Kinematics and Dynamics Analysis of a Micro-Robotic Platform Driven by Inertial-Force Propulsion

2015 ◽  
Vol 733 ◽  
pp. 531-534
Author(s):  
Qing Ming Wang ◽  
Wu Ming Zhang ◽  
Jia Chen Ju
Keyword(s):  
Mathematical Model ◽  
Angular Velocity ◽  
Inertial Force ◽  
Displacement Velocity ◽  
Kinematics And Dynamics ◽  
Dynamics Analysis ◽  
Robotic Platform ◽  
The Mathematical Model

In this paper, we make the kinematics and dynamics analysis of a micro-robotic platform [3] driven by inertial force generated by eccentric masses. We establish the mathematical model and get the displacement, velocity and acceleration relationships of the platform. According to movement and stability requirements of the micro-robotic platform, we get a conclusion that the minimum angular velocity of the motor when the platform moves and the maximum angular velocity of the motor when the platform jumps.

Dynamic Analysis on a Cable-Driven Interventional Active Catheter Using Kane's Method Combined with Screw Theory

2014 ◽  
Vol 527 ◽  
pp. 140-145
Author(s):  
Da Xu Zhao ◽  
Bai Chen ◽  
Guo Zhong Shou ◽  
Yu Qi Gu
Keyword(s):  
Mathematical Model ◽  
Dynamic Analysis ◽  
Motion Control ◽  
Screw Theory ◽  
Driving Forces ◽  
Structure Design ◽  
Kinematics And Dynamics ◽  
Existing Problems ◽  
Blind Area ◽  
The Mathematical Model

In view of the existing problems of traditional interventional catheters, particularly poor activity, operation difficulty and mass blind area, a novel interventional catheter with a cable-driven active head-end is proposed, and a prototype was built to verify the performance. This paper deals with the kinematics and dynamics of the cable-driven prototype, a dynamic model based on Kanes method combined with screw theory was presented in this paper. According the mathematical model and the prototypes structure, the analysis of kinematics and dynamics of active head-end-end is done in the environment of Mathematica. The needed driving forces of every joint when the system moving along planned trajectory are calculated. The results can provide a basis for the structure design and motion control of the interventional active catheter.

Mobile Robots Characterized by Kinematic and Dynamic Equations: Motion Planning, Trajectory Tracking, and Group Control

2008 ◽  
Author(s):  
Amit Ailon
Keyword(s):  
Mathematical Model ◽  
Motion Planning ◽  
Mobile Robots ◽  
Dynamic Equations ◽  
Kinematics And Dynamics ◽  
Control Problems ◽  
Reference Trajectory ◽  
Numerical Examples ◽  
Group Control ◽  
The Mathematical Model

The paper solves some control problems of mobile robots as both kinematics and dynamics are intertwined in the mathematical model. The problems of driving the vehicle to a desired configuration in a specified time and tracking a reference trajectory are considered. The control problems associated with motion in convoy and rigid formations of a group of vehicles are studied and some results are demonstrated by numerical examples.

Modeling and Analyses of the N-Link Bent-Arm PenduBot

2010 ◽  
Vol 171-172 ◽  
pp. 644-647
Author(s):  
Shao Qiang Yuan ◽  
Xin Xin Li
Keyword(s):  
Mathematical Model ◽  
Mathematical Models ◽  
Nonlinear Model ◽  
Condition Number ◽  
Kinematics And Dynamics ◽  
Controllability Matrix ◽  
Human Arm ◽  
The World ◽  
The Mathematical Model ◽  
Natural Characteristics

Bent-arm PenduBot is more similar to human arm, which attaches more and more robot experts’ attention around the world. As the foundation of the multi-link PenduBot control, the mathematical model should be established first. Based on the method of kinematics and dynamics, the N-link bent-arm PenduBot mathematical models are established in this paper, including the nonlinear model and the linear model. The natural characteristics of different pendulum are analyzed. By using the condition number of the controllability matrix, the control difficulty for higher order systems is compared.

The Dynamics Analysis on a Type Palletizing Robot

2012 ◽  
Vol 157-158 ◽  
pp. 982-986 ◽  
Author(s):  
Mei Yu Lv ◽  
Jin Quan Li ◽  
Bing Lei Duan ◽  
Rong Fu
Keyword(s):  
Mathematical Model ◽  
Dynamic Analysis ◽  
Inertial Force ◽  
Parameter Variation ◽  
Kinetic Control ◽  
Dynamics Analysis ◽  
Static System ◽  
Force System

For a palletizing robot, based on analysis of structural and force,taking the theory of D'Alembert to transform the instantaneous inertial force system into a static system and the Kineto-static mathematical model for the robots is established through the method of Kineto-static. At last, via solving the Kineto-static mathematical model by use of the Matlab，the model is verified by calculating and analysing an example. This model is applicable to dynamic analysis on the robots with similar configuration and the results based on the parameter variation is also applicable to this kind of robot’s design, checking, and kinetic control.

Analysis of the Mathematical Model of the Spray Dose Applied by the Field Sprayer Nozzles

2016 ◽  
Vol 20 (2) ◽  
pp. 71-79
Author(s):  
Karol Garbiak ◽  
Jan Jurga
Keyword(s):  
Mathematical Model ◽  
Angular Velocity ◽  
Forward Speed ◽  
Spray Application ◽  
Suggested Model ◽  
Independent Variables ◽  
Model Based ◽  
The Mathematical Model

AbstractThe article presents analysis of the mathematical model for determination of a momentary dose of spray applied by the field sprayer nozzles which move on the curve with the forward speed the value of which may differ from the speed accepted for regulation. Regulation speed and regulation dose, real forward speed of a sprayer, angular velocity during the curve movement, and the coefficient of the nozzle location towards the axis of the sprayer turn are independent variables in the suggested model. Based on the mathematical model, plots were drawn and analyses of relation of the spray dose to particular variables were carried out including inter alia, a repeated field spray, application of a dose which considerably differs from the regulation dose and diversity of the dose on the working width of the sprayer.

Dynamics of a Rolling Wheelset

1993 ◽  
Vol 46 (7) ◽  
pp. 438-444 ◽  
Author(s):  
Hans True
Keyword(s):  
Mathematical Model ◽  
Equilibrium Point ◽  
Chaotic Motion ◽  
Dynamical Behavior ◽  
Railway Track ◽  
Kinematics And Dynamics ◽  
Bifurcation Diagrams ◽  
Speed Range ◽  
Set Up ◽  
The Mathematical Model

We discuss the kinematics and dynamics of a wheelset rolling on a railway track. The mathematical model of a suspended wheelset rolling with constant speed on a straight track is set up and its dynamics is investigated numerically. The results are presented mainly on bifurcation diagrams. Several kinds of dynamical behavior is identified within the investigated speed range. We find a stationary equilibrium point at low speeds and at higher speeds symmetric and asymmetric oscillations are found and ranges with chaotic motion are identified. The bifurcations are described.

scholarly journals THE STUDY OF THE AUTONOMOUS SYNCHRONOUS GENERATOR MODES

2017 ◽  
Vol 60 (5) ◽  
pp. 433-445
Author(s):  
V. S. Safaryan
Keyword(s):  
Mathematical Model ◽  
Angular Velocity ◽  
Power System ◽  
Synchronous Generator ◽  
Transition Process ◽  
Static Stability ◽  
Stationary Points ◽  
Natural Form ◽  
Fourth Degree ◽  
The Mathematical Model

The importance of the problem of the static stability of the stationary mode of the power system for its operation is extremely high. The investigation of the static stability of the power system is a subject of a number of works, but the problems of static stability of the stationary points of an autonomous synchronous generator are given little attention. The article considers transient and resonant (stationary) modes of the generator under active-inductive and active-capacitive loads. Mathematical model of transients in a natural form and in the coordinate system d, q are plotted. It is discovered that the mathematical model of the transition process of an autonomous synchronous generator is identical to the mathematical model of the transition process of the synchronous machine under three-phase short circuit. Electromagnetic transients of an autonomous synchronous generator are described by a system of linear autonomous differential equations with constant coefficients. However, the equivalent circuit of a generator contains dependent sources. We investigated the stability of stationary motion of an autonomous synchronous generator at a given angular velocity of rotation of the rotor. The condition for the existence and stability of stationary points of an autonomous synchronous generator is derived. The condition for the existence of stationary points of such a generator does not depend on the active load resistance and stator windings, and inductance of the rotor. The determining of stationary points of the generator is reduced to finding roots of a polynomial of the fourth degree. The graphs of electromagnetic torque dependencies on the angular velocity of rotation of the rotor (mechanical characteristics) are plotted. The equivalent circuits, corresponding to the equations of the transition process of an autonomous synchronous generator, are featured as well.

Verification of the Mathematical Model for an Underwater Crawler Robot

2016 ◽  
Vol 817 ◽  
pp. 223-233
Author(s):  
Krzysztof Kurc ◽  
Dariusz Szybicki
Keyword(s):  
Mathematical Model ◽  
Water Supply ◽  
Cross Sections ◽  
Structural Model ◽  
Virtual Prototyping ◽  
Real Object ◽  
Design Stage ◽  
Kinematics And Dynamics ◽  
The Mathematical Model

This paper presents the mathematical and structural model as well as the verificationof a designed and built underwater crawler robot. The underwater crawler robot is designed to inspect elements of the water supply infrastructure, including pools, reservoirs and pipelines with round or square cross-sections. The virtual prototyping process is described as well as the various possible uses (design adaptability) depending on the optional accessories added to the vehicle. A mathematical model is presented to show the kinematics and dynamics of the underwater crawler robot, essential for the design stage. The mathematical model was used for a number of simulations and subjected to verification on a real object in two test environments.

Design, Modeling and Testing of a Two-Terminal Mass Device With a Variable Inertia Flywheel

2016 ◽  
Vol 138 (9) ◽  
Author(s):  
Shuai Yang ◽  
Tongyi Xu ◽  
Chuan Li ◽  
Ming Liang ◽  
Natalie Baddour
Keyword(s):  
Mathematical Model ◽  
Vibration Isolation ◽  
Experimental Approach ◽  
Inertial Force ◽  
Inertial Mass ◽  
Passive Vibration Isolation ◽  
Equivalent Mass ◽  
Application Requirements ◽  
The Mathematical Model ◽  
Good Agreement

In this paper, we present a flywheel that can adaptively generate variable equivalent mass in response to application requirements. The motivation for the design comes from the need to achieve passive inertial mass, which eventually will lead to passive vibration isolation. This flywheel features a “host” flywheel frame with four sliders, each in a separate track. As the rotational speed of the variable inertia flywheel changes, the distance between sliders and rotation center changes, leading to a variable equivalent mass. The mathematical model of the flywheel is developed to examine its performance. The flywheel is mounted on a two-terminal hydraulic device to test its behavior. Experimental work has also been carried out to identify the parameters of the system (hydraulic device plus flywheel). The mathematical model with the identified parameters is then validated experimentally. During the experiments, the variable inertial force generated by the variable inertia flywheel in response to the changes in the excitation inputs is in good agreement with the prediction of the mathematical model, with the exception of spikes due to backlash of the two-terminal hydraulic system. The proposed design and experimental approach could inspire other passive variable inertial mass control of vibration systems.

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