scholarly journals Stiffness Modeling of Compliant Serial Manipulators based on Tensegrity Mechanism under External Loading

2021 ◽  
Author(s):  
Wanda Zhao ◽  
Anatol Pashkevich ◽  
Damien Chablat
Keyword(s):  
External Loading ◽  
Serial Manipulators ◽  
Stiffness Modeling

scholarly journals Enhanced stiffness modeling of serial manipulators with passive joints

10.5772/9539 ◽  
2010 ◽  
Author(s):  
Anatol Pashkevich ◽  
Alexandr Klimchik ◽  
Damien Chablat
Keyword(s):  
Serial Manipulators ◽  
Stiffness Modeling

Composite Solutions for Deck Catamarans

2018 ◽  
Vol 55 (1) ◽  
pp. 1-4
Author(s):  
Elena Felicia Beznea ◽  
Ionel Chirica ◽  
Adrian Presura ◽  
Ionel Iacob
Keyword(s):  
Finite Element Method ◽  
Finite Element ◽  
Sandwich Structure ◽  
High Strength ◽  
Total Weight ◽  
External Loading ◽  
Strength Analysis ◽  
Allowable Stress ◽  
The Finite Element Method ◽  
Inland Navigation

The paper is treating the strength analysis of the main deck structure of an inland navigation catamaran for 30 passengers. The main deck should have high stiffness and high strength to resist to external loading and endure high stresses from combined bending and torsion loads. Different materials for sandwich structure of the deck have been analysed by using the Finite Element Method in order to determine the solution which accomplish better designing criteria regarding allowable stress and deformations and total weight.

scholarly journals Haptic Rendering of Arbitrary Serial Manipulators for Robot Programming

2021 ◽  
pp. 1-1
Author(s):  
Michael Fennel ◽  
Antonio Zea ◽  
Johannes Mangler ◽  
Arne Roennau ◽  
Uwe D. Hanebeck
Keyword(s):  
Haptic Rendering ◽  
Robot Programming ◽  
Serial Manipulators

scholarly journals Evaluation of Damage Process of a Coating by Using Nonlinear Ultrasonic Method

Coatings ◽  
2021 ◽  
Vol 11 (4) ◽  
pp. 440
Author(s):  
Chunguang Xu ◽  
Lei He ◽  
Shiyuan Zhou ◽  
Dingguo Xiao ◽  
Pengzhi Ma
Keyword(s):  
Tensile Stress ◽  
Order Parameter ◽  
Evaluation Method ◽  
Early Stage ◽  
Ultrasonic Method ◽  
Nonlinear Coefficient ◽  
Damage Index ◽  
Second Order ◽  
External Loading ◽  
Nonlinear Ultrasonic

During the service or external loading of the surface coating, the damage accumulation may develop in the coating or at the interface between the substrate and the coating, but it is difficult to measure directly in the early stage, so the acoustic nonlinear parameters are used as the early damage index of the coating. In this paper, the nonlinear wave motion equation is solved by the perturbation method and the new relationship between the relative ratio of second-order parameter and third-order parameter was derived. The nonlinear ultrasonic testing system is used to detect received signals during tensile testing of for the specimen with Al2O3 coatings. It is found that when the stress is less than 260 MPa, the appearance of the coating has no obvious change, but the nonlinear coefficients measured by the experiment increase with the increase of the tensile stress. By comparing the curves of nonlinear coefficients and stress respectively, the fluctuation of curves the second-order nonlinear coefficient A2 and the relative nonlinear coefficient β′ to stress is relatively small, and close to the linear relationship with the tensile stress, which indicates that the two parameters of the specimen with Al2O3 coatings are more sensitive to the bonding conditions, and can be used as an evaluation method to track the coating damage.

scholarly journals Research on the inverse kinematics of manipulator using an improved self-adaptive mutation differential evolution algorithm

2021 ◽  
Vol 18 (3) ◽  
pp. 172988142110144
Author(s):  
Qianqian Zhang ◽  
Daqing Wang ◽  
Lifu Gao
Keyword(s):  
Differential Evolution ◽  
Objective Function ◽  
Inverse Kinematics ◽  
Differential Evolution Algorithm ◽  
Weight Coefficient ◽  
Adaptive Mutation ◽  
Feasible Region ◽  
Serial Manipulators ◽  
De Algorithm ◽  
Self Adaptive

To assess the inverse kinematics (IK) of multiple degree-of-freedom (DOF) serial manipulators, this article proposes a method for solving the IK of manipulators using an improved self-adaptive mutation differential evolution (DE) algorithm. First, based on the self-adaptive DE algorithm, a new adaptive mutation operator and adaptive scaling factor are proposed to change the control parameters and differential strategy of the DE algorithm. Then, an error-related weight coefficient of the objective function is proposed to balance the weight of the position error and orientation error in the objective function. Finally, the proposed method is verified by the benchmark function, the 6-DOF and 7-DOF serial manipulator model. Experimental results show that the improvement of the algorithm and improved objective function can significantly improve the accuracy of the IK. For the specified points and random points in the feasible region, the proportion of accuracy meeting the specified requirements is increased by 22.5% and 28.7%, respectively.

Stiffness modeling of an industrial robot with a gravity compensator considering link weights

2021 ◽  
Vol 161 ◽  
pp. 104331
Author(s):  
Peng Xu ◽  
Xiling Yao ◽  
Shibo Liu ◽  
Hao Wang ◽  
Kui Liu ◽  
...  
Keyword(s):  
Industrial Robot ◽  
Stiffness Modeling ◽  
Gravity Compensator

Shakedown analysis of elasto-plastic structures subjected to external loading and temperature variation

1995 ◽  
Vol 16 (8) ◽  
pp. 791-799
Author(s):  
Du Sentian ◽  
Liu Hanbing ◽  
Chen Suhuan ◽  
Lian Jianshe
Keyword(s):  
Temperature Variation ◽  
External Loading ◽  
Shakedown Analysis
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