Dynamic stiffness model of spherical parallel robots

2016 ◽  
Vol 384 ◽  
pp. 312-324 ◽  
Author(s):  
Alessandro Cammarata ◽  
Ivo Caliò ◽  
Domenico D׳Urso ◽  
Annalisa Greco ◽  
Michele Lacagnina ◽  
...  
Keyword(s):  
Dynamic Stiffness ◽  
Parallel Robots ◽  
Stiffness Model

Cable behavior influence on Cable-Driven Parallel Robots vibrations: experimental characterization and simulation

2021 ◽  
pp. 1-54
Author(s):  
Damien Gueners ◽  
Belhassen Chedli Bouzgarrou ◽  
Helene Chanal
Keyword(s):  
Additive Manufacturing ◽  
Tool Path ◽  
Dynamic Stiffness ◽  
Parallel Robots ◽  
Medium Size ◽  
Stiffness Analysis ◽  
Stiffness Model ◽  
Manufacturing Applications ◽  
High Level

Abstract In this paper, the influence of cable behavior, on Cable Driven Parallel Robots (CDPR) is studied. This study is conducted with the goal of designing a medium size CDPR for additive manufacturing. This robot needs to have a high level of rigidity to guarantee a given tracking tool path error. Firstly, the characterization of different thin cables (steel, Dyneema®, aramid) is presented. The mechanical properties of these cables, in terms of stiffness, damping, hysteresis and creep are compared with regard to additive manufacturing applications. A stiffness model, which takes into account the cable preload, and a dynamic model of CDPR is proposed. The simulations of these two models are compared with experimental results obtained for the range of cables studied using dynamic stiffness analysis on an 8-cable fully constrained CDPR. This paper concludes on the type of cable that should be chosen for our application.

Research on the dynamic characteristic of semi-active hydraulic damping strut

2019 ◽  
Vol 234 (6) ◽  
pp. 1779-1791 ◽  
Author(s):  
Daoyong Wang ◽  
Wencan Zhang ◽  
Mu Chai ◽  
Xiaguang Zeng
Keyword(s):  
Degrees Of Freedom ◽  
Dynamic Stiffness ◽  
Low Frequency ◽  
Maxwell Model ◽  
Friction Model ◽  
Damping Capacity ◽  
Frequency Range ◽  
Stiffness Model ◽  
Rubber Bushing

To reduce the vibration and shock of powertrain in the process of engine key on/off and vehicle in situ shift, a novel semi-active hydraulic damping strut is developed. The purpose of this paper is to study and discuss the dynamic stiffness model of the semi-active hydraulic damping strut. In this study, the dynamic characteristics of semi-active hydraulic damping strut were analyzed based on MTS 831 test rig first. Then, the dynamic stiffness model of semi-active hydraulic damping strut was established based on 2 degrees of freedom vibration system. In this research, a linear, fractional derivative and friction model was used to represent the nonlinear rubber bushing characteristic; the Maxwell model was used to describe the semi-active hydraulic damping strut body model; and the parameters of rubber bushing and semi-active hydraulic damping strut body were identified. The dynamic stiffness values were calculated with solenoid valve energized and not energized at amplitudes of 1 mm and 4 mm, which were consistent with experimental results in low-frequency range. Furthermore, the simplified dynamic stiffness model of the semi-active hydraulic damping strut was discussed, which showed that bushing can be ignored in low-frequency range. Then, the influence of equivalent spring stiffness, damping constant, and rubber bushing stiffness on the stiffness and damping capacity of the semi-active hydraulic damping strut were analyzed. Finally, the prototype of the semi-active hydraulic damping strut was developed and designed based on the vehicle in situ shift and engine key on/off situations, and experiments of the vehicle with and without semi-active hydraulic damping strut were carried out to verify its function.

EFFECTIVE DYNAMIC STIFFNESS MODEL AND ITS EFFECTS ON ROBOT SAFETY AND PERFORMANCE

2013 ◽  
Vol 37 (3) ◽  
pp. 395-403
Author(s):  
Dongjun Shin ◽  
Zhan Fan Quek
Keyword(s):  
Dynamic Stiffness ◽  
Joint Stiffness ◽  
Optimization Strategy ◽  
Design Guideline ◽  
Controller Gain ◽  
Stiffness Model ◽  
Effective Dynamic ◽  
Stiffness Characteristics ◽  
And Performance ◽  
The Impact

Due to the limited control bandwidth of pneumatic artificial muscles, joint stiffness characteristics and their effects on safety and performance of human-friendly robots should be considered in the frequency domain. This paper introduces the concept of effective dynamic stiffness and validates its model with the Stanford Safety Robot. Experimental results show that the dynamic stiffness demonstrates limited effects on the impact acceleration given the same impact velocity and controller gain, whereas it significantly affects control performance of position tracking due to pressure-induced non-linearities. A stiffness optimization strategy for safety and performance is discussed as a design guideline of human-friendly robots.

scholarly journals Analysis on Dynamic Contact Characteristics and Dynamic Stiffness Estimating Method of Single Nut Ball Screw Pair Based on the Whole Rolling Elements Model

2020 ◽  
Vol 10 (17) ◽  
pp. 5795
Author(s):  
Ye Chen ◽  
Chunyu Zhao ◽  
Zhenjun Li ◽  
Zechen Lu
Keyword(s):  
Machine Tool ◽  
Mass Production ◽  
Contact Stiffness ◽  
Dynamic Stiffness ◽  
Dynamic Contact ◽  
Ball Screw ◽  
Cnc Machine Tool ◽  
Cnc Machine ◽  
Feed System ◽  
Stiffness Model

The purpose of this paper is investigating the characteristics of dynamic contact and dynamic stiffness of the single nut ball screw pair (SNBSP). Then a new sensorless method is proposed to extract the SNBSP dynamic contact stiffness of a mass production CNC machine tool feed system. First of all, the transformation relationship between each coordinate system of SNBSP is established. Secondly, the dynamic model of all ball–raceway contact pairs is established. Based on this, a dynamic contact stiffness model is established. The dynamic contact parameters are obtained by the numerical method. It is found that the influence of screw speed on screw and nut raceway normal force distribution are opposite. This will affect the variations of dynamic contact stiffness. It is also clear that the effect of axial load on dynamic stiffness is significant. Then, an effective method is proposed to estimate the dynamic contact stiffness of a mass production CNC machine tool feed system without any external sensors. The axial force of feed system is estimated by using torque current of servo motor. Current signals can be obtained through FANUC Open CNC API Specifications (FOCAS) library functions, and then dynamic contact stiffness can be calculated through the stiffness model without external sensors. Finally, a feed system dynamic model is built, and the contact model and sensorless stiffness estimating method are verified by experiments in this dynamic system.

scholarly journals An Integrated Model to Characterize Comprehensive Stiffness of Angular Contact Ball Bearings

2020 ◽  
Vol 2020 ◽  
pp. 1-12
Author(s):  
Chunli Lei ◽  
Fuhong Li ◽  
Baoru Gong ◽  
Xibin Jia
Keyword(s):  
High Speed ◽  
Thermal Deformation ◽  
Contact Stiffness ◽  
Dynamic Stiffness ◽  
Elastohydrodynamic Lubrication ◽  
Angular Contact Ball Bearing ◽  
Stiffness Model ◽  
Calculation Results ◽  
Ball Spinning ◽  
Bearing Stiffness

The bearing dynamic behaviors will be complicated due to the changes in the geometric sizes and relative positions of the bearing components at high speed. In this paper, based on the Hertz contact theory, elastohydrodynamic lubrication (EHL) model, and Jones’ bearing theory, the comprehensive stiffness model of the angular contact ball bearing is proposed in consideration of the effects of elastic deformation, centrifugal deformation, thermal deformation, and the ball spinning motion. The influences of these factors on bearing dynamic stiffness are investigated in detail. The calculation results show that the centrifugal deformation and thermal deformation increase with the increase in rotation speed. When the centrifugal deformation and thermal deformation are considered, the bearing radial contact stiffness increases as the speed increases, whereas the axial contact stiffness and the angular contact stiffness decrease. When the deformations and the EHL are all considered, the comprehensive bearing stiffness decreases with the increasing speed. It is also found that the spinning motion of the ball causes the comprehensive bearing stiffness to increase.

scholarly journals Modeling a Mechanical Molecular Spring Isolator with High-Static-Low-Dynamic-Stiffness Properties

2020 ◽  
Vol 2020 ◽  
pp. 1-9
Author(s):  
Zhanyong Li ◽  
Qian Chen ◽  
Fengshou Gu ◽  
Andrew Ball
Keyword(s):  
Vibration Isolation ◽  
Dynamic Properties ◽  
Piecewise Linear ◽  
Dynamic Stiffness ◽  
Low Frequency ◽  
Isolation System ◽  
Isolation Technique ◽  
Piston Cylinder ◽  
Low Frequency Vibration ◽  
Stiffness Model

A mechanical molecular spring isolator (MMSI) is proposed for the purpose of isolating the low-frequency vibration of a heavy payload. The MMSI is a passive vibration isolation technique mimicking molecular spring isolator characteristics of high-static-low-dynamic stiffness (HSLDS). An MMSI consists of a piston-cylinder container filled with the liquid and some hydraulic spring accumulators. The piston would support a lump of mass and be subjected to a specific external vibration excitation force. Those accumulators can get intercommunication by the liquid to produce the transformation from high static stiffness to low dynamic stiffness. The stiffness model of the MMSI with several identical accumulators is established based on the hydrostatic law. After that, some parameters that significantly influence the stiffness characteristics are studied. Results show that the stiffness property of this kind of MMSI demonstrates a piecewise linearity of three segments. It applies the averaging method to acquire amplitude-frequency and phase-frequency relationships of the piecewise linear vibration isolation system. An inevitable jump phenomenon may occur when the exciting force reaches the critical value. The vibration isolation performance is evaluated by energy transmissibility. Finally, an experimental prototype was designed to carry out quasi-static and dynamic experiments to verify the stiffness model and the dynamic properties as an HSLDS vibration isolator.

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