scholarly journals Design and motion analysis of a small motor stator multi-wire paralleled winding hybrid robot

2021 ◽  
Vol 12 (2) ◽  
pp. 1005-1016
Author(s):  
Yanling Zhao ◽  
Enwen Zhou ◽  
Jingwei Zhang ◽  
Chunya Wu ◽  
Chuang Yang
Keyword(s):  
Inverse Kinematics ◽  
Simulation Analysis ◽  
Motion Vector ◽  
Constraint Equation ◽  
Equivalent Model ◽  
Motion Model ◽  
Closure Condition ◽  
Working Space ◽  
Line Parallel ◽  
Three Phase

Abstract. The working space of small motor stators is narrow, and most of them are manual winding. It is difficult to guarantee the uniform arrangement of enameled wires by multi-wire winding. To solve these problems, a three-phase parallel equivalent multi-wire winding robot is proposed to achieve large output torque of the motor. Firstly, according to the equivalent model, the structure of the large arm, small arm and manipulator is designed to determine the motion model of the winding robot. Euler's kinematics theory is used to analyze the change of the working position of the arm, and the rotation matrix of the arm and the constraint equation of the motion vector of each branch chain are established. The motion model of the arm and the manipulator are established using inverse kinematics and analytical analysis. The motion pose of each joint of the winding robot is studied to ensure that the robot realizes a three-phase parallel multi-wire winding motion. ADAMS software was used for kinematic simulation analysis of the winding robot. The displacement of the branch chain on the xyz axis was represented by the torque of the virtual motor to verify the correctness of the inverse kinematics solution and the closure condition of the manipulator block. Finally, the ROS simulation platform is built to simulate the joint motion planning of the winding robot to verify the multi-line parallel principle and the feasibility of the multi-line parallel winding hybrid robot. The research results of this paper provide a theoretical reference for multi-wire parallel winding equipment control.

An STATCOM-based Hybrid Shunt Compensation Scheme Capable of Damping Subsynchronous Resonance

2017 ◽  
Vol 6 (3) ◽  
pp. 150
Author(s):  
F. Reyhaneh Mehdizadeh ◽  
Daryoush Nazarpour
Keyword(s):  
Single Phase ◽  
Simulation Analysis ◽  
Static Synchronous Compensator ◽  
Control Loops ◽  
Subsynchronous Resonance ◽  
Three Phase ◽  
Two Phases ◽  
Shunt Compensation ◽  
Shunt Capacitor ◽  
Potential Use

The paper presents the potential use of supplemental control of a new economical phase imbalanced shunt compensation concept for damping sub synchronous resonance (SSR) oscillations. In this scheme, the shunt capacitive compensation in one phase is created by using a Single-Phase Static Synchronous Compensator (STATCOM) in parallel with a fixed capacitor (Cc), and the other two phases are compensated by fixed shunt capacitor (C). The proposed arrangement would, certainly, be economically attractive when compared with a full three-phase STATCOM which have been used/proposed for power swings and SSR damping. SSR mitigation is achieved by introducing a supplemental signal into the control loops of single phase STATCOM. The validity and effectiveness of the proposed structure and supplemental control are demonstrated on a modified version of the IEEE second benchmark model for computer simulation of sub synchronous resonance by means of time domain simulation analysis using the Matlab program.

scholarly journals Self-oscillations at the frequency of subharmonics in nonlinear electric chains and systems

2019 ◽  
Vol 139 ◽  
pp. 01054 ◽  
Author(s):  
M.I. Ibadullaev ◽  
A.N. Tovbaev ◽  
A.Zh. Esenbekov
Keyword(s):  
Single Phase ◽  
Experimental Studies ◽  
Power Lines ◽  
Equivalent Model ◽  
Critical Parameters ◽  
Steady State Mode ◽  
Power Sources ◽  
Electric Circuits ◽  
Three Phase ◽  
Extensive Class

It is known that the occurrence and existence of autoparametric oscillations (AIC) at the subharmonic frequency (GHC) in power lines (power lines) and in power supply systems is extremely undesirable, since they cause ferroresonant overvoltages at different frequencies. At the same time, there is an extensive class of nonlinear electric circuits in which the excitation of the AIC at the frequency of the SGC forms the basis of frequency-converting devices serving as secondary power sources. It is shown that single-phase-three-phase nonlinear systems are, to one degree or another, equivalent circuits of power lines, the main elements of which are: longitudinal compensation capacitors, transverse compensation reactors, and transformers with non-linear characteristics. The regularities of the excitation of the GCC at the frequency (ω / 3) of the power lines were studied, theoretical and experimental studies of the equivalent model of single-phase-three-phase circuits with nonlinear inductance were carried out. For a theoretical analysis of the steady-state mode of SGK at a frequency (ω / 3) with inductive coupling, the frequency- energy approach is used. The conditions of existence and critical parameters of the circuit are determined, and the mechanism of the appearance of the SGC at the frequency (ω / 3) is also studied.

scholarly journals Operation Motion Planning and Principle Prototype Design of Four-Wheel-Driven Mobile Robot for High-Voltage Double-Split Transmission Lines

2020 ◽  
Vol 2020 ◽  
pp. 1-17
Author(s):  
Hong Jun Li ◽  
Wei Jiang ◽  
Yu Yan ◽  
An Zhang ◽  
Gan Zuo
Keyword(s):  
Transmission Lines ◽  
Simulation Analysis ◽  
Dynamics Simulation ◽  
Mobile Platform ◽  
Robot Kinematics ◽  
Kinematics And Dynamics ◽  
Joint Force ◽  
Dynamic Constraints ◽  
Working Space ◽  
Physical Prototype

In response to the problems of high labor intensity, high risk, and poor reliability of artificial live working, a four-wheel-driven spacer bar replacement mobile operation robot has been designed and developed in this paper, and the corresponding kinematic and dynamics model have been established, based on the established double models, the kinematics and dynamics numerical analysis can be realized through INVENTOR and ADAMS, respectively, based on the established kinematics and dynamics models . The results show that the simulation value of the robot joint displacement, velocity, acceleration, and joint force can be able to meet the requirements of kinematic and dynamic constraints during the robot operation. The robot prototype can meet the requirement of dual-split robot working space and the operation joint force control, which not only extend the robot adaptability to the multisplit lines heterogeneous operation environment but also provide an important theoretical technical support for the exploit of the robot physical prototype. Through the robot kinematics and dynamics analysis, the robot mechanical structure parameters and electrical control parameters have been effectively optimized. The weight and cost of the robot have been reduced by 12% and 15% compared to the existed studies. Finally, the robot principle prototype mobile platform has been developed, and the correctness of robot kinematics and dynamics simulation analysis has been verified through the robot principle prototype mobile platform.

Kinematics Simulation Analysis of Turn-Milling Center Based on Virtual Prototype

2010 ◽  
Vol 43 ◽  
pp. 683-686
Author(s):  
Li Da Zhu ◽  
Jia Ying Pei ◽  
Tian Biao Yu ◽  
Wan Shan Wang
Keyword(s):  
Mechanism Design ◽  
Inverse Kinematics ◽  
Development Time ◽  
Simulation Analysis ◽  
Forward Kinematics ◽  
Optimized Design ◽  
Kinematics Simulation ◽  
Physical Prototype ◽  
Motion Characteristics ◽  
Turn Milling

In order to analyze the motion characteristics of turn-milling center, it’s prototype is modeled and spiral motion is simulated and analyzed to get curves of displacement and velocity in forward kinematics and inverse kinematics. The rationality and applicability of mechanism design is verificated to provide the basis of fast optimized design of turn-milling center. So the method can forecast and improve before physical prototype manufacturing to ensure design feasibility and save development time.

The Simulation Study on Transformer Oil-Paper Insulation Polarization Spectrum

2013 ◽  
Vol 385-386 ◽  
pp. 1175-1178
Author(s):  
Jun Qiang Zhang ◽  
Tao Zhao ◽  
Yun Peng Liu
Keyword(s):  
Time Constant ◽  
Simulation Analysis ◽  
Debye Model ◽  
Diagnostic Methods ◽  
Transformer Oil ◽  
Equivalent Model ◽  
Polarization Spectrum ◽  
Paper Insulation ◽  
Transformer Insulation ◽  
Non Destructive

Return voltage diagnostic method is an effective method of non-destructive diagnosis in transformer insulating state. The current study is that through experiments get polarization spectrum to analysis the transformer insulating state, but not yet carried out the influence of various factors to the experimental results. So, based on the Debye model and specific parameters comes from one equivalent model of the actual transformer, this paper using RVM methods to simulation analysis maximum return voltage and dominant time constant under different factors. Simulation results show that the diagnostic methods that combine maximum return voltage value with dominant time constant can preferably reflect the transformer insulation state.

Singularity analysis of a 3-DOF parallel manipulator with R-P-S joint structure

Robotica ◽  
2005 ◽  
Vol 24 (1) ◽  
pp. 131-142 ◽  
Author(s):  
Alexei Sokolov ◽  
Paul Xirouchakis
Keyword(s):  
Inverse Kinematics ◽  
Parallel Manipulator ◽  
Optimization Procedure ◽  
Singularity Analysis ◽  
Robot Design ◽  
Geometrical Method ◽  
New Approach ◽  
Joint Structure ◽  
Working Space ◽  
Robot Trajectory

This paper presents a singularity analysis for a 3-DOF parallel manipulator with R-P-S (Revolute-Prismatic-Spherical) joint structure. All three types of singularities are investigated with most attention paid for direct kinematics singularities (DKS). The loci of inverse kinematics and combined singularities are identified using a new approach. The equation of DKS is defined first from the condition of existence of an instantaneous motion. The geometrical method is used to find the loci of trajectories corresponding to DKS-s. As a result of these investigations, an optimization procedure was proposed of a robot design in order to have an enlarged singularity free part of the working space. The construction of a singularity free path is discussed without changing the robot trajectory by selecting the appropriate inverse kinematics task solution.

The Analysis of the Grid-Connected Phase-Locked Loop Technologies Based on the Transformation of Coordinate System

2012 ◽  
Vol 220-223 ◽  
pp. 1175-1180
Author(s):  
Guo Tao Yang ◽  
Zhi Yi Sun ◽  
Li Qun Liu
Keyword(s):  
Simulation Analysis ◽  
Phase Locked Loop ◽  
Phase Voltage ◽  
Grid Voltage ◽  
Advantages And Disadvantages ◽  
Pv Inverter ◽  
Three Phase ◽  
Failure Conditions ◽  
Grid Connected Inverter ◽  
Generating System

In order to gain the same amplitude、frequency and phase between the output voltage of the inverter and the grid voltage, the phase-locked loop (PLL) technology is widely used in grid-connected photovoltaic (PV) generating system, which is normally used to obtain instantaneous phase information to achieve the grid-connected purpose of PV inverter. The detective accuracy of frequency and phase of the grid voltage is directly affected by the PLL. Two software PLL technologies are compared by using the simulation analysis which is based on the d-q transformation. To provide the basis for the design of grid-connected inverter, the advantages and disadvantages of two software PLL technologies are analyzed under different grid failure conditions, such as one phase voltage dropped, two of three phase voltage (TPV) dropped, grid frequency mutated, and grid voltage offset, etc. Particularly, the appropriate PLL technology can effectively improve the grid-connected ability of PV inverter under the grid voltage offset or unbalance conditions.

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