New Model with Spring and Simulation of Flexible Manipulator

2014 ◽  
Vol 513-517 ◽  
pp. 3840-3843
Author(s):  
Ying Tian ◽  
Jian Hua Qian ◽  
Qing Song Liu ◽  
Jie Yuan
Keyword(s):  
Computer Simulation ◽  
Dynamic Model ◽  
Elastic Energy ◽  
Lagrange Equation ◽  
Rigid Bodies ◽  
Flexible Manipulator ◽  
Dynamic Parameters ◽  
New Model ◽  
Real Model ◽  
Model Computer

For easily calculated and more accurate dynamic model of single flexible manipulator, a new model was built through connection of spring and two rigid bodies. It is approximate to the real model of single manipulator in trajectory of end point. With simplifying manipulator and introducing simplified and Predetermined elastic energy of manipulator, Lagrange equation was used to built dynamic model based on the new model. And based on dynamic model, computer simulation result of dynamic parameters with Matlab software proved that the new model is available simple and easily-adjusted.

Rapid calculation method for estimating static and dynamic performances of closed hydrostatic guideways

2017 ◽  
Vol 69 (6) ◽  
pp. 1040-1048 ◽  
Author(s):  
Zhiwei Wang ◽  
Yi Liu ◽  
Feng Wang
Keyword(s):  
Dynamic Model ◽  
Lagrange Equation ◽  
Dynamic Stiffness ◽  
Step Response ◽  
Nonlinear Spring ◽  
Content Type ◽  
New Model ◽  
Linear Spring ◽  
Spring Coefficient ◽  
Better Than

Purpose The purpose of this paper is to establish a simplified model of the closed hydrostatic guideway for the rapid analysis of static and dynamic characteristics. Further, the influence of compressibility and dynamic frequency are taken into consideration in the new dynamic model. Design/methodology/approach The new model is based on the second kind of Lagrange equation. In this model, the closed hydrostatic guideway is supported by 12 pads, and each oil pad is equivalent to a nonlinear spring-damper system. The equivalent spring coefficient and damper coefficient of the oil pad are extracted by the three different equivalent methods. Finally, the validation experiments of step load response and dynamic stiffness are conducted on a hydrostatic guideway. Findings For solving the step response, the linear spring-damper model and the nonlinear spring-damper Model 1 are better than the nonlinear spring-damper Model 2. The accuracy of the three methods are very high for static stiffness calculation. For the calculation of dynamic stiffness, the nonlinear spring-damper Model 2 is better than the nonlinear spring-damper Model 1. The linear spring-damper model has low precision for dynamic stiffness calculation, especially at high frequency. The accuracy of the new model is validated by experiments. Originality/value The equivalent method of nonlinear spring-damper system has higher accuracy. Different equivalent methods should be adopted for different load types. The computational speeds of the new dynamic model with the three methods are much better than finite element method (about ten times).

Virtual Work & d’Alembert’s Principle

2018 ◽  
Author(s):  
Peter Mann
Keyword(s):  
Euler Equations ◽  
Virtual Work ◽  
Lagrange Equation ◽  
Classical Mechanics ◽  
Rigid Bodies ◽  
Gibbs Function ◽  
Constraint Force ◽  
Appell Equations ◽  
Jourdain's Principle ◽  
D'alembert's Principle

This chapter discusses virtual work, returning to the Newtonian framework to derive the central Lagrange equation, using d’Alembert’s principle. It starts off with a discussion of generalised force, applied force and constraint force. Holonomic constraints and non-holonomic constraint equations are then investigated. The corresponding principles of Gauss (Gauss’s least constraint) and Jourdain are also documented and compared to d’Alembert’s approach before being generalised into the Mangeron–Deleanu principle. Kane’s equations are derived from Jourdain’s principle. The chapter closes with a detailed covering of the Gibbs–Appell equations as the most general equations in classical mechanics. Their reduction to Hamilton’s principle is examined and they are used to derive the Euler equations for rigid bodies. The chapter also discusses Hertz’s least curvature, the Gibbs function and Euler equations.

scholarly journals The Study of Dynamic Modeling and Multivariable Feedback Control for Flexible Manipulators with Friction Effect and Terminal Load

Sensors ◽  
2021 ◽  
Vol 21 (4) ◽  
pp. 1522
Author(s):  
Fuli Zhang ◽  
Zhaohui Yuan
Keyword(s):  
Dynamic Model ◽  
Vibration Suppression ◽  
Control Method ◽  
Coupling Effect ◽  
Flexible Manipulator ◽  
Flexible Beam ◽  
Robot Dynamics ◽  
Joint Friction ◽  
Balance Principle ◽  
Multivariable Feedback

The flexible manipulato is widely used in the aerospace industry and various other special fields. Control accuracy is affected by the flexibility, joint friction, and terminal load. Therefore, this paper establishes a robot dynamics model under the coupling effect of flexibility, friction, and terminal load, and analyzes and studies its control. First of all, taking the structure of the central rigid body, the flexible beam, and load as the research object, the dynamic model of a flexible manipulator with terminal load is established by using the hypothesis mode and the Lagrange method. Based on the balance principle of the force and moment, the friction under the influence of flexibility and load is recalculated, and the dynamic model of the manipulator is further improved. Secondly, the coupled dynamic system is decomposed and the controller is designed by the multivariable feedback controller. Finally, using MATLAB as the simulation platform, the feasibility of dynamic simulation is verified through simulation comparison. The results show that the vibration amplitude can be reduced with the increase of friction coefficient. As the load increases, the vibration can increase further. The trajectory tracking and vibration suppression of the manipulator are effective under the control method of multi-feedback moment calculation. The research is of great significance to the control of flexible robots under the influence of multiple factors.

Analysis of Elastic Motion Stability of Flexible Manipulator Arm Based on Lyapunov Stability Theory

2014 ◽  
Vol 620 ◽  
pp. 321-329
Author(s):  
Guang Rui Liu ◽  
Wen Bo Zhou ◽  
Rong Fu Liu
Keyword(s):  
Lyapunov Stability ◽  
Stability Theory ◽  
Lagrange Equation ◽  
Lyapunov Stability Theory ◽  
The State ◽  
Flexible Manipulator ◽  
Rotational Inertia ◽  
Control Input ◽  
Motion Stability ◽  
Manipulator Arm

In order to study the elastic motion stability of flexible manipulator arm , to compute the maximum dynamic allowable payload , the partial differential equation of elastic motion of the flexible manipulator arm is solved using the method of Laplace transformation , the dynamic model of flexible manipulator arm carried addition mass on its end position is established ,simplified and truncated using Lagrange equation . the state space expression is established with the state variable and control input and output variable designated , the elastic motion stability rule is built upon and simplified using Lyapunov stability theory . The influence of the end position addition mass and articulation rotational inertia of flexible manipulator arm on its elastic motion stability is analyzed using the stability rule , and the dynamic maximum allowable payload of flexible manipulator arm on its end position is computed in order to guarantee its elastic motion stability . this study is important to the design of robot mechanical manipulator and corresponding drive control system .

Critical Design Condensation Locations in Facial Masks

2010 ◽  
Author(s):  
A. M. Al-Jumaily
Keyword(s):  
Heat Transfer ◽  
Computer Simulation ◽  
Dynamic Model ◽  
Fluid Dynamic ◽  
Condensation Rate ◽  
Facial Mask ◽  
Critical Design ◽  
Life Threatening ◽  
Mass And Heat Transfer

Facial masks are the main interface between patients and breathing supportive devices. Condensation in these masks causes serious breath disturbance which could be life threatening. Based on temperature-driven mass and heat transfer formulations, a computer simulation fluid dynamic model is developed to compute the condensation rate and locations of a typical breathing facial mask. Condensation measurements are taken to validate the model. The effects of mask geometry and shape on condensation are elaborated on.

On the Properties of a Dynamic Model of Flexible Robot Manipulators

1998 ◽  
Vol 120 (1) ◽  
pp. 8-14 ◽  
Author(s):  
Marco A. Arteaga
Keyword(s):  
Dynamic Model ◽  
Structural Properties ◽  
Robot Manipulators ◽  
Equations Of Motion ◽  
Mechanical Systems ◽  
Control Design ◽  
Flexible Manipulator ◽  
Robot Dynamics ◽  
Flexible Link ◽  
Flexible Robot

Control design of flexible robot manipulators can take advantage of the structural properties of the model used to describe the robot dynamics. Many of these properties are physical characteristics of mechanical systems whereas others arise from the method employed to model the flexible manipulator. In this paper, the modeling of flexible-link robot manipulators on the basis of the Lagrange’s equations of motion combined with the assumed modes method is briefly discussed. Several notable properties of the dynamic model are presented and their impact on control design is underlined.

scholarly journals Vibration Response and Power Flow Characteristics of a Flexible Manipulator with a Moving Base

2015 ◽  
Vol 2015 ◽  
pp. 1-8 ◽  
Author(s):  
Yufei Liu ◽  
Wei Li ◽  
Xuefeng Yang ◽  
Mengbao Fan ◽  
Yuqiao Wang ◽  
...  
Keyword(s):  
Dynamic Model ◽  
Power Flow ◽  
Flow Characteristics ◽  
Flexible Manipulator ◽  
Rigid Base ◽  
Flexible Beam ◽  
Noticeable Effect ◽  
Moving Base ◽  
Vibration Responses ◽  
Motion Characteristics

Flexible manipulator generally can be modeled as a coupling system with a flexible beam and a rigid moving base. This paper investigates the vibration responses and power flow of a flexible manipulator with a moving base (FMMB). Considering the motion characteristics of the rigid base, the moving base is modeled to have a motion with disturbances, and the dynamic model of the FMMB is established. With the dynamic model, vibration responses of the FMMB for the rigid base having disturbance velocities and accelerations are specifically presented. Subsequently, to investigate the effect of the disturbances on the vibration energy distributions of the FMMB, power flow of the FMMB is exhibited. To verify the dynamic model, an ADAMS physical model of the FMMB is constructed. It reveals that the motion characteristics of the rigid base have a noticeable effect on the vibration responses and power flow of the FMMB and should be considered. The results are significant and contribute to the vibration control of flexible manipulators.

Lumped-Parameter Modeling of Visco-Elastically Coupled Rigid Bodies Using Clifford’s Biquaternions

2000 ◽  
Author(s):  
Ernest D. Fasse
Keyword(s):  
Computer Simulation ◽  
Rigid Bodies ◽  
Elastic Coupling ◽  
Potential Utility ◽  
Dual Quaternions ◽  
Lumped Parameter ◽  
Lumped Parameter Modeling

Abstract This work considers the problem of modeling visco-elastically coupled rigid bodies, with application to modeling and computer simulation of spatial, flexural mechanisms. A method of modeling visco-elastic coupling based on Clifford’s biquaternions (dual quaternions) is presented. The potential utility of the method is demonstrated by simulating the behavior of a complex spatial, flexural mechanism.

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