17th Design Automation Conference: Volume 2 — Computer-Aided Design, Mechanical Systems Simulation, and Analysis, Mechanisms, and Robotics
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Published By American Society Of Mechanical Engineers

9780791897768

Author(s):  
Junghsen Lieh ◽  
Imitiaz Haque

Abstract A program is developed on a DECstation using the symbolic language MAPLE which generates the equations of motion in a closed form and reduces the system order symbolically. A procedure that can make symbolic simplification and linearization is provided. The integration of shape functions is performed symbolically. Both nonlinear and linearized equations of motion with control are established in FORTRAN format. Several models including an elastic vehicle with active suspensions, an elastic robotic manipulator and an elastic slider-crank mechanism with both joint and structural flexibility are generated. Numerical simulation for the active vehicle model using an optimal control strategy is presented. The effect of active suspensions on vehicle and structural vibrations is briefly discussed. A comparison between the nonlinear and linearized robot models is given. Simulation results of the slider-crank mechanism are also presented.


Author(s):  
Henry T. Wu ◽  
Neel K. Mani

Abstract Vibration normal modes and static correction modes have been previously used to model flexible bodies for dynamic analysis of mechanical systems. The efficiency and accuracy of using these modes to model a system depends on both the flexibility of each body and the applied loads. This paper develops a generalized method for the generation of a set of Ritz vectors to model flexible bodies for dynamic analysis of multi-body mechanical systems. The Ritz vectors are generated using the distribution of dynamic loading on a flexible body. Therefore they form the most efficient vector basis for the spatial distribution of the loadings. The Ritz vectors can be re-generated when the system undergoes significant changes of its configuration and the regeneration procedure is inexpensive. The combinations of vibration normal modes and the proposed Ritz vectors thus form more efficient and accurate vector bases for the modeling of flexible bodies for dynamic analysis.


Author(s):  
Tsung-Chieh Lin ◽  
K. Harold Yae

Abstract Mathematical models of the harmonic drive have been developed, and their effects on manipulator dynamics have been examined. The harmonic drive is modelled as a flexible gear with a high gear reduction ratio. The recursive Newton-Euler dynamic formulation is applied to deriving the system equations of motion that include the effects of the geared actuation. The equations include not only the nonlinear dynamic coupling between rotors and links but the gyroscopic effect due to the spinning rotors. Different modelling assumptions creates four models and their time responses are compared. As an example, a seven degree of freedom robot was chosen to make comparisons in time responses.


Author(s):  
G. K. Ananthasuresh ◽  
Steven N. Kramer

Abstract The closed form solution of the analysis of the RSCR (Revolute-Spherical-Cylindrical-Revolute) spatial mechanism is presented in this paper. This work is based on the geometric characteristics of the mechanism involving the following three cases: the cone, the cylinder and the one-sheet hyperboloid. These cases derive their names from the nature of the locus of the slider of the linkage as viewed from the output side. Each case is then treated separately to develop a closed form, geometry based analysis technique. These analysis modules are then used to optimally synthesize the mechanism for function, path and motion generation problems satisfying precision conditions within prescribed accuracy limits. The Selective Precision Synthesis technique is employed to formulate the nonlinear inequality constraints. These constraints along with an objective function and other constraints are solved using the Generalized Reduced Gradient method of optimization. In addition, the use of mobility charts is used to aid the designer in making a judicious choice for the initial design point before invoking the optimization method. The determination of the transmission angle for the RSCR mechanism is also described and numerical examples for function, path and motion generation are also included. This new closed form method of analysis based on geometric characteristics is computationally less intensive than other available techniques for spatial mechanism analysis and helps in the visualization of the physical mechanism; something that is not possible with most vector and matrix methods.


Author(s):  
Clément M. Gosselin ◽  
Ammar Hadj-Messaoud

Abstract This paper proposes some new polynomial solutions to the trajectory planning problem encountered in pick-and-place operations. When a robotic manipulator is used for such operations, it is possible to plan the required trajectory in joint space, provided that the inverse kinematic problem has been solved for the initial and final configurations — and possibly for a lift-off and a set-down configuration — and that the workspace is free of obstacles. Polynomial solutions to this problem can be found in the literature. However, they usually provide continuity up to the second derivative only, leading to a discontinuous jerk. The solutions derived in this paper preserve the continuity of the third derivative of the joint coordinates, thereby ensuring smooth trajectories with smooth variations of the actuator currents. Moreover, whenever possible, unique polynomial expressions valid between the initial and final configurations are used in order to simplify the logic. Polynomial formulations without lift-off and set-down configurations are first presented. Then, these intermediate configurations are introduced, leading to a new set of solutions. A global algorithm is then discussed in order to clearly indicate the relationship between the different solutions. Finally, an example illustrating the application to a pick-and-place operation is solved.


Author(s):  
David L. Bonner ◽  
Mark J. Jakiela ◽  
Masaki Watanabe

Abstract A new design model for the creation of mechanical components has been developed. In this model, the shape is expressed by its areas of prominence or maximum curvature, for which we use the term pseudoedges. In terms of traditional design, these represent both fillet, chamfer and intersection lines, and more general shape features. The pseudoedges of the model combine with a skeletal shape that is used as a starting form, thereby creating a hierarchy of geometric dependencies that affords both global and local control. The surface is represented by a quilt of parametric Bezier patches, with tangent plane continuity everywhere and only certain isolated singularities. Considerable degrees of deformation are possible, with predictable control and at small computational expense; there is no need for computation of intersections or parameter space trimming of patches.


Author(s):  
B. T. Cheok ◽  
A. Y. C. Nee

Abstract This paper discusses the development of a set of algorithms for the automatic nesting of ship/offshore structural plates. The algorithms are developed to take advantage of the peculiarity of most ship/offshore structural plates with the aims of optimising material usage and minimising computer search time. The parts to be nested are first processed by a shape processing routine which employs a simple feature extraction approach to classify the plates according to predefined rules specially adopted for ship/offshore structural shapes. The most appropriate search path for each class of plates is used to obtain the best enclosing rectangle for similar shapes. The search paths are based on heuristics developed to simulate the manual method used by the human operator. Finally, all the plates are laid out on the stock sheet using a “rectangle packing” approach. A computer package, Patnest-Ship was developed to demonstrate the efficiency of the algorithms and very encouraging results are achieved. The input and output files to and from Patnest-Ship are described in DXF format so that it can be integrated with existing CAD/CAM systems. Pre- and post-processors for this package have been implemented on AutoCAD to permit the user to define the plates and interactively improve on the solutions provided by Patnest-Ship, if necessary.


Author(s):  
V. Ramamurti ◽  
D. A. Subramani ◽  
K. Sridhara

Abstract Stress analysis and determination of eigen pairs of a typical turbocharger compressor impeller have been carried out using the concept of cyclic symmetry. A simplified model treating the blade and the hub as isolated elements has also been attempted. The limitations of the simplified model have been brought out. The results of the finite element model using the cyclic symmetric approach have been discussed.


Author(s):  
Martin J. Vanderploeg ◽  
Jeff D. Trom

Abstract This paper presents a new approach for linearization of large multi-body dynamic systems. The approach uses an analytical differentiation of terms evaluated in a numerical equation formulation. This technique is more efficient than finite difference and eliminates the need to determine finite difference pertubation values. Because the method is based on a relative coordinate formalism, linearizations can be obtained for equilibrium configurations with non-zero Cartesian accelerations. Examples illustrate the accuracy and efficiency of the algorithm, and its ability to compute linearizations for large-scale systems that were previously impossible.


Author(s):  
James L. Blechschmidt ◽  
J. L. Wu

Abstract In this paper we present an algorithm for the search of the shortest path through a set of obstacles approximated by circles and ellipses. A set of heuristics is developed to eliminate obstacles that do not affect the search for the shortest path. The A algorithm is used during the path generation phase to direct work toward the estimated shortest path. Algebraic techniques are used for computing a set of pseudo vertices since no natural vertices exist with the algebraic representation of the obstacles. Examples are given to demonstrate the techniques developed.


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