Dynamic Modeling of a New Version of Cylindrical Planetary Gear Used for a Robotic Arm

2014 ◽  
Vol 511-512 ◽  
pp. 683-686
Author(s):  
Lucia Pascale ◽  
Paul Ciprian Patic
Keyword(s):  
Mechanical Properties ◽  
Dynamic Response ◽  
Dynamic Modeling ◽  
Equations Of Motion ◽  
Planetary Gear ◽  
Robotic Arm ◽  
Matlab Simulink ◽  
New Variant ◽  
Planetary Mechanism

This paper presents the dynamic modeling of a new variant of helical planetary gear proposed by the authors, generated by the Vaucanson`s planetary mechanism. This model can be apply successfully helping a robotic arm in motion. It is considered that the gear made connects between a motor and a pump, whose mechanical properties are known. Using Matlab-Simulink is setting the equations of motion and dynamic response, both in premise neglect friction and the premise of considering friction.

Influence of backlash in gear reducer on dynamic of single-link manipulator arm

Robotica ◽  
2014 ◽  
Vol 33 (08) ◽  
pp. 1671-1685 ◽  
Author(s):  
Jian-Wei Lu ◽  
Xiao-Ming Sun ◽  
Alexander F. Vakakis ◽  
Lawrence A. Bergman
Keyword(s):  
Dynamic Response ◽  
Dynamic Modeling ◽  
Excitation Frequency ◽  
Planetary Gear ◽  
Flexible Manipulator ◽  
Lumped Mass ◽  
Modeling And Control ◽  
Single Link ◽  
Manipulator Arm ◽  
And Control

SUMMARYThe dynamic modeling of a flexible single-link manipulator arm with consideration of backlash in the planetary gear reducer at the joint is presented, and the influence of backlash on the dynamic response of the system is evaluated. A 2K-H planetary gear reducer with backlash was employed as an example to discuss the dynamic modeling of the sub-model of the planetary gear reducer, and the sub-model of the planetary gear reducer was established based on the lumped mass method. The flexible manipulator was regarded as an Euler--Bernoulli beam, and the dynamic model of the flexible manipulator arm with backlash in the planetary gear reducer was determined from Lagrange's equations. Based on the this model, the influence of the backlash in the planetary gear reducer and excitation frequency on the dynamic response of the system were evaluated through simulation, and the results showed that the dynamic response of the system is sensitive to the backlash and the excitation frequency simultaneously, which provides a theoretical foundation for improvement of dynamic modeling and control of the flexible manipulator arm.

Effect of flexible pin on the dynamic behaviors of wind turbine planetary gear drives

2012 ◽  
Vol 227 (1) ◽  
pp. 74-86 ◽  
Author(s):  
CaiChao Zhu ◽  
XiangYang Xu ◽  
Teik Chin Lim ◽  
XueSong Du ◽  
MingYong Liu
Keyword(s):  
Dynamic Response ◽  
Power Transmission ◽  
Equations Of Motion ◽  
Planetary Gear ◽  
Spur Gear ◽  
Contact Forces ◽  
Structural Dynamic ◽  
Torque Density ◽  
Position Errors ◽  
Planet Gear

Flexible pins eliminate the need for straddle mounting, and therefore enable the maximum possible number of planets to be used for any particular epicyclic ratio of power transmission systems. Having more planet gears will significantly increase the input torque density. In this type of design, the pin stiffness and position tolerances are important parameters as they affect the dynamic performances significantly. The present study addresses this issue by modeling, the design of double cantilevered flexible pin, and analyzing the contributions of pin stiffness and misalignment applying the lumped parameter approach. The proposed model formulates the coupled lateral-torsional dynamic response of a planetary spur gear, including the effects of mesh stiffness and phasing as a function of pin error. The resultant equations of motion are applied to examine the effects of pin stiffness and position errors on the natural modes and structural dynamic response. The effects of pin stiffness on deviation of the tooth contact forces of the sun-planet and ring-planet gear pairs are analyzed to understand the relationship between mesh characteristic and input speed variations. The calculated supporting forces of the planet gear are examined to understand the load sharing characteristic due to pin errors, pin stiffness and input load of the power transmission system.

Three-dimensional nonlinear coupled dynamic modeling of a tip-loaded rotating cantilever

2018 ◽  
Vol 24 (22) ◽  
pp. 5366-5378 ◽  
Author(s):  
Mohammed Khair Al-Solihat ◽  
Meyer Nahon ◽  
Kamran Behdinan
Keyword(s):  
Dynamic Response ◽  
Rigid Body ◽  
Dynamic Modeling ◽  
Equations Of Motion ◽  
Center Of Mass ◽  
Three Dimensional ◽  
Dissipation Function ◽  
Internal Damping ◽  
Symbolic Code ◽  
Mass Position

This paper presents a general three-dimensional flexible dynamic model of a tip-loaded rotating cantilever beam. For generality, the beam tip is assumed to be loaded with a rigid body with an arbitrary center of mass position, and subject to external force and moment. The coupled longitudinal (axial), bending–bending, and twist elastic motions are considered to formulate the system dynamics. The beam structural internal damping is modeled utilizing Rayleigh’s dissipation function. As well, the influence of gravity is considered. A symbolic code is developed to derive the equations of motion, and it is subsequently used to simulate the dynamics of two numerical case studies. The time response results are found to be in an excellent agreement with those reported from the literature. The effects of internal damping and coupling among the elastic motions on the system dynamic response are then investigated.

Three-dimensional dynamic modeling and analytical method investigation of planetary gears for vibration prediction

2021 ◽  
Vol 235 (1) ◽  
pp. 37-56
Author(s):  
Lina Zhang ◽  
Changchun Wang ◽  
Wenke Bao ◽  
Fuxiang Xie
Keyword(s):  
Dynamic Response ◽  
Dynamic Modeling ◽  
Analytical Solutions ◽  
Three Dimensional ◽  
Planetary Gear ◽  
Response Analysis ◽  
Three Dimensional Model ◽  
Three Solutions ◽  
Planetary Gears ◽  
Vibration Prediction

The investigation of planetary gear dynamics including dynamic modeling and dynamic response analysis is a crucial approach in vibration reduction of industrial power transmission systems. In this paper, the nonlinear, time-varying dynamic model of a spur planetary gear system under consideration of the translational and rotational motions is investigated. The three subsystems for sun-planet, ring-planet and planet-carrier are analyzed subsequently, and the dynamic equations of the system are obtained. Moreover, different planet phasing and spacing configurations can be described by means of this model. In addition, the dynamic response is investigated by the multiple-scale method. First, the analytical solutions of the primary, superharmonic and subharmonic resonances are obtained. Then the frequency amplitude curves of different resonance modes are compared and the influence of some parameters on the vibration amplitude is studied. Meanwhile, the accuracy of the analytical solutions is evaluated by the numerical integration simulations. The results show that the frequency-amplitude curves of the primary and superharmonic resonance are similar in shape, the three solutions coexist, and the types of unstable solutions and stable solutions are identical. Furthermore, the softening nonlinearity of the subharmonic amplitude-frequency curve is more obvious under the three-dimensional model. This research is an important development of three-dimensional dynamic modeling and vibration prediction of planetary gears, and also improves the efficiency and accuracy of dynamic response calculation.

Whining noise computation of a planetary gear set induced by the multi-mesh excitations

2019 ◽  
Vol 233 (21-22) ◽  
pp. 7236-7245
Author(s):  
Jessica Neufond ◽  
Enora Denimal ◽  
Emmanuel Rigaud ◽  
Jöel Perret-Liaudet ◽  
Alexandre Carbonelli
Keyword(s):  
Finite Element ◽  
Dynamic Response ◽  
Finite Element Model ◽  
Spectral Method ◽  
Equations Of Motion ◽  
Planetary Gear ◽  
Element Model ◽  
Coupled Equations ◽  
Complete Procedure ◽  
Gear Meshes

A complete procedure for the whining noise computation of a planetary gear set induced by the multi-mesh excitations is presented. This procedure is divided into three main steps. First, the parametrical internal excitations are simultaneously characterized by considering all contacts at the multiple gear meshes. Secondly, a finite element model of the planetary gear set is built. Finally, the coupled equations of motion are projected onto the modal basis and the stationary dynamic response is computed using an iterative spectral method.

scholarly journals Verification of the Dynamic Modeling of 2-R Robot Actuated by (N) Equally Spaced Planet-Gears by Using SolidWorks and MATLAB/SIMULINK

2020 ◽  
Vol 22 (4) ◽  
pp. 1497-1510
Author(s):  
Brahim Fernini ◽  
Mustapha Temmar ◽  
Yoshihiro Kai ◽  
Muhamad M. Noor
Keyword(s):  
Dynamic Modeling ◽  
Dynamical Behavior ◽  
Planetary Gear ◽  
Industrial Robots ◽  
Matlab Simulink ◽  
Joint Torques ◽  
Simulation Results ◽  
Planetary Gear System ◽  
Explicit Dynamic ◽  
Planet Carrier

AbstractIndustrial robots often use planetary gear system to have high joint torques; therefore, the influence of the rotary inertia of the number of the equally spaced planet-gears on the dynamical behavior of the robot is very important. The main objective of this paper is to develop the dynamic modeling of robot actuated by (n) equally spaced planet-gears in the case where the planet-carrier is fixed, no closed solution has been reported for this dynamic modeling, and to compare between the dynamic behavior of robot actuated by (n+1) and (n) equally spaced planet-gears for a same trajectory planning. The authors derive the explicit dynamic model for an elbow down of 2-R manipulator holding an external mass. Finally, the obtained simulation results by using Matlab/Simulink of the dynamic modeling are verified by modeling the same robot and using an advanced simulation via SolidWorks (2014).

Influence of the backlash generated by tooth accumulated wear on dynamic behavior of compound planetary gear set

2016 ◽  
Vol 231 (11) ◽  
pp. 2025-2041 ◽  
Author(s):  
Shijing Wu ◽  
Haibo Zhang ◽  
Xiaosun Wang ◽  
Zeming Peng ◽  
Kangkang Yang ◽  
...  
Keyword(s):  
Dynamic Response ◽  
Dynamic Model ◽  
Dynamic Behavior ◽  
Planetary Gear ◽  
Tooth Wear ◽  
Transmission Error ◽  
Gear Transmission ◽  
Tooth Surface ◽  
Contact Ratio ◽  
The Impact

Backlash is a key internal excitation on the dynamic response of planetary gear transmission. After the gear transmission running for a long time under load torque, due to tooth wear accumulation, the backlash between the tooth surface of two mating gears increases, which results in a larger and irregular backlash. However, the increasing backlash generated by tooth accumulated wear is generally neglected in lots of dynamics analysis for epicyclic gear trains. In order to investigate the impact of backlash generated by tooth accumulated wear on dynamic behavior of compound planetary gear set, in this work, first a static tooth surface wear prediction model is incorporated with a dynamic iteration methodology to get the increasing backlash generated by tooth accumulated wear for one pair of mating teeth under the condition that contact ratio equals to one. Then in order to introduce the tooth accumulated wear into dynamic model of compound planetary gear set, the backlash excitation generated by tooth accumulated wear for each meshing pair in compound planetary gear set is given under the condition that contact ratio equals to one and does not equal to one. Last, in order to investigate the impact of the increasing backlash generated by tooth accumulated wear on dynamic response of compound planetary gear set, a nonlinear lumped-parameter dynamic model of compound planetary gear set is employed to describe the dynamic relationships of gear transmission under the internal excitations generated by worn profile, meshing stiffness, transmission error, and backlash. The results indicate that the introduction of the increasing backlash generated by tooth accumulated wear makes a significant influence on the bifurcation and chaotic characteristics, dynamic response in time domain, and load sharing behavior of compound planetary gear set.

Less=Moor: A Time-Efficient Computational Tool to Assess the Behavior of Moored Ships in Waves

2017 ◽  
Author(s):  
Yijun Wang ◽  
Alex van Deyzen ◽  
Benno Beimers
Keyword(s):  
Dynamic Response ◽  
Research Effort ◽  
Equations Of Motion ◽  
Line Tension ◽  
Mooring Line ◽  
Induced Response ◽  
Wave Forces ◽  
Computational Tool ◽  
The Time Domain ◽  
Nonlinear Equations Of Motion

In the field of port design there is a need for a reliable but time-efficient method to assess the behavior of moored ships in order to determine if further detailed analysis of the behavior is required. The response of moored ships induced by gusting wind and/or waves is dynamic. Excessive motion response may cause interruption of the (un)loading operation. High line tension may cause lines to snap, introducing dangerous situations. A (detailed) Dynamic Mooring Analysis (DMA), however, is often a time-consuming and expensive exercise, especially when responses in many different environmental conditions need to be assessed. Royal HaskoningDHV has developed a time-efficient computational tool in-house to assess the wave (sea or swell) induced dynamic response of ships moored to exposed berths. The mooring line characteristics are linearized and the equations of motion are solved in the frequency domain with both the 1st and 2nd wave forces taken into account. This tool has been termed Less=Moor. The accuracy and reliability of the computational tool has been illustrated by comparing motions and mooring line forces to results obtained with software that solves the nonlinear equations of motion in the time domain (aNySIM). The calculated response of a Floating Storage and Regasification Unit (FSRU) moored to dolphins located offshore has been presented. The results show a good comparison. The computational tool can therefore be used to indicate whether the wave induced response of ships moored at exposed berths proves to be critical. The next step is to make this tool suitable to assess the dynamic response of moored ships with large wind areas, e.g. container ships, cruise vessels, RoRo or car carriers, to gusting wind. In addition, assessment of ship responses in a complicated wave field (e.g. with reflected infra-gravity waves) also requires more research effort.

scholarly journals Dynamic Response of Thermally Bonded Bicomponent Fibre Nonwovens

2011 ◽  
Vol 70 ◽  
pp. 405-409 ◽  
Author(s):  
Emrah Demirci ◽  
Memiş Acar ◽  
Behnam Pourdeyhimi ◽  
Vadim V. Silberschmidt
Keyword(s):  
Mechanical Properties ◽  
Dynamic Response ◽  
Fibre Diameter ◽  
Orientation Distribution ◽  
Nonwoven Fabric ◽  
Woven Fabrics ◽  
Core Material ◽  
Finite Element Software ◽  
Anisotropic Mechanical Properties ◽  
Fibre Matrix

Having a unique microstructure, nonwoven fabrics possess distinct mechanical properties, dissimilar to those of woven fabrics and composites. This paper aims to introduce a methodology for simulating a dynamic response of core/sheath-type thermally bonded bicomponent fibre nonwovens. The simulated nonwoven fabric is treated as an assembly of two regions with distinct mechanical properties. One region - the fibre matrix – is composed of non-uniformly oriented core/sheath fibres acting as link between bond points. Non-uniform orientation of individual fibres is introduced into the model in terms of the orientation distribution function in order to calculate the structure’s anisotropy. Another region – bond points – is treated in simulations as a deformable bicomponent composite material, composed of the sheath material as its matrix and the core material as reinforcing fibres with random orientations. Time-dependent anisotropic mechanical properties of these regions are assessed based on fibre characteristics and manufacturing parameters such as the planar density, core/sheath ratio, fibre diameter etc. Having distinct anisotropic mechanical properties for two regions, dynamic response of the fabric is modelled in the finite element software with shell elements with thicknesses identical to those of the bond points and fibre matrix.

Dynamics Simulation and Analysis of Transition Stage of Tilt-Rotor Aircraft

2016 ◽  
Vol 842 ◽  
pp. 251-258 ◽  
Author(s):  
Muhammad Rafi Hadytama ◽  
Rianto A. Sasongko
Keyword(s):  
Dynamic Response ◽  
Equations Of Motion ◽  
Flight Dynamics ◽  
Dynamics Simulation ◽  
Tilt Rotor ◽  
Vertical Takeoff And Landing ◽  
Improved Stability ◽  
Simulation Results ◽  
Vtol Aircraft ◽  
Vertical Takeoff

This paper presents the flight dynamics simulation and analysis of a tilt-rotor vertical takeoff and landing (VTOL) aircraft on transition phase, that is conversion from vertical or hover to horizontal or level flight and vice versa. The model of the aircraft is derived from simplified equations of motion comprising the forces and moments working on the aircraft in the airplane's longitudinal plane of motion. This study focuses on the problem of the airplane's dynamic response during conversion phase, which gives an understanding about the flight characteristics of the vehicle. The understanding about the flight dynamics characteristics is important for the control system design phase. Some simulation results are given to provide better visualization about the behaviour of the tilt-rotor. The simulation results show that both transition phases are quite stable, although an improved stability can give better manoeuver and attitude handling. Improvement on the simulation model is also required to provide more accurate and realistic dynamic response of the vehicle.

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