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.

Dynamics Simulation of Spacesuit Mobility Measuring Manipulator Based on Matlab

2011 ◽  
Vol 138-139 ◽  
pp. 345-351
Author(s):  
Shu Hui Xu ◽  
Lei Zhou
Keyword(s):  
Angular Velocity ◽  
Space Station ◽  
Angular Acceleration ◽  
Basic Data ◽  
Dynamics Simulation ◽  
Measuring System ◽  
Dynamics Model ◽  
Important Data ◽  
Good Basis ◽  
Operational Ability

The operational ability and mobility of astronaut in spacesuit is an important data for evaluation of the spacesuit, and to know it before use is also a basic data for the design of space station and spaceship. For this reason, mechanical arms were developed to measure the mobility and operational ability of astronaut in spacesuit. However, the mass and motion inertia are always influence the measuring system. This paper studied the dynamics characteristics of the mechanical arms. Dynamics model of the mechanical arms were setup and solved by MATLAB. Angle, angular velocity and angular acceleration of each joint were analyzed. The simulation supply a good basis for the development of the measuring manipulator, and it is helpful for the high accurate measurement.

Dynamics Analysis and Drive Force Selection for Cylinder Forward Push Lever Lifting Mechanism

2014 ◽  
Vol 644-650 ◽  
pp. 622-627
Author(s):  
Jing Yue Li ◽  
Qin He Gao ◽  
Kai Hua Chen
Keyword(s):  
Dynamics Simulation ◽  
Dynamics Analysis ◽  
Dynamics Model ◽  
Drive Force ◽  
Selection For ◽  
Movement Rules

The dynamics performance for lifting mechanism is a very important factor that affects its rapidity and stability. This paper gives the dynamics equations for lifting process by using a equivalent dynamics model, and makes dynamics analysis for cylinder forward push lever lifting mechanism in a condition of giving its movement rules, and then acquires curves of changing loads on key joints and acceleration of the load centroid by dynamics simulation using ADAMS for five movement rules. In the end, a better selection is made by contrasting the results. This would give some reference to improving the dynamical performance of the lifting mechanism.

Dynamics Simulation and Control Design of Gun Adjustment for Nonlinear Multibody System of Multiple Launch Rocket System

2019 ◽  
Author(s):  
Yunfei Miao ◽  
Guoping Wang ◽  
Xiaoting Rui ◽  
Tianxiong Tu ◽  
Lilin Gu
Keyword(s):  
Monte Carlo ◽  
Multibody System ◽  
Control Method ◽  
Control Design ◽  
Dynamics Simulation ◽  
System Dynamics Model ◽  
Dynamics Model ◽  
Simulation And Control ◽  
And Control ◽  
Rocket System

Abstract The dynamics simulation of the processing of the gun adjustment for multiple launch rocket system (MLRS) as a complex nonlinear multibody system is studied. Based on the new version of transfer matrix method for multibody system (MSTMM), the nonlinear multibody system dynamics model of MLRS is established, and the overall transfer equation of the nonlinear multibody system is deduced. The launch dynamics simulation of MLRS is carried out by combining the general kinematics equations of rocket and Monte Carlo method, and the simulated results are verified by experiments. On this basis, the control design and dynamics simulation of the gun adjustment of MLRS has been preliminary studied by combing MSTMM with PD control method. The results show that the proposed control method has a good stability and can realize the automatic control of gun adjustment of MLRS quickly and accurately.

The Control Simulation Analysis of MATLAB-Based High-Precision Numerical Control Welding Positioner

2012 ◽  
Vol 466-467 ◽  
pp. 1363-1367
Author(s):  
Bin Wu Wang ◽  
Yan Hua Sun ◽  
Wen Zhang
Keyword(s):  
Feedback Control ◽  
Control Method ◽  
Simulation Analysis ◽  
System Simulation ◽  
Electromechanical System ◽  
Decoupling Control ◽  
Numerical Control ◽  
System Dynamics Model ◽  
Dynamics Model ◽  
Feedback Control Method

Based on electromechanical system dynamics model of 3-axis NC positioned, together with the general nonlinear decoupling control theory, the decoupling control method of NC 3-axis positioned is proposed in this paper. In order to control each axis and the simulation of the decoupling control, the Simulink platform of MATLAB soft is used to build a electromechanical system simulation model for NC positioned. The results show that the proposed nonlinear decoupling feedback control method is effective and applicable.

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.

Application of Combined Feedforward and Feedback Controller With Shaped Input to Benchmark Problem

2010 ◽  
Vol 132 (2) ◽  
Author(s):  
Young Joo Shin ◽  
Peter H. Meckl
Keyword(s):  
Feedback Control ◽  
Control Strategy ◽  
Control Strategies ◽  
Control Design ◽  
Single Frequency ◽  
Benchmark Problems ◽  
Control Force ◽  
Benchmark Problem ◽  
Advantages And Disadvantages ◽  
Robust Control Design

Benchmark problems have been used to evaluate the performance of a variety of robust control design methodologies by many control engineers over the past 2 decades. A benchmark is a simple but meaningful problem to highlight the advantages and disadvantages of different control strategies. This paper verifies the performance of a new control strategy, which is called combined feedforward and feedback control with shaped input (CFFS), through a benchmark problem applied to a two-mass-spring system. CFFS, which consists of feedback and feedforward controllers and shaped input, can achieve high performance with a simple controller design. This control strategy has several unique characteristics. First, the shaped input is designed to extract energy from the flexible modes, which means that a simpler feedback control design based on a rigid-body model can be used. In addition, only a single frequency must be attenuated to reduce residual vibration of both masses. Second, only the dynamics between control force and the first mass need to be considered in designing both feedback and feedforward controllers. The proposed control strategy is applied to a benchmark problem and its performance is compared with that obtained using two alternative control strategies.

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