Model Reduction of Rigid-Flexible Manipulators with Experimental Validation

2013 ◽  
Vol 655-657 ◽  
pp. 1101-1107 ◽  
Author(s):  
Lin Chen ◽  
Hua Deng
Keyword(s):  
Model Simulation ◽  
Lagrange Equation ◽  
Flexible Manipulator ◽  
Flexible Manipulators ◽  
Spectral Approximation ◽  
Nonlinear Dynamic Equation ◽  
Simulation Results ◽  
Experimental Validations ◽  
Set Up ◽  
Platform System

An investigation into the dynamic modeling of rigid-flexible manipulator systems based on spectral approximation methods was presented. The nonlinear dynamic equation of the rigid-flexible manipulator was established on the theory of Lagrange equation and the model was approximated with the spectral approximation method. Furthermore, an experimental platform system was set up to validate the effectiveness of the model. Simulation results of the response of the rigid-flexible manipulators were presented. Moreover, experimental validations were carried out to assess the effectiveness of the modeling approach by comparing with the simulation results. The results verified that the method is effective and feasible.

Minimal Control Synthesis Algorithm for Panel Vibration Control

2013 ◽  
Vol 804 ◽  
pp. 269-274 ◽  
Author(s):  
Tian Bing Ma ◽  
Fei Du
Keyword(s):  
Vibration Control ◽  
Reference Model ◽  
Model Simulation ◽  
Control Synthesis ◽  
Synthesis Algorithm ◽  
Transient Disturbances ◽  
Convergence Performance ◽  
Simulation Results ◽  
Set Up ◽  
Persistent Disturbances

Minimal control synthesis (MCS) algorithm with good compensation ability for fast disturbances is used to suppress the vibration of piezoelectric panel. The first two modes model of controlled piezoelectric panel are set up by experiment. LQR method is selected as the reference model. Simulation results show that this method have good stability, faster convergence performance and strong anti-interference ability under transient disturbances or persistent disturbances excitation.

Model Reduction of a Two-Link Rigid-Flexible Manipulator Based on Spectral Approximation Method

2011 ◽  
Vol 383-390 ◽  
pp. 2654-2660 ◽  
Author(s):  
Yun Pan ◽  
H. Deng
Keyword(s):  
Model Reduction ◽  
Approximation Method ◽  
Lagrange Equation ◽  
Flexible Manipulator ◽  
Distributed Parameter ◽  
Spectral Approximation ◽  
Parameter System ◽  
Order Model ◽  
Reduced Order ◽  
Model Based

In this paper, the dynamic model of a two-link rigid-flexible manipulator was established by using the theory of Lagrange equation. Due to the model is a distributed-parameter system, we present a simple, efficient method for model reduction based on spectral approximation method such that a model-based scheme can be implemented. The method was illustrated by comparing with the simulation results of the reduced-order model and the virtual reduced model based on finite element method.

scholarly journals Dynamic Modeling and Development of Symbolic Calculation Software for N-DOF Flexible-Link Manipulators Incorporating Lumped Mass

2019 ◽  
Vol 2019 ◽  
pp. 1-16 ◽  
Author(s):  
Feng Yu ◽  
Xinyuan Chen
Keyword(s):  
Dynamic Modeling ◽  
Lagrange Equation ◽  
Modeling Method ◽  
Flexible Manipulator ◽  
Flexible Manipulators ◽  
Lumped Mass ◽  
Symbolic Expression ◽  
Symbolic Calculation ◽  
Assumed Mode Method ◽  
Calculation Software

Considering the complex dynamic modeling of multi-DOF planar flexible manipulators, a general-purpose method for the rigid-flexible coupling dynamic modeling of N-DOF flexible manipulators is proposed in this paper, and symbolic calculation software is developed. The modeling method is based on the Lagrange equation and assumed mode method (AMM). First, the N-DOF flexible manipulator is divided into two parts, which are assumed to be rigid and flexible. On this basis, the rigid part and the flexible part are coupled, and the calculation process of the model is further simplified. Then, the simplest general symbolic expression of the dynamic model of the N-DOF flexible manipulator is obtained with the induction method. According to the modeling method, “symbolic expression computation software for dynamic equations of N-DOF flexible manipulators” is developed using the symbolic calculation software Mathematica. Finally, the dynamic modeling method and the symbolic calculation software are verified by a trajectory tracking experiment with a PD control applied to a 2-DOF flexible manipulator. Compared with the traditional modeling method, the calculation time can be reduced by more than 90% using the modeling method proposed in this paper, which significantly reduces the complexity of the modeling process.

The Model Simulation Analysis of Electro-Rheological Fluid Engine Mounting System

2013 ◽  
Vol 694-697 ◽  
pp. 338-343 ◽  
Author(s):  
Bo Jiang ◽  
Wen Ku Shi
Keyword(s):  
Mathematical Model ◽  
Electric Field ◽  
Vibration Isolation ◽  
Simulation Analysis ◽  
Model Simulation ◽  
Simulation Results ◽  
Set Up ◽  
The One ◽  
The Mathematical Model ◽  
Better Than

The mathematical model of the electro-rheological fluid engine mounting system is set up, Combining the electro-rheological fluid effect with hydraulic mount technology and considering the flexibility of the car frame. The simulation model of electro-rheological fluid engine mounting system is build up by the Simulink module of Matlab software to simulate the representative situations of the system, and the displacement and acceleration characteristic curves of the powerplant and the car frame is received. The simulation results indicate that the vibration isolation capability of the system with electric field is better than the one without electric field.

Research on Dynamic Balance Method of Precision Centrifuge

2014 ◽  
Vol 945-949 ◽  
pp. 777-780
Author(s):  
Tao Liu ◽  
Yong Xu ◽  
Bo Yuan Mao
Keyword(s):  
Mathematical Model ◽  
Balance Control ◽  
Dynamic Balance ◽  
Dynamic Balancing ◽  
Structure Characteristics ◽  
Balance System ◽  
Simulation Results ◽  
Set Up ◽  
System Controller ◽  
The Mathematical Model

Firstly, according to the structure characteristics of precision centrifuge, the mathematical model of its dynamic balancing system was set up, and the dynamic balancing scheme of double test surfaces, double emendation surfaces were established. Then the dynamic balance system controller of precision centrifuge was designed. Simulation results show that the controller designed can completely meet the requirements of precision centrifuge dynamic balance control system.

Kinematic characteristics of longitudinal double folding wings

2021 ◽  
pp. 1-25
Author(s):  
L. Tiegang ◽  
C. Guoguang ◽  
L. Shuai
Keyword(s):  
Angular Velocity ◽  
Structural Model ◽  
Initial Conditions ◽  
Aerodynamic Force ◽  
Model Simulation ◽  
Lagrange Equation ◽  
Grid Method ◽  
Weapon Systems ◽  
Folding Wing ◽  
Double Folding

ABSTRACT A folding wing is a tactical missile launching device that needs to be miniaturised to facilitate storage, transportation, and launching; save missile and transportation space; and improve the combat capability of weapon systems. This study investigates the aeroelastic characteristics of the secondary longitudinal folding wing during the unfolding process. First, the Lagrange equation is used to establish the structural dynamics model of the folding wing, the kinematics characteristics during the deformation process are analysed, and the unfolding movement of the folding wing is obtained using the dynamic equations in the process. Then, the generalised unsteady aerodynamic force is calculated using the dipole grid method, and the multi-body dynamics equation of the folding wing is obtained. The initial angular velocity required for the deployment of the folding wing is analysed through structural model simulation, and the influence of the initial angular velocity on the opening process is studied. Finally, aeroelastic flutter analysis is performed on the folding wing, and the physical model of the folding wing verified experimentally. Results show that the type of aeroelastic response is sensitive to the initial conditions and the way the folding wing opens.

scholarly journals Optimization of Dynamic Task Location within a Manipulator’s Workspace for the Utilization of the Minimum Required Joint Torques

Electronics ◽  
2021 ◽  
Vol 10 (3) ◽  
pp. 288
Author(s):  
Adam Wolniakowski ◽  
Charalampos Valsamos ◽  
Kanstantsin Miatliuk ◽  
Vassilis Moulianitis ◽  
Nikos Aspragathos
Keyword(s):  
High Performance ◽  
Human Robot Interaction ◽  
Optimal Position ◽  
End Effector ◽  
Joint Torques ◽  
Dynamic Task ◽  
Arbitrary Position ◽  
Simulation Results ◽  
Set Up ◽  
Task Placement

The determination of the optimal position of a robotic task within a manipulator’s workspace is crucial for the manipulator to achieve high performance regarding selected aspects of its operation. In this paper, a method for determining the optimal task placement for a serial manipulator is presented, so that the required joint torques are minimized. The task considered comprises the exercise of a given force in a given direction along a 3D path followed by the end effector. Given that many such tasks are usually conducted by human workers and as such the utilized trajectories are quite complex to model, a Human Robot Interaction (HRI) approach was chosen to define the task, where the robot is taught the task trajectory by a human operator. Furthermore, the presented method considers the singular free paths of the manipulator’s end-effector motion in the configuration space. Simulation results are utilized to set up a physical execution of the task in the optimal derived position within a UR-3 manipulator’s workspace. For reference the task is also placed at an arbitrary “bad” location in order to validate the simulation results. Experimental results verify that the positioning of the task at the optimal location derived by the presented method allows for the task execution with minimum joint torques as opposed to the arbitrary position.

Numerical Study of Methane and Air Combustion Inside Heat-Recirculating Combustors

2013 ◽  
Author(s):  
Yanxia Li ◽  
Zhongliang Liu ◽  
Yan Wang ◽  
Jiaming Liu
Keyword(s):  
Gas Flow ◽  
Numerical Study ◽  
Convection Heat Transfer ◽  
Central Area ◽  
Small Scale ◽  
Inlet Velocity ◽  
Strong Convection ◽  
Simulation Results ◽  
Lean Fuel ◽  
Set Up

A numerical model on methane/air combustion inside a small Swiss-roll combustor was set up to investigate the flame position of small-scale combustion. The simulation results show that the combustion flame could be maintained in the central area of the combustor only when the speed and equivalence ratio are all within a narrow and specific range. For high inlet velocity, the combustion could be sustained stably even with a very lean fuel and the flame always stayed at the first corner of reactant channel because of the strong convection heat transfer and preheating. For low inlet velocity, small amounts of fuel could combust stably in the central area of the combustor, because heat was appropriately transferred from the gas to the inlet mixture. Whereas, for the low premixed gas flow, only in certain conditions (Φ = 0.8 ～ 1.2 when ν0 = 1.0m/s, Φ = 1.0 when ν0 = 0.5m/s) the small-scale combustion could be maintained.

Investigation on penetration model of shaped charge jet in water

2016 ◽  
Vol 30 (02) ◽  
pp. 1550268 ◽  
Author(s):  
Jinwei Shi ◽  
Xingbai Luo ◽  
Jinming Li ◽  
Jianwei Jiang
Keyword(s):  
Numerical Simulation ◽  
Theoretical Model ◽  
Model Simulation ◽  
Theoretical Models ◽  
Theoretical Research ◽  
Water Medium ◽  
Simulation Results ◽  
Jet Penetration ◽  
The Impact ◽  
Penetration Velocity

To analyze the process of jet penetration in water medium quantitatively, the properties of jet penetration spaced target with water interlayer were studied through test and numerical simulation. Two theoretical models of jet penetration in water were proposed. The theoretical model 1 was established considering the impact of the shock wave, combined with the shock equation Rankine–Hugoniot and the virtual origin calculation method. The theoretical model 2 was obtained by fitting theoretical analysis and numerical simulation results. The effectiveness and universality of the two theoretical models were compared through the numerical simulation results. Both the models can reflect the relationship between the penetration velocity and the penetration distance in water well, and both the deviation and stability of theoretical model 1 are better than 2, the lower penetration velocity, and the larger deviation of the theoretical model 2. Therefore, the theoretical model 1 can reflect the properties of jet penetration in water effectively, and provide the reference of model simulation and theoretical research.

A Robust Trajectory Tracking Control Scheme of Two-Link Flexible Manipulator

2011 ◽  
Vol 328-330 ◽  
pp. 2108-2112
Author(s):  
Jing Shuang Lu ◽  
Chun Mei Du ◽  
Rui Zhou ◽  
Na Li
Keyword(s):  
Trajectory Tracking ◽  
Tracking Control ◽  
Vertical Plane ◽  
Flexible Manipulator ◽  
System Model ◽  
Error Signal ◽  
Dynamics Model ◽  
Trajectory Tracking Control ◽  
Control Scheme ◽  
Simulation Results

A simple dynamics model is established based on the two-link flexible manipulator moving within the vertical plane, and a robust simple control scheme is put forward. The advantages of this scheme are simple and good robustness. Only the error signal is needed when designing the control scheme and the acquirement of control signal does not depend on the system model. The simulation results show that this method has a good robustness and stability.

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