Dynamic Modeling and Simulation of Stratospheric Airships

2012 ◽  
Vol 457-458 ◽  
pp. 237-244
Author(s):  
Guo Chang Hu ◽  
Mei Ping Wu
Keyword(s):  
Modeling And Simulation ◽  
Dynamic Model ◽  
Dynamic Modeling ◽  
Theoretical Basis ◽  
Simulation Method ◽  
Autonomous Control ◽  
Overall Design ◽  
Stratospheric Airship ◽  
Simulation Results ◽  
Motion Characteristics

Aiming at the requirements of autonomous control for stratospheric airships, based on description of the modeling plant and forces analysis in detail, the dynamic model is established by Newton Method. The motion characteristics of airships under control action are analyzed using simulation method. Simulation results indicate the correctness of dynamic model, and can make itself a theoretical basis for the overall design of the stratospheric airship.

Dynamic Modeling and Mobility Analysis of the 3-R(RRR)R+R Antenna Mechanism

Robotica ◽  
2021 ◽  
pp. 1-19
Author(s):  
Guoxing Zhang ◽  
Donghao Zheng ◽  
Jinwei Guo ◽  
Yulei Hou ◽  
Daxing Zeng
Keyword(s):  
Mathematical Model ◽  
Dynamic Model ◽  
Dynamic Simulation ◽  
Dynamic Modeling ◽  
Theoretical Basis ◽  
Research Work ◽  
Experimental Results ◽  
Mobility Analysis ◽  
Motion Characteristics ◽  
Mathematical Model Analysis

SUMMARY A novel 3-R(RRR)R+R (R as revolute joint) hybrid antenna mechanism (HAM) is proposed for noncircular polarized antenna. First, its mobility characteristic is analyzed. Besides, its kinematics is deduced, and the velocity and acceleration are obtained. Afterward, its dynamic model is established. The actuation torques of each actuation joint are obtained. Its actuation torques are verified by mathematical model analysis and dynamic simulation. Furthermore, its workspace is also presented. Finally, the motion characteristics experimental results show that the 3-R(RRR)R+R HAM can carry out the azimuth and pitch motion. This research work serves as a fundamental theoretical basis for its further application.

Dynamic modeling and simulation of two cooperating structurally-flexible robotic manipulators

Robotica ◽  
1995 ◽  
Vol 13 (4) ◽  
pp. 375-384 ◽  
Author(s):  
K. Krishnamurthy ◽  
L. Yang
Keyword(s):  
Modeling And Simulation ◽  
Dynamic Model ◽  
Dynamic Modeling ◽  
Equations Of Motion ◽  
Robotic Manipulators ◽  
Geometric Constraints ◽  
Flexible Manipulators ◽  
Order Model ◽  
Closed Chain ◽  
Extended Hamilton’S Principle

SummaryA dynamic model for two three-link cooperating structurally-flexible robotic manipulators is presented in this study. The equations of motion are derived using the extended Hamilton's principle and Galerkin's method, and must satisfy certain geometric constraints due to the closed chain formed by the two manipulators and the object. The dynamic model presented here is for the purpose of designing controllers. Therefore, a low-order model which captures all the major effects is of interest. Computer simulated results are presented for the case of moving an object along an elliptical path using the two cooperating flexible manipulators.

Reliability Study of Package Stacking Under Thermomechanical Conditions

2005 ◽  
Author(s):  
Jiansen Zhu ◽  
Kazuo Ishibahsi ◽  
Tommi Reinikainen
Keyword(s):  
Thermal Cycling ◽  
Modeling And Simulation ◽  
Simulation Method ◽  
The Other ◽  
Thermal Cycling Test ◽  
Reliability Study ◽  
Fea Modeling ◽  
Die Stacking ◽  
Simulation Results ◽  
Intellectual Properties

With the increased requirements for smaller size and more functions, hand held devices will use more and more small components to reduce the PWB areas. One of the solutions is stacked package. There are two kinds of stacked packages: one is die stacking and the other is package stacking. The package stacking is a more flexible solution for device manufacturers because the packages to be stacked could come from different vendors. All the packages can be tested separately before stacking so that there is no need for device manufacturers to acquire good dies or intellectual properties for die testing. In this study, the focus will be on the package stacking. The package stacking can be ASIC and memory stacking or memory and memory stacking. Three different stacked packages are selected for this study. Here the focus is on FEA modeling and simulation method for package stacking. Finally, the simulation results are compared with the results of thermal cycling test. A reasonable correlation is achieved based on current simulation method.

Dynamic Analysis of a New Type of Hydro-Viscous Drive Winch

2011 ◽  
Vol 328-330 ◽  
pp. 2243-2247
Author(s):  
You Fu Hou ◽  
Dao Ming Wang ◽  
Qing Rui Meng ◽  
Bo Du
Keyword(s):  
Dynamic Analysis ◽  
Modeling And Simulation ◽  
Dynamic Modeling ◽  
Theoretical Basis ◽  
Control Strategies ◽  
Good Control ◽  
Gear Train ◽  
Differential Gear ◽  
New Type ◽  
Starting Process

A new type of hydro-viscous drive (HVD) winch was designed by combining with differential gear train and HVD. It could meet the requirements of inclined hoist. In order to achieve good control properties, though dynamic modeling and simulation, the output moment curves of HVD device were obtained, then, the working processes of starting, braking and lowering weight were analyzed. Research results provide a theoretical basis for making control strategies for HVD winch. Finally, the starting process of HVD winch was studied in the experimental device; the result indicated that the starting curve of HVD winch efficiently in accordance with Harrison curve.

The Co-Simulation Study on Electronic Unit Pump Diesel in Mechanical Engineering

2013 ◽  
Vol 644 ◽  
pp. 317-320
Author(s):  
Chang Xi Ji ◽  
Yu Rong Jiang ◽  
En Zhe Song ◽  
Mei Liang Yin ◽  
Jun Sun
Keyword(s):  
Diesel Engine ◽  
Theoretical Basis ◽  
Theoretical Study ◽  
Simulation Method ◽  
Simulation Software ◽  
Electronic Unit ◽  
Matlab Simulink ◽  
Simulink Simulation ◽  
Electronic Unit Pump ◽  
Simulation Results

This paper establishes the simulation model of the electronic unit pump diesel engine with Matlab/Simulink and AMESim. Provide a theoretical basis for the study of electronic unit pump diesel. The diesel model is built with Matlab/Simulink simulation software and the electronic unit pump is constructed in AMESim environment. To evaluate the model, a co-simulation method with AMESim/Simulink is used. The simulation results show the model is available. And it is significant in theoretical study of electronic unit pump diesel.

scholarly journals Dynamic Modeling and Simulation of a Robotic Lander Based on Variable Radius Drums

2020 ◽  
Vol 10 (24) ◽  
pp. 8862
Author(s):  
Matteo Caruso ◽  
Lorenzo Scalera ◽  
Paolo Gallina ◽  
Stefano Seriani
Keyword(s):  
Modeling And Simulation ◽  
Dynamic Model ◽  
Dynamic Modeling ◽  
Space Exploration ◽  
Robotic System ◽  
Elastic Response ◽  
Soft Landing ◽  
Specific Behavior ◽  
Variable Radius ◽  
Main Challenge

Soft-landing on planetary surfaces is the main challenge in most space exploration missions. In this work, the dynamic modeling and simulation of a three-legged robotic lander based on variable radius drums are presented. In particular, the proposed robotic system consists of a non-reversible mechanism that allows a landing object to constant decelerate in the phase of impact with ground. The mechanism is based on variable radius drums, which are used to shape the elastic response of a spring to produce a specific behavior. A dynamic model of the proposed robotic lander is first presented. Then, its behavior is evaluated through numerical multibody simulations. Results show the feasibility of the proposed design and applicability of the mechanism in landing operations.

Modeling and Simulation for Trajectory of TV-Guided Projectile

2015 ◽  
Vol 713-715 ◽  
pp. 278-282
Author(s):  
Ming Hou ◽  
Qiang Han ◽  
Han Chang Wang ◽  
Si Min Bi
Keyword(s):  
Rigid Body ◽  
Modeling And Simulation ◽  
Tilt Angle ◽  
Theoretical Basis ◽  
Attack Angle ◽  
Experimental Results ◽  
Simulation Program ◽  
Trajectory Model ◽  
Simulation Results

Through the analysis of the role of the force and moment on TV-guided projectile, the rigid body trajectory model of the projectile is established, and the simulation program of trajectory is developed based on MATLAB. The simulation results are basically consistent with the experimental results, so the trajectory model can reflect the characteristics of the TV-guided projectile. The characteristics of trajectory, velocity, trajectory tilt angle and attack angle are analyzed by simulations that can provide theoretical basis for improving correction precision.

Dynamic Modeling and Simulation of a Remote-Controlled Helicopter With a Suspended Load

2013 ◽  
Author(s):  
James Potter ◽  
Ryan Simpson ◽  
William Singhose
Keyword(s):  
Modeling And Simulation ◽  
Dynamic Model ◽  
Dynamic Modeling ◽  
Suspended Load ◽  
Model Parameters ◽  
Dynamic Effects ◽  
Horizontal Movement ◽  
Heavy Load

A planar helicopter testbed has been constructed to study the dynamic effects of loads suspended below the helicopter by cables. A dynamic model of the helicopter-load system is presented, as well as a procedure to estimate the unknown model parameters. The simulated helicopter is controlled by a virtual pilot with attributes that are scaled to match the model helicopter’s fast dynamics. Initial simulations show that the presence of a heavy load makes it difficult to maintain a steady hover position after a horizontal movement.

scholarly journals A Graph Theory-Based Method for Dynamic Modeling and Parameter Identification of 6-DOF Industrial Robots

2021 ◽  
Vol 11 (22) ◽  
pp. 10988
Author(s):  
Jun Cheng ◽  
Shusheng Bi ◽  
Chang Yuan ◽  
Lin Chen ◽  
Yueri Cai ◽  
...  
Keyword(s):  
Parameter Identification ◽  
Dynamic Model ◽  
Dynamic Modeling ◽  
Theoretical Basis ◽  
Dynamic Parameter ◽  
Dynamic Parameters ◽  
Precision Manufacturing ◽  
Robot System ◽  
Precise Control ◽  
Dynamic Parameter Identification

At present, the absolute positioning accuracy and control accuracy of industrial serial robots need to be improved to meet the accuracy requirements of precision manufacturing and precise control. An accurate dynamic model is an important theoretical basis for solving this problem, and precise dynamic parameters are the prerequisite for precise control. The research of dynamics and parameter identification can greatly promote the application of robots in the field of precision manufacturing and automation. In this paper, we study the dynamical modeling and dynamic parameter identification of an industrial robot system with six rotational DOF (6R robot system) and propose a new method for identifying dynamic parameters. Our aim is to provide an accurate mathematical description of the dynamics of the 6R robot and to accurately identify its dynamic parameters. First, we establish an unconstrained dynamic model for the 6R robot system and rewrite it to obtain the dynamic parameter identification model. Second, we establish the constraint equations of the 6R robot system. Finally, we establish the dynamic model of the constrained 6R robot system. Through the ADAMS simulation experiment, we verify the correctness and accuracy of the dynamic model. The experiments prove that the result of parameter identification has extremely high accuracy and the dynamic model can accurately describe the 6R robot system mathematically. The dynamic modeling method proposed in this paper can be used as the theoretical basis for the study of 6R robot system dynamics and the study of dynamics-based control theory.

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