Rigid-Flexible Coupling Dynamics of a Flexible Robot with Impact

2011 ◽  
Vol 199-200 ◽  
pp. 243-250 ◽  
Author(s):  
Yue Chen Duan ◽  
Ding Guo Zhang
Keyword(s):  
Impact Force ◽  
Lagrange Equation ◽  
Nonlinear Damping ◽  
Flexible Beam ◽  
Flexible Robot ◽  
Flexible Coupling ◽  
Coupling Dynamics ◽  
Coupling Dynamic ◽  
Flexible Deformation ◽  
The Impact

The rigid-flexible coupling dynamics of a radially rotating flexible beam with impact is investigated in this paper. The transversal deformation and nonlinear coupled deformation, which means the longitudinal shortening caused by transversal deformation, is considered here. The impact force is calculated based on Hertz contact theory and nonlinear damping theory. By introducing the concept of impact potential energy, the system’s rigid-flexible coupling dynamic equations with impact is obtained by using Lagrange equation. The dynamic simulation is given to validate the method presented here, and get some dynamic response, such as impact force and flexible deformation.

Compliant Impact Generator for Required Impact and Contact Force

2008 ◽  
Author(s):  
Burak Demirel ◽  
Mu¨min Tolga Emirler ◽  
Ahmet Yo¨ru¨kog˘lu ◽  
Nebahat Koca ◽  
U¨mit So¨nmez
Keyword(s):  
Contact Force ◽  
Impact Force ◽  
Flexible Beam ◽  
Crank Angle ◽  
Length Width ◽  
Force Impact ◽  
Force Generator ◽  
The Impact ◽  
Maximum Contact ◽  
Novel Design

A novel design of compliant slider crank mechanism is introduced and utilized as an impact force generator and contact force generator. This class of compliant slider mechanisms incorporates an elastic coupler which is an initially straight flexible beam and buckles when it hits the stopper. The elastic pin-pin coupler (a buckling beam) behaves as a rigid body prior to the impact pushing the rigid slider. At a certain crank angle the slider hits a stopper generating an impact force. Impact force can be changed by changing the angular velocity of the crank, therefore; achieving a desired velocity of the slider. Moreover, after the impact when the vibrations die out the maximum contact force can also be predetermined by designing the coupler dimensions (length, width, thickness and the amount of compression). Contact duration (crank angle) can also be changed and adjusted in this mechanism by changing the adjustable location of the impacted object.

Design and Analysis of MEMS-Based Actuator

2010 ◽  
Vol 97-101 ◽  
pp. 3471-3474
Author(s):  
Shuang Jie Liu ◽  
Yong Ping Hao
Keyword(s):  
Finite Element Method ◽  
Finite Element ◽  
Mechanical System ◽  
Dynamic Modeling ◽  
Lagrange Equation ◽  
Micro Electro Mechanical System ◽  
Flexible Coupling ◽  
Adams Software ◽  
Coupling Dynamic ◽  
Element Method

One Micro-Electro-Mechanical System(MEMS) based actuator that fabricated by LIGA (Lithographie ,Galanoformung and Abformung) technology was designed to distinguish the change of the exterior condition. In order to prove whether the parts in the actuator intervene each other during motion, ADAMS software was utilized to simulate the motion. The rigid-flexible coupling dynamic modeling of the design was obtained by combining finite element method (FEM) with Lagrange equation, the mathematics modeling was solved with Gear method in ADAMS. The results showed that the MEMS-based actuator could move smoothly, and the simulated curve meets the intent.

Dynamical Analysis for Mechanical Arm of the Coal Sampling Machine Based on Rigid-Flexible Coupling Model

2012 ◽  
Vol 605-607 ◽  
pp. 1172-1175
Author(s):  
Li Le He ◽  
Rong Li Li
Keyword(s):  
Lagrange Equation ◽  
Coupling Model ◽  
Dynamical Analysis ◽  
Dynamical Equations ◽  
Flexible Coupling ◽  
Body Dynamics ◽  
Coupling Mode ◽  
Flexible Deformation ◽  
Multi Body ◽  
Model Curve

Based on multi-body dynamics theory and the Lagrange equation， the rigid-flexible coupling dynamical equations of the Coal sampling arm was deduced.The rigid-flexible coupling mode is established by combining with Pro/E, ANSYS and ADAMS, and the model curve is gotten by simulation. The simulation results indicate that rigid-flexible coupling modeling is more actual and it is necessary to consider the flexible deformation of all arms when the sampling arm system is researched. The results in this paper presents the theoretical foundation for the sampling arm dynamical analysis and structure optimization.

Coupling Effect between Gear Backlash of Friction Plate and Axial Separation Gap in Multi-Friction Pairs

2013 ◽  
Vol 572 ◽  
pp. 471-475
Author(s):  
Shen Long Li ◽  
Jiang Li Pan ◽  
Xin Yuan Zhao
Keyword(s):  
Failure Modes ◽  
Coupling Effect ◽  
Key Factors ◽  
Dynamics Model ◽  
Flexible Coupling ◽  
Factors Affecting ◽  
Gear Backlash ◽  
Coupling Dynamics ◽  
Coupling Dynamic ◽  
Friction Plate

Multi-plate friction pairs are important components in the gearbox of tracked vehicle. When the multi-friction pairs are in separation state, the uniform separation gaps of friction pairs are key factors affecting their operating performance. Most current research focuses on investigation of the failure modes of friction plate, such as, wear. However, the literatures on the vibration excitations from the inner and outer hub which affect the uniform separation gaps of the friction pairs are rare. This paper developed a rigid-flexible coupling dynamic model with different gear backlashes. The vibration characteristics of manipulate components and the separation gap of the friction pairs are studied. The results show that the model can be utilized to investigate the effects of the gear backlashes for manipulation components on the separation gaps of multi-friction pairs and it can be used to study the failure modes of friction plate in brakes. The developed model is expected to be the foundation for further optimization of the gear backlash. Keywords: Multi Friction Pairs; Separation gap; Gear Backlash; Rigid-flexible Coupling Dynamics Model

Dynamic Modeling on Smart Flexible Beam with Large Overall Planar Motion

2013 ◽  
Vol 387 ◽  
pp. 147-151
Author(s):  
Juan Zhang ◽  
Ya Feng Shu ◽  
Bin Bai
Keyword(s):  
Kinetic Energy ◽  
Lagrange Equation ◽  
Flexible Beam ◽  
Geometrically Nonlinear ◽  
Structure Deformation ◽  
Piezoelectric Beam ◽  
Infinite Element Method ◽  
Smart Beam ◽  
Coupling Dynamic ◽  
Coupling Dynamic Model

A simplified smart flexible spatial piezoelectric beam with overall motions is studied in this paper. Considering the geometrically nonlinear effect resulting from curved and twisted deformations, and considering the kinetic energy of the piezoelectric actuator and the coupled terms of deformations in the longitudinal, lateral and transversal directions, and taking into account the coupling of electric performance of piezoelectric material and structure deformation, finally, the Rigid-flexible-electric coupling dynamic model of piezoelectric smart beam is established by infinite element method and Lagrange equation.

Some thought on the Estimating of the Impact Force by an Experiment

2019 ◽  
Vol 7 (2) ◽  
pp. 205-213
Author(s):  
Yong-Doo Kim ◽  
Seung-Jae Lim ◽  
Hyun-Ung Bae ◽  
Kyoung-Ju Kim ◽  
Chin-Ok Lee ◽  
...  
Keyword(s):  
Impact Force ◽  
The Impact

scholarly journals Sandwich panel with in-plane honeycombs in different Poisson's ratio under low to medium impact loads

2021 ◽  
Vol 60 (1) ◽  
pp. 145-157
Author(s):  
Yi Luo ◽  
Ke Yuan ◽  
Lumin Shen ◽  
Jiefu Liu
Keyword(s):  
Poisson’S Ratio ◽  
Sandwich Panel ◽  
Impact Force ◽  
Impact Resistance ◽  
Poisson's Ratio ◽  
Compression Performance ◽  
Post Impact ◽  
Local Impact ◽  
Collapse Behavior ◽  
The Impact

Abstract In this study, a series of in-plane hexagonal honeycombs with different Poisson's ratio induced by topological diversity are studied, considering re-entrant, semi-re-entrant and convex cells, respectively. The crushing strength of honeycomb in terms of Poisson's ratio is firstly presented. In the previous research, we have studied the compression performance of honeycomb with different negative Poisson's ratio. In this study, a comparative study on the local impact resistance of different sandwich panels is conducted by considering a spherical projectile with low to medium impact speed. Some critical criteria (i.e. local indentation profile, global deflection, impact force and energy absorption) are adopted to analyze the impact resistance. Finally, an influential mechanism of Poisson's ratio on the local impact resistance of sandwich panel is studied by considering the variation of core strength and post-impact collapse behavior.

Pre-Impact Configuration Designing of a Robot Manipulator for Impact Minimization

2017 ◽  
Vol 9 (3) ◽  
Author(s):  
Jingchen Hu ◽  
Tianshu Wang
Keyword(s):  
Impact Force ◽  
Robot Manipulator ◽  
Analytical Formula ◽  
Joint Space ◽  
Collision Problem ◽  
Spatial Operator ◽  
Inertia Ellipsoid ◽  
The Impact ◽  
Maximum Minimum ◽  
Simple Analytical Formula

This paper studies the collision problem of a robot manipulator and presents a method to minimize the impact force by pre-impact configuration designing. First, a general dynamic model of a robot manipulator capturing a target is established by spatial operator algebra (SOA) and a simple analytical formula of the impact force is obtained. Compared with former models proposed in literatures, this model has simpler form, wider range of applications, O(n) computation complexity, and the system Jacobian matrix can be provided as a production of the configuration matrix and the joint matrix. Second, this work utilizes the impulse ellipsoid to analyze the influence of the pre-impact configuration and the impact direction on the impact force. To illustrate the inertia message of each body in the joint space, a new concept of inertia quasi-ellipsoid (IQE) is introduced. We find that the impulse ellipsoid is constituted of the inertia ellipsoids of the robot manipulator and the target, while each inertia ellipsoid is composed of a series of inertia quasi-ellipsoids. When all inertia quasi-ellipsoids exhibit maximum (minimum) coupling, the impulse ellipsoid should be the flattest (roundest). Finally, this paper provides the analytical expression of the impulse ellipsoid, and the eigenvalues and eigenvectors are used as measurements to illustrate the size and direction of the impulse ellipsoid. With this measurement, the desired pre-impact configuration and the impact direction with minimum impact force can be easily solved. The validity and efficiency of this method are verified by a PUMA robot and a spatial robot.

VIBRATION ANALYSIS OF FLEXIBLE BEAM UNDERGOING BOTH GLOBAL MOTION AND ELASTIC DEFORMATION

2004 ◽  
Vol 04 (04) ◽  
pp. 589-598 ◽  
Author(s):  
A. Y. T. LEUNG ◽  
G. R. WU ◽  
W. F. ZHONG
Keyword(s):  
Nonlinear Equation ◽  
Elastic Deformation ◽  
Lagrange Equation ◽  
Flexible Beam ◽  
Global Motion ◽  
Rotating Blade ◽  
Direct Integration Method ◽  
Moving Beam ◽  
Computational Procedures ◽  
Raphson Iteration

In this paper, the forced vibration of a flexible beam undergoing both global motion and elastic deformation is investigated. The deformation field of the beam is described by its exact linear vibration modes. The coupled nonlinear equation which takes into account the stiffening effect is derived by applying the Lagrange equation for the moving beam. Based on the Newmark direct integration method and the Newton–Raphson iteration method, the computational procedures of the numerical method for solving the nonlinear equation are given. The simulation result of the rotating blade is compared with the others to demonstrate the efficiency of the present method.

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