A Study on the Rigidity and Flexibility Coupled Dynamic Analysis Method of the PUMA560 Robot

2013 ◽  
Vol 645 ◽  
pp. 346-349
Author(s):  
Chang Li ◽  
Xiao Gang Ma ◽  
Xing Han ◽  
Guang Bing Zhao
Keyword(s):  
Dynamic Simulation ◽  
New Method ◽  
Secondary Development ◽  
Random Errors ◽  
Dynamic Simulations ◽  
Coupled Dynamic Analysis ◽  
Complex Analogue ◽  
Development Programming ◽  
Dynamic Simulation Model ◽  
Inverse Solutions

Created in ADAMS/View virtual environment, it combines the complementary advantages of the ADAMS secondary development programming technology APDL and VC++6.0 to build a rigidity and flexibility coupled parameterized dynamic simulation model of the PUMA560 robot, while through the self defining function of constraints and loads, it realizes the model drive loading . After multiple dynamic simulations, normal solutions and inverse solutions of the PUMA560 robot are obtained, and this can provide a foundation for the research on the operability and space locus of the PUMA560 robot. Meanwhile, this new method is also true for other similar kind of rigidity and flexibility coupled mechanics dynamic simulation and a reliable pathway for the analysis of mechanic random errors effect on its motion as well. The excellent feature of this new method is that it will considerate sufficiently the effects of key part’s elastic deformation on the entire mechanic motion, while it needs not to create complex analogue to solve the mechanic, rapidly, conveniently and with high accuracy, which has good theoretical meaning and application value.

A Study on the PUMA560 Robot Motion in ADAMS/View

2013 ◽  
Vol 313-314 ◽  
pp. 928-931 ◽  
Author(s):  
Chang Li ◽  
Xing Han ◽  
Chun Yu Wei ◽  
Guang Bing Zhao
Keyword(s):  
Reliable Method ◽  
Secondary Development ◽  
Robot Motion ◽  
Virtual Model ◽  
Random Errors ◽  
The Past ◽  
Complex Analogue ◽  
Development Technology ◽  
Inverse Solutions ◽  
Similar Kind

It proposes an efficient method for kinemics analysis of PUMA560 robot in ADAMS/View in this paper. Comparing with the past, it builds a virtual model of the robot in ADAMS/View. By the way of dynamic simulation, the normal solutions and inverse solutions of the PUMA560 robot are obtained, and this can provide a good study basis for the operability degree and space locus analysis of this kind of mechanics. In addition, a parameterized virtual model of the robot can be build by the ADAMS secondary development technology (APDL), which can accomplish multiple dynamics analysis of the similar kind of mechanics and provide a reliable method for analyzing the effects of mechanical random errors on its motion. This new method needs not to build complex analogue to solve the mechanic, conveniently, shortcut and accurately, and have definite theory meaning and application value in dynamic analysis.

A Study on the 6-6 Stewart Parallel Mechanism Dynamics in ADAMS

2012 ◽  
Vol 544 ◽  
pp. 67-71
Author(s):  
Xing Han ◽  
Chang Li ◽  
Xiao Guang Yu ◽  
Guang Bing Zhao
Keyword(s):  
Dynamic Simulation ◽  
Parallel Mechanism ◽  
Spline Function ◽  
Mathematic Model ◽  
Dynamics Analysis ◽  
Virtual Model ◽  
Random Errors ◽  
The Past ◽  
Inverse Solutions

In this paper, it proposes an effective method for 6-6 Stewart parallel mechanism dynamics analysis in ADAMS. Firstly, it builds a virtual model in ADAMS/View, using spline function and self-defining function to define loads and constraints, through the follow-up dynamic simulation, the positive solutions and inverse solutions are solved conveniently, and this can provide a foundation for analyzing the parallel mechanism’s operability and space path line. Secondly, it uses secondary developing technology (APDL) to program a parameterized virtual model, which can give a credibility way to analyze the influence of random errors on the mechanism mobile. In short, it needn’t to calculate complex mathematic model as that in the past, yet this new method proposed provides a definite theory foundation and contains well application values for further study.

scholarly journals Study on improving three-dimensional dynamic simulation model and equation of flexible fabric

2019 ◽  
Vol 11 (6) ◽  
pp. 168781401985284
Author(s):  
Meiliang Wang ◽  
Mingjun Wang ◽  
Xiaobo Li
Keyword(s):  
Simulation Model ◽  
Dynamic Simulation ◽  
Material Properties ◽  
Three Dimensional ◽  
Equation Solving ◽  
Study Results ◽  
Essential Properties ◽  
Dynamic Simulation Model ◽  
Novel Model ◽  
Simulation Equation

The use of the traditional fabric simulation model evidently shows that it cannot accurately reflect the material properties of the real fabric. This is against the background that the simulation result is artificial or an imitation, which leads to a low simulation equation. In order to solve such problems from occurring, there is need for a novel model that is designed to enhance the essential properties required for a flexible fabric, the simulation effect of the fabric, and the efficiency of simulation equation solving. Therefore, the improvement study results will offer a meaningful and practical understanding within the field of garment automation design, three-dimensional animation, virtual fitting to mention but a few.

scholarly journals Climate-related migration and population health: social science-oriented dynamic simulation model

2021 ◽  
Vol 21 (1) ◽  
Author(s):  
Rafael Reuveny
Keyword(s):  
Public Health ◽  
Social Science ◽  
Simulation Model ◽  
Environmental Health ◽  
Dynamic Simulation ◽  
Health Problems ◽  
Ecological Impacts ◽  
Sensitivity Analyses ◽  
Pilot Model ◽  
Dynamic Simulation Model

Abstract Background Social science models find the ecological impacts of climate change (EICC) contribute to internal migration in developing countries and, less so, international migration. Projections expect massive climate-related migration in this century. Nascent research calls to study health, migration, population, and armed conflict potential together, accounting for EICC and other factors. System science offers a way: develop a dynamic simulation model (DSM). We aim to validate the feasibility and usefulness of a pilot DSM intended to serve as a proof-of-concept and a basis for identifying model extensions to make it less simplified and more realistic. Methods Studies have separately examined essential parts. Our DSM integrates their results and computes composites of health problems (HP), health care (HC), non-EICC environmental health problems (EP), and environmental health services (ES) by origin site and by immigrants and natives in a destination site, and conflict risk and intensity per area. The exogenous variables include composites of EICC, sociopolitical, economic, and other factors. We simulate the model for synthetic input values and conduct sensitivity analyses. Results The simulation results refer to generic origin and destination sites anywhere on Earth. The effects’ sizes are likely inaccurate from a real-world view, as our input values are synthetic. Their signs and dynamics are plausible, internally consistent, and, like the sizes, respond logically in sensitivity analyses. Climate migration may harm public health in a host area even with perfect HC/ES qualities and full access; and no HP spillovers across groups, conflict, EICC, and EP. Deviations from these conditions may worsen everyone’s health. We consider adaptation options. Conclusions This work shows we can start developing DSMs to understand climate migration and public health by examining each case with its own inputs. Validation of our pilot model suggests we can use it as intended. We lay a path to making it more realistic for policy analysis.

scholarly journals Dynamic Simulation of Petrochemical Wastewater Treatment Using Wastewater Plant Simulation Software

2018 ◽  
Vol 203 ◽  
pp. 03005
Author(s):  
Idzham Fauzi Mohd Ariff ◽  
Mardhiyah Bakir
Keyword(s):  
Simulation Model ◽  
Dynamic Simulation ◽  
Stable Condition ◽  
Oxygen Demand ◽  
Simulation Software ◽  
Petrochemical Plant ◽  
Dynamic Simulation Model ◽  
Plant Monitoring ◽  
Plant Simulation

A dynamic simulation model was developed, calibrated and validated for a petrochemical plant in Terengganu, Malaysia. Calibration and validation of the model was conducted based on plant monitoring data spanning 3 years resulting in a model accuracy (RMSD) for effluent chemical oxygen demand (COD), ammoniacal nitrogen (NH3-N) and total suspended solids (TSS) of ±11.7 mg/L, ±0.52 mg/L and ± 3.27 mg/L respectively. The simulation model has since been used for troubleshooting during plant upsets, planning of plant turnarounds and developing upgrade options. A case study is presented where the simulation model was used to assist in troubleshooting and rectification of a plant upset where ingress of a surfactant compound resulted in high effluent TSS and COD. The model was successfully used in the incident troubleshooting activities and provided critical insights that assisted the plant operators to quickly respond and bring back the system to normal, stable condition.

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