Dynamic Properties Analysis of Electromagnetic Gear Driving System

2010 ◽  
Vol 34-35 ◽  
pp. 422-428
Author(s):  
Hai Hong Chen ◽  
Jun Chen
Keyword(s):  
Theoretical Analysis ◽  
Dynamic Model ◽  
Static Analysis ◽  
Dynamic Characteristics ◽  
Torsional Vibration ◽  
Dynamic Properties ◽  
Dynamic Performance ◽  
Mechanical Vibration ◽  
Performance Parameter ◽  
Driving System

Electromagnetic gear realize non-touching driving technology, which is non-friction and non- lubrication. Based on the FEM static analysis, creating torsional vibration dynamic model for the electromagnetic gear system with the theory and method of mechanical vibration to makes research on the dynamic performance parameter. The system makes motion stimulation by utilizing the Simulink module of MATLAB. Then, a conclusion is made through the theoretical analysis. The analysis provides some reference for the futher study of the dynamic characteristics of the magnetic gear driving system.

Dynamic Characteristics of Balanced Robotic Manipulators with Joint Flexibility

Robotica ◽  
1992 ◽  
Vol 10 (6) ◽  
pp. 485-495 ◽  
Author(s):  
S.B. Lee ◽  
H.S. Cho
Keyword(s):  
Dynamic Characteristics ◽  
High Speed ◽  
Dynamic Properties ◽  
Dynamic Performance ◽  
Robotic Manipulators ◽  
Open Loop ◽  
Joint Flexibility ◽  
Damping Characteristics ◽  
Large Joint ◽  
Joint Deformation

SUMMARYThe mass balancing of robotic manipulators has been shown to have favorable effects on the dynamic characteristics. In actual practice, however, since conventional manipulators have flexibility at their joints, the improved dynamic properties obtainable for rigid manipulators may be influenced by those joint flexibilities. This paper investigates the effects of the joint flexibility on the dynamic properties and the controlled performance of a balanced robotic manipulator. The natural frequency distribution and damping characteristics were investigated through frequency response analyses. To evaluate the dynamic performance a series of simulation studies of the open loop dynamics were made for various trajectories, operating velocities, and joint stiffnesses. These simulations were also carried out for the balanced manipulator with a PD controller built-in inside motor control loop. The results show that, at low speed, the joint flexibility nearly does not influence the performance of the balanced manipulator, but at high speed it tends to render the balanced manipulator susceptible to vibratory motion and yields large joint deformation error.

Dynamic Modeling and Optimal Design of a 2R Compliant Mechanism

2017 ◽  
Author(s):  
Wenshuo Ma ◽  
Yan Xie ◽  
Jingjun Yu ◽  
Xu Pei
Keyword(s):  
Optimal Design ◽  
Dynamic Model ◽  
Dynamic Modeling ◽  
Dynamic Characteristics ◽  
Natural Frequencies ◽  
Compliant Mechanisms ◽  
Compliant Mechanism ◽  
Dynamic Performance ◽  
Dynamic Problems ◽  
Numerical Result

Dynamic performance is of great importance to compliant mechanisms which are employed in dynamic applications, especially if the dynamic problems in DOC (degree of constraint) directions are to be met. An investigation on the dynamic characteristics of a 2R compliant mechanism is presented. Based on the substructure techniques, the in-plane dynamic model of the preceding compliant mechanisms is developed. The natural frequencies and sensitivities are then analyzed. The numerical result verifies the validity of the proposed method. Finally, optimal design of compliant mechanism is investigated.

scholarly journals ANALYSIS OF THE IMPACT OF SPECIAL CONSTRUCTIONS OF GAP SEALS ON THE DYNAMICS OF CENTRIFUGAL MACHINES

ScienceRise ◽  
2020 ◽  
pp. 3-13
Author(s):  
Serhii Shevchenko
Keyword(s):  
Dynamic Characteristics ◽  
High Speed ◽  
Dynamic Properties ◽  
Dynamic Performance ◽  
Operating Conditions ◽  
Centrifugal Pumps ◽  
Labyrinth Seals ◽  
Research Results ◽  
The Impact ◽  
Technological Product

The object of research: the influence of the design features of special gap seals on the dynamic characteristics of centrifugal machines. Investigated problem: harmonization of the consumption and dynamic characteristics of the seals of the rotors of high-speed machines by applying special design methods. Main scientific results: The mechanism and operating conditions of seals with floating rings are described. It is determined that the most effective from the point of view of dynamic characteristics is the variant of the semi-movable ring. Expressions for determining the conditions of angular and radial immobility of a floating ring are obtained. The design options for deformable gap seals, including deformable floating rings, deformable interwheel seals and seals with an axially movable deformable sleeve, have been investigated. The scope of their application for unique machines with high requirements for tightness and vibration reliability has been determined. Variants of the design of labyrinth seals have been investigated. The analysis shows that the dynamic properties of labyrinth seals significantly depend on the relative position of the ridges. Overlapping ridged seals have the worst dynamic performance of the labyrinth seal designs. The honeycomb seal has more favorable dynamic properties, and the well seal has the best combination of consumption and dynamic characteristics. The dynamic characteristics are especially important for the seals of high-speed rotors of centrifugal machines. The area of practical use of the research results: Enterprises that manufacture centrifugal machines: pumps and compressors. Innovative technological product: a methodology for the selection, design and calculation of special designs of gap seals with optimization of dynamic and flow characteristics. Scope of application of the innovative technological product: The obtained research results will be useful in the design and manufacture of centrifugal pumps and compressors for any parameters.

scholarly journals Surrogate-Based Multisource Sensitivity Analysis of TBM Driving System

2018 ◽  
Vol 2018 ◽  
pp. 1-14 ◽  
Author(s):  
Wei Sun ◽  
Maolin Shi ◽  
Jieling Li ◽  
Xin Ding ◽  
Lintao Wang ◽  
...  
Keyword(s):  
Dynamic Model ◽  
Dynamic Characteristics ◽  
Hierarchical Modeling ◽  
System Dynamic ◽  
Global Parameter ◽  
Driving System ◽  
Gear Transmission System ◽  
Coupling Parameters ◽  
Vibration Responses ◽  
Dynamic Meshing

TBM cutterhead driving system is generally an extraordinarily large and complex machine containing lots of parameters; understanding and assessment of its dynamic characteristics are a great challenge as each of these parameters has uncertainty. In this work, a hierarchical modeling method for the dynamic model of the complex gear transmission system is proposed based on the generalized finite element modeling idea. On this basis, the whole machine dynamic model of cutterhead driving system is established; both the characteristics of vibration responses and the meshing force are revealed. Vibration responses under the action of simulated load are estimated and verified by comparing with the data measured on the tunneling field, where the error is about 18%~50%. With the vibration response of the key nodes and the dynamic meshing force for the system dynamic characteristic evaluation index, considering the change of input parameters such as external loads, material parameters, meshing parameters, and coupling parameters, the global parameter sensitivity of system dynamic characteristics is analyzed based on the technology of surrogate model. Finally, variation of dynamic characteristics considering the interaction of polytypic parameters is obtained.

Rigid–flexible coupling dynamics analysis with joint clearance for a 5-DOF hybrid polishing robot

Robotica ◽  
2021 ◽  
pp. 1-21
Author(s):  
Feng Guo ◽  
Gang Cheng ◽  
Shilin Wang ◽  
Jun Li
Keyword(s):  
Dynamic Model ◽  
Parallel Manipulator ◽  
Dynamic Properties ◽  
Dynamic Performance ◽  
Joint Clearance ◽  
Motion Error ◽  
Flexible Coupling ◽  
Coupling Dynamic ◽  
Equivalent Load ◽  
Coupling Dynamic Model

SUMMARY Considering the polishing requirements for high-precision aspherical optical mirrors, a hybrid polishing robot composed of a serial–parallel manipulator and a dual rotor grinding system is proposed. Firstly, based on the kinematics of serial components, the equivalent load model for the parallel manipulator is established. Then, the elastodynamic model of kinematic branched-chains of the parallel manipulator is established by using the spatial beam element, and the rigid–flexible coupling dynamic model of the polishing robot is obtained with Kineto-elasto dynamics theory. Further, considering the dynamic properties of the joint clearance, the rigid–flexible coupling dynamic model with the joint clearance for the polishing robot is established. Finally, the equivalent load distribution of the parallel manipulator is analyzed, and the effect of the branched-chain elasticity and joint clearance on the motion error of the polishing robot is studied. This article provides a theoretical basis for improving the motion accuracy and dynamic performance of the hybrid polishing robot.

Dynamic characteristics of balanced robotic manipulators with joints flexibility

Robotica ◽  
1992 ◽  
Vol 10 (1) ◽  
pp. 25-34
Author(s):  
S. B. Lee ◽  
H. S. Cho
Keyword(s):  
Dynamic Characteristics ◽  
High Speed ◽  
Dynamic Properties ◽  
Dynamic Performance ◽  
Robotic Manipulators ◽  
Open Loop ◽  
Simulation Studies ◽  
Damping Characteristics ◽  
Loop Dynamics ◽  
Mass Balancing

SummaryThe mass balancing of robotic manipulators has been shown to have favorable effects on their dynamic characteristics. In actual practice, however, since conventional manipulators have flexibility at their joints, the improved dynamic properties obtainable for rigid manipulators may be influenced by those joints flexibilities. This paper investigates the effects of the joints flexibility on the dynamic properties and the controlled performance of a balanced robotic manipulator. The natural frequency distribution and damping characteristics were investigated through frequency response analyses. To evaluate the dynamic performance a series of simulation studies of the open-loop dynamics were made for various trajectories, operating velocities, and joint stiffnesses. These simulations were also carried out for the balanced manipulator with a PD controller situated inside the motor control loop. The results show that, at low speed, the joints flexibility does but little influence the performance of the balanced manipulator, but at high speed it tends to render the balanced manipulator susceptible to vibratory motion and yields large joints deformation errors.

Inductor Saturation Compensation in Three-Phase Three-Wire Voltage-Source Converters via Inverse System Dynamics-I

2020 ◽  
Author(s):  
Ziya Özkan ◽  
Ahmet Masum Hava
Keyword(s):  
Dynamic Model ◽  
Dynamic Performance ◽  
Current Control ◽  
Inverse System ◽  
Voltage Source ◽  
Voltage Source Converter ◽  
Two Phase ◽  
Inverse Dynamic ◽  
Three Phase ◽  
Steady State Current

In three-phase three-wire (3P3W) voltage-source converter (VSC) systems, utilization of filter inductors with deep saturation characteristics is often advantageous due to the improved size, cost, and efficiency. However, with the use of conventional synchronous frame current control (CSCC) methods, the inductor saturation results in significant dynamic performance loss and poor steady-state current waveform quality. This paper proposes an inverse dynamic model based compensation (IDMBC) method to overcome these performance issues. Accordingly, a review of inductor saturation and core materials is performed, and the motivation on the use of saturable inductors is clarified. Then, two-phase exact modelling of the 3P3W VSC control system is obtained and the drawbacks of CSCC have been demonstrated analytically. Based on the exact modelling, the inverse system dynamic model of the nonlinear system is obtained and employed such that the nonlinear plant is converted to a fictitious linear inductor system for linear current regulators to perform satisfactorily.

Application of the piecewise constant method in nonlinear dynamics of drill string

2021 ◽  
Vol 0 (0) ◽  
Author(s):  
Jialin Tian ◽  
Jie Wang ◽  
Yi Zhou ◽  
Lin Yang ◽  
Changyue Fan ◽  
...  
Keyword(s):  
Nonlinear Dynamics ◽  
Dynamic Model ◽  
Dynamic Characteristics ◽  
Drill String ◽  
Vibration Velocity ◽  
Kutta Method ◽  
Time Step ◽  
Piecewise Constant ◽  
Runge Kutta Method ◽  
Runge Kutta

Abstract Aiming at the current development of drilling technology and the deepening of oil and gas exploration, we focus on better studying the nonlinear dynamic characteristics of the drill string under complex working conditions and knowing the real movement of the drill string during drilling. This paper firstly combines the actual situation of the well to establish the dynamic model of the horizontal drill string, and analyzes the dynamic characteristics, giving the expression of the force of each part of the model. Secondly, it introduces the piecewise constant method (simply known as PT method), and gives the solution equation. Then according to the basic parameters, the axial vibration displacement and vibration velocity at the test points are solved by the PT method and the Runge–Kutta method, respectively, and the phase diagram, the Poincare map, and the spectrogram are obtained. The results obtained by the two methods are compared and analyzed. Finally, the relevant experimental tests are carried out. It shows that the results of the dynamic model of the horizontal drill string are basically consistent with the results obtained by the actual test, which verifies the validity of the dynamic model and the correctness of the calculated results. When solving the drill string nonlinear dynamics, the results of the PT method is closer to the theoretical solution than that of the Runge–Kutta method with the same order and time step. And the PT method is better than the Runge–Kutta method with the same order in smoothness and continuity in solving the drill string nonlinear dynamics.

scholarly journals Numerical Investigation on Hydrodynamic Performance of a Portable AUV

2021 ◽  
Vol 9 (8) ◽  
pp. 812
Author(s):  
Lin Hong ◽  
Renjie Fang ◽  
Xiaotian Cai ◽  
Xin Wang
Keyword(s):  
Numerical Investigation ◽  
Dynamic Model ◽  
Autonomous Underwater Vehicle ◽  
Dynamic Performance ◽  
Plane Motion ◽  
Hydrodynamic Performance ◽  
Wave Forces ◽  
Modeling And Control ◽  
Experiment Platform ◽  
Cfd Method

This paper conducts a numerical investigation on the hydrodynamic performance of a portable autonomous underwater vehicle (AUV). The portable AUV is designed to cruise and perform some tasks autonomously in the underwater world. However, its dynamic performance is strongly affected by hydrodynamic effects. Therefore, it is crucial to investigate the hydrodynamic performance of the portable AUV for its accurate dynamic modeling and control. In this work, based on the designed portable AUV, a comprehensive hydrodynamic performance investigation was conducted by adopting the computational fluid dynamics (CFD) method. Firstly, the mechanical structure of the portable AUV was briefly introduced, and the dynamic model of the AUV, including the hydrodynamic term, was established. Then, the unknown hydrodynamic coefficients in the dynamic model were estimated through the towing experiment and the plane-motion-mechanism (PMM) experiment simulation. In addition, considering that the portable AUV was affected by wave forces when cruising near the water surface, the influence of surface waves on the hydrodynamic performance of the AUV under different wave conditions and submerged depths was analyzed. Finally, the effectiveness of our method was verified by experiments on the standard models, and a physical experiment platform was built in this work to facilitate hydrodynamic performance investigations of some portable small-size AUVs.

scholarly journals Designing of Drive Systems in the Aspect of the Desired Spectrum of Operation

Energies ◽  
2021 ◽  
Vol 14 (9) ◽  
pp. 2562
Author(s):  
Tomasz Dzitkowski ◽  
Andrzej Dymarek ◽  
Jerzy Margielewicz ◽  
Damian Gąska ◽  
Lukasz Orzech ◽  
...  
Keyword(s):  
Degrees Of Freedom ◽  
Dynamic Properties ◽  
Dynamic Parameters ◽  
Synthesis Algorithm ◽  
Moments Of Inertia ◽  
Driving System ◽  
Six Degrees Of Freedom ◽  
Resonance Frequencies ◽  
Drive Systems ◽  
Power Component

A method for selecting dynamic parameters and structures of drive systems using the synthesis algorithm is presented. The dynamic parameters of the system with six degrees of freedom, consisting of a power component (motor) and a two-speed gearbox, were determined, based on a formalized methodology. The required gearbox is to work in specific resonance zones, i.e., meet the required dynamic properties such as the required resonance frequencies. In the result of the tests, a series of parameters of the drive system, defining the required dynamic properties such as the resonance and anti-resonance frequencies were recorded. Mass moments of inertia of the wheels and elastic components, contained in the required structure of the driving system, were determined for the selected parameters obtained during the synthesis.

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