Dynamics Analysis of 3-TPS/TP Parallel Robot’s Moving Platform

2012 ◽  
Vol 184-185 ◽  
pp. 1655-1659 ◽  
Author(s):  
Ji Man Luo ◽  
Zhi Hui Xing ◽  
Yang Jiang ◽  
Xiao Tong Zhang ◽  
Yu Zhen An
Keyword(s):  
Driving Force ◽  
Robot Control ◽  
Research Work ◽  
Dynamics Analysis ◽  
Dynamics Model ◽  
Lagrange Method ◽  
Moving Platform ◽  
Simulation Results ◽  
The Relationship ◽  
Reliable Basis

The purpose of this research work is to find the relationship between the driving force (F) of 3-TPS/TP parallel robot’s moving platform and the motion of tool tip, and provide reliable basis for the robot control. The Lagrange method is adopted to establish the dynamics model, and the results of the simulation by MATLAB are given in this paper. The movement of tool tip can be described by the angle α and β rotated around X-axis and Y-axis respectively, and the displacement z in the Z direction. The simulation results show that the value of F increases with the increase of the value of z, namely when the total length of the transmission rod decreases, F will increase to overcome the resistance caused by telescoping.

Dynamics Simulation Study on 3-TPS/TP Parallel Robot

2012 ◽  
Vol 215-216 ◽  
pp. 955-958 ◽  
Author(s):  
Ji Man Luo ◽  
Zhi Hui Xing ◽  
Yang Jiang ◽  
Wen Zhao Wang ◽  
Xiao Tong Zhang
Keyword(s):  
Simulation Study ◽  
Research Work ◽  
Parallel Robot ◽  
Dynamics Simulation ◽  
Dynamics Model ◽  
Lagrange Method ◽  
The Relationship

The purpose of this research work is to find the relationship between the movement and force (torque) of 3-TPS/TP parallel robot, the Lagrange method is adopted to establish the dynamics model, and the results of the simulation by ADAMS are given in this paper. The curve is about the change of force come from every joint of active chains with time. It provides a lot of data for further reference to choose the drive device.

Research on the Simulation and Realization Approach of Urban Low-Carbon Transport

2014 ◽  
Vol 989-994 ◽  
pp. 1328-1332
Author(s):  
Xiu Li Gao ◽  
Tian Jun Hu ◽  
Peng Peng
Keyword(s):  
System Dynamics ◽  
Transport System ◽  
Low Carbon ◽  
System Dynamics Model ◽  
Dynamics Model ◽  
Development Trends ◽  
Policy Simulations ◽  
Simulation Results ◽  
The Relationship ◽  
Carbon Transport

This paper discusses the connotation of urban low-carbon transport in detail, on the basis of the analysis of low-carbon transport. Combined with the relationship among urban low-carbon transport system elements, the article establishes the system dynamics model. Finally, it simulates the development trends of low-carbon transport in Beijing in the future, and compares the simulation results of different traffic schemes. Moreover, the study puts forward the concrete policy simulations to improve urban low-carbon transport.

Dynamics Analysis and Simulation on Load-Unload Bagged Materials Robot

2013 ◽  
Vol 401-403 ◽  
pp. 431-436
Author(s):  
Ke Yuan Zhou
Keyword(s):  
Feedback Control ◽  
Driving Force ◽  
System Simulation ◽  
Angular Acceleration ◽  
Control Design ◽  
Dynamics Simulation ◽  
Dynamics Analysis ◽  
Dynamics Model ◽  
Robot System ◽  
Force Moment

The dynamics is important for the robot system simulation and feedback control design, so the dynamics of load-unload bagged materials robot is analyzed based on the second kind Lagrange theory, and the precise dynamics model is established. The solution of dynamics differential equations are solved by procedure matlab, dynamics Simulation is analyzed based on platform of ADMAS dummy prototype, obtain series of graph angular acceleration, driving force, moment.

scholarly journals Dynamics modelling and analysis of a large-load swinging platform

2021 ◽  
Vol 2125 (1) ◽  
pp. 012020
Author(s):  
Meng Li ◽  
Xianguo Han ◽  
Ruihai Geng
Keyword(s):  
Output Power ◽  
Driving Force ◽  
Parallel Mechanism ◽  
Inertia Force ◽  
Large Load ◽  
Dynamics Modelling ◽  
Moving Platform ◽  
Simulation Results ◽  
Load Swing

Abstract Swing platform is widely used to simulate the motion attitude of vehicles, ships and aircraft while carrying large loads. Aiming at the excessive driving force and output power of the driving parts caused by the large load swing platform, a new swing platform which can bear the large load was established. The swing platform is equipped with four spring branch chains between the moving platform and the static platform of the 6-UPS parallel mechanism, so as to offset the gravity of the large load and the inertia force of the large load in the process of motion, and the driving force of each branch chain is reduced. In this paper, the structure of the swing platform is introduced, and the dynamics of the swing platform is modeled using the Newton-Euler dynamics equation. Finally, the driving force of each branch chain of the swing platform is obtained by simulation of the dynamics of the swing platform. The simulation results show that the swing platform with four spring branch chains can effectively reduce the driving force of each branch chain compared with the traditional 6-UPS parallel mechanism swing platform.

Dynamics Analysis of Parallel Mechanism With Flexible Moving Platform Based on Floating Frame of Reference Formulation

2019 ◽  
Vol 11 (4) ◽  
Author(s):  
Gengxiang Wang
Keyword(s):  
Parallel Mechanism ◽  
Reference Conditions ◽  
Frame Of Reference ◽  
Dynamic Responses ◽  
Dynamics Analysis ◽  
Dynamics Model ◽  
Reference Formulation ◽  
Floating Frame Of Reference ◽  
Floating Frame ◽  
Moving Platform

The dynamics model of 4-SPS/PS parallel mechanism with a flexible moving platform is formulated based on the equation of motion. Firstly, the dynamics model of flexible moving platform is formulated based on the floating frame of reference formulation. In order to avoid the wrong solutions caused by an inappropriate set of reference conditions, the fixed-fixed reference conditions are carefully selected according to the structure of parallel mechanism. Secondly, considering that the original Craig–Bampton (CB) method only represents the free-free modes. In order to use CB method to obtain fixed-fixed modes, the original CB method is improved by imposing the reference conditions prior to obtaining the static correction modes and fixed interface modes. In addition, the dynamics analysis of 4-SPS/PS parallel mechanism with flexible moving platform based on both free-free modes and fixed-fixed modes are implemented, respectively. Finally, the simulations show that the dynamic responses obtained using fixed-fixed modes are close to the ideal dynamic response, which proves the correctness of improved CB method. Moreover, the maximum percentage error of simulation results between using free-free modes and using fixed-fixed modes exceeds 100%, it is clear that the solutions based on free-free modes are not reasonable. Eventually, the conclusions prove that the deformation caused by high-speed and heavy-load should not be neglected in the parallel mechanism.

Analysis of magnetic force and dynamic characteristic for non-contact permanent magnet linear drive device

2020 ◽  
Vol 64 (1-4) ◽  
pp. 1337-1345
Author(s):  
Chuan Zhao ◽  
Feng Sun ◽  
Junjie Jin ◽  
Mingwei Bo ◽  
Fangchao Xu ◽  
...  
Keyword(s):  
Finite Element ◽  
Permanent Magnet ◽  
Dynamic Characteristic ◽  
Driving Force ◽  
Magnetic Circuit ◽  
Response Speed ◽  
Computation Method ◽  
Element Analysis ◽  
Element Simulation ◽  
The Relationship

This paper proposes a computation method using the equivalent magnetic circuit to analyze the driving force for the non-contact permanent magnet linear drive system. In this device, the magnetic driving force is related to the rotation angle of driving wheels. The relationship is verified by finite element analysis and measuring experiments. The result of finite element simulation is in good agreement with the model established by the equivalent magnetic circuit. Then experiments of displacement control are carried out to test the dynamic characteristic of this system. The controller of the system adopts the combination control of displacement and angle. The results indicate that the system has good performance in steady-state error and response speed, while the maximum overshoot needs to be reduced.

The Association between Depression and Gastroesophageal Reflux based on Phylogenetic Analysis of miRNA Biomarkers

2020 ◽  
Vol 27 (38) ◽  
pp. 6536-6547 ◽  
Author(s):  
Yi-Hau Chen ◽  
Hsiuying Wang
Keyword(s):  
Phylogenetic Analysis ◽  
Major Depression ◽  
Gastroesophageal Reflux Disease ◽  
Gastroesophageal Reflux ◽  
Reflux Disease ◽  
Research Work ◽  
Epidemiological Evidence ◽  
The Relationship ◽  
Global Population ◽  
Shed Light

A number of clinical studies have revealed that there is an association between major depression (MD) and gastroesophageal reflux disease (GERD). Both the diseases are shown to affect a large proportion of the global population. More advanced studies for understanding the comorbidity mechanism of these two diseases can shed light on developing new therapies of both diseases. To the best of our knowledge, there has not been any research work in the literature investigating the relationship between MD and GERD using their miRNA biomarkers. We adopt a phylogenetic analysis to analyze their miRNA biomarkers. From our analyzed results, the association between these two diseases can be explored through miRNA phylogeny. In addition to evidence from the phylogenetic analysis, we also demonstrate epidemiological evidence for the relationship between MD and GERD based on Taiwan biobank data.

QoS aware Multi-Path Routing using Link Scheduling Algorithm

2019 ◽  
Vol 09 ◽  
Author(s):  
Satyasrikanth Palle ◽  
Shivashankar
Keyword(s):  
Cellular Networks ◽  
Scheduling Algorithm ◽  
Research Work ◽  
Scheduling Algorithms ◽  
Turnaround Time ◽  
Link Scheduling ◽  
Spatial Reuse ◽  
Mobile Cellular ◽  
Simulation Results ◽  
End To End

Objective: The demand for Cellular based multimedia services is growing day by day, in order to fulfill such demand the present day cellular networks needs to be upgraded to support excessive capacity calls along with high data accessibility. Analysis of traffic and huge network size could become very challenging issue for the network operators for scheduling the available bandwidth between different users. In the proposed work a novel QoS Aware Multi Path scheduling algorithm for smooth CAC in wireless mobile networks. The performance of the proposed algorithm is assessed and compared with existing scheduling algorithms. The simulation results show that the proposed algorithm outperforms existing CAC algorithms in terms of throughput and delay. The CAC algorithm with scheduling increases end-to-end throughput and decreases end-to-end delay. Methods: The key idea to implement the proposed research work is to adopt spatial reuse concept of wireless sensor networks to mobile cellular networks. Spatial reusability enhances channel reuse when the node pairs are far away and distant. When Src and node b are communicating with each other, the other nodes in the discovered path should be idle without utilizing the channel. Instead the other nodes are able to communicate parallelly the end-to-end throughput can be improved with acceptable delay. Incorporating link scheduling algorithms to this key concept further enhances the end-to-end throughput with in the turnaround time. So, in this research work we have applied spatial reuse concept along with link scheduling algorithm to enhance end-to-end throughput with in turnaround time. The proposed algorithm not only ensures that a connection gets the required bandwidth at each mobile node on its way by scheduling required slots to meet the QoS requirements. By considering the bandwidth requirement of the mobile connections, the CAC module at the BS not only considers the bandwidth requirement but also conforming the constrains of system dealy and jitter are met. Result: To verify the feasibility and effectiveness of our proposed work, with respect to scheduling the simulation results clearly shows the throughput improvement with Call Admission Control. The number of dropped calls is significantly less and successful calls are more with CAC. The percentage of dropped calls is reduced by 9 % and successful calls are improved by 91%. The simulation is also conducted on time constraint and ratio of dropped calls are shown. The total time taken to forward the packets and the ration of dropped calls is less when compared to non CAC. On a whole the CAC with scheduling algorithms out performs existing scheduling algorithms. Conclusion: In this research work we have proposed a novel QoS aware scheduling algorithm that provides QoS in Wireless Cellular Networks using Call Admission Control (CAC). The simulation results show that the end-to-end throughput has been increased by 91% when CAC is used. The proposed algorithm is also compared with existing link scheduling algorithms. The results reveal that CAC with scheduling algorithm can be used in Mobile Cellular Networks in order to reduce packet drop ratio. The algorithm is also used to send the packets within acceptable delay.

scholarly journals Engine Malfunctioning Conditions Identification through Instantaneous Crankshaft Torque Measurement Analysis

2021 ◽  
Vol 11 (8) ◽  
pp. 3522
Author(s):  
Konstantinos-Marios Tsitsilonis ◽  
Gerasimos Theotokatos
Keyword(s):  
Operating Conditions ◽  
Cylinder Pressure ◽  
Dynamics Model ◽  
Engine Model ◽  
Measurement Analysis ◽  
Start Of Injection ◽  
Rate Of Heat Release ◽  
Relationship Of ◽  
Diagnostic Measurement ◽  
The Relationship

In this study a coupled thermodynamics and crankshaft dynamics model of a large two-stroke diesel engine was utilised, to map the relationship of the engine Instantaneous Crankshaft Torque (ICT) with the following frequently occurring malfunctioning conditions: (a) change in Start of Injection (SOI), (b) change in Rate of Heat Release (RHR), (c) change in scavenge air pressure, and (d) blowby. This was performed using frequency analysis on the engine ICT, which was obtained through a series of parametric runs of the coupled engine model, under the various malfunctioning and healthy operating conditions. This process demonstrated that engine ICT can be successfully utilised to identify the distinct effects of malfunctions (c) or (d), as they occur individually in any cylinder. Furthermore by using the same process, malfunctions (a) and (b) can be identified as they occur individually for any cylinder, however there is no distinct effect on the engine ICT among these malfunctions, since their effect on the in-cylinder pressure is similar. As a result, this study demonstrates the usefulness of the engine ICT as a non-intrusive diagnostic measurement, as well as the benefits of malfunctioning conditions mapping, which allows for quick and less resource intensive identification of engine malfunctions.

scholarly journals A modular framework to generate robust biped locomotion: from planning to control

2021 ◽  
Vol 3 (9) ◽  
Author(s):  
Mohammadreza Kasaei ◽  
Ali Ahmadi ◽  
Nuno Lau ◽  
Artur Pereira
Keyword(s):  
Numerical Simulations ◽  
Predictive Control ◽  
Biped Locomotion ◽  
Input Output ◽  
Dynamics Model ◽  
Biped Robots ◽  
The Core ◽  
Simulation Results ◽  
Reference Trajectories ◽  
Modular Framework

AbstractBiped robots are inherently unstable because of their complex kinematics as well as dynamics. Despite many research efforts in developing biped locomotion, the performance of biped locomotion is still far from the expectations. This paper proposes a model-based framework to generate stable biped locomotion. The core of this framework is an abstract dynamics model which is composed of three masses to consider the dynamics of stance leg, torso, and swing leg for minimizing the tracking problems. According to this dynamics model, we propose a modular walking reference trajectories planner which takes into account obstacles to plan all the references. Moreover, this dynamics model is used to formulate the controller as a Model Predictive Control (MPC) scheme which can consider some constraints in the states of the system, inputs, outputs, and also mixed input-output. The performance and the robustness of the proposed framework are validated by performing several numerical simulations using MATLAB. Moreover, the framework is deployed on a simulated torque-controlled humanoid to verify its performance and robustness. The simulation results show that the proposed framework is capable of generating biped locomotion robustly.

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