathematical Model ◽

Lower Extremity ◽

Degrees Of Freedom ◽

Sagittal Plane ◽

Equations Of Motion ◽

Viscous Friction ◽

Dynamics Model ◽

Supporting Surface ◽

The Right

Abstract The object of the study is an exoskeleton of the lower extremities with a rigid structure of the power frame, which has 7 degrees of freedom. The movement of the exoskeleton in the sagittal plane is considered with the assumption of symmetrical movement of the right and left legs. The aim of the study is to develop a mathematical model of the dynamics of the exoskeleton, taking into account the forces of viscous friction in the joints. The equations of motion are obtained under the condition that there is no slippage of the points of contact with the supporting surface. Based on the results of numerical simulation, the control moments were obtained, which must be created by the drives to provide program movement.

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DYNAMIC ANALYSIS OF BOGIE WHEELSET- A REVIEW

International Journal of Engineering Applied Sciences and Technology ◽

10.33564/ijeast.2021.v06i02.003 ◽

2021 ◽

Vol 6 (2) ◽

Author(s):

Patrick Emanuel Urassa

Keyword(s):

Dynamic Analysis ◽

Critical Speed ◽

Review Paper ◽

Equations Of Motion ◽

Railway Vehicle ◽

Dynamics Analysis ◽

Stability Criteria ◽

Forward Motion ◽

Suspension Stiffness ◽

Kinematic Motion

The dynamic of railway vehicle wheelsets is influenced by the actions of the conicity of the wheels and the creep forces acting between the wheels and rails. In this review paper, the dynamics analysis of wheelset has investigated, equations of motion have formulated and stability criteria obtained which indicate the effects of varying the various parameters of the system. The nature of the motion at the critical speed is investigated and the mode of energy conversion between the forward motion of the vehicle and the lateral motion of the wheelset is explained. From a dynamic analysis, it is shown how the critical speed of the wheelset slips and suspension stiffness relates to the kinematic motion.

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