Effect of Leg Inertia on Dynamics of Sliding-Leg Hexapods

2001 ◽  
Vol 123 (2) ◽  
pp. 265-271 ◽  
Author(s):  
Fengfeng Xi ◽  
Rosario Sinatra ◽  
Wanzhi Han

In this paper the effect of leg inertia on hexapod dynamics is investigated. Hexapods under investigation are a new type that is made of sliding legs with constant lengths. A complete dynamic model of sliding-leg hexapods is developed including leg inertia. Based on this dynamic model, the effect of leg inertia on hexapod dynamics is investigated in terms of two parameters. The first parameter is the ratio of the total leg mass to the mass of the moving platform, and the second parameter is the acceleration of the moving platform. Numerical studies reveal that the effect of leg inertia may be negligible at low speeds, but becomes significant at high speeds. Hence, leg inertia must be included for modeling hexapod dynamics for high-speed applications.

Author(s):  
B. A. Jujnovich ◽  
D. Cebon

Passive steering systems have been used for some years to control the steering of trailer axles on articulated vehicles. These normally use a “command steer” control strategy, which is designed to work well in steady-state circles at low speeds, but which generates inappropriate steer angles during transient low-speed maneuvers and at high speeds. In this paper, “active” steering control strategies are developed for articulated heavy goods vehicles. These aim to achieve accurate path following for tractor and trailer, for all paths and all normal vehicle speeds, in the presence of external disturbances. Controllers are designed to implement the path-following strategies at low and high speeds, whilst taking into account the complexities and practicalities of articulated vehicles. At low speeds, the articulation and steer angles on articulated heavy goods vehicles are large and small-angle approximations are not appropriate. Hence, nonlinear controllers based on kinematics are required. But at high-speeds, the dynamic stability of control system is compromised if the kinematics-based controllers remain active. This is because a key state of the system, the side-slip characteristics of the trailer, exhibits a sign-change with increasing speeds. The low and high speed controllers are blended together using a speed-dependent gain, in the intermediate speed range. Simulations are conducted to compare the performance of the new steering controllers with conventional vehicles (with unsteered drive and trailer axles) and with vehicles with command steer controllers on their trailer axles. The simulations show that active steering has the potential to improve significantly the directional performance of articulated vehicles for a wide range of conditions, throughout the speed range.


2002 ◽  
Vol 124 (4) ◽  
pp. 659-667 ◽  
Author(s):  
David M. Bevly ◽  
J. Christian Gerdes ◽  
Bradford W. Parkinson

This paper presents the system identification of a new model for the farm tractor’s yaw dynamics in order to improve automatic control at higher speeds and understand controller limitations from neglecting these dynamics. As speed increases, higher order models are required to maintain accurate lateral control of the vehicle. Neglecting these dynamics can cause the controller to become unstable at the bandwidths required for accurate control at higher speeds. The yaw dynamic model, which is found to be dominated by a second order response, is identified for multiple speeds to determine the effect of velocity on the model. The second order yaw dynamics cannot be represented by the traditional bicycle model. An analytical derivation shows that the model characteristics can, however, be captured by a model consisting of a significant (non-negligible) relaxation length in the front tire. Experimental results are presented showing that the new yaw dynamic model can provide lateral control of the tractor to within 4 cm (1σ) at speeds up to 8 m/s. These results are shown to be an improvement, at high speeds, over controllers based on models (such as a kinematic model) previously used for control of farm equipment.


2005 ◽  
Vol 127 (1) ◽  
pp. 144-149 ◽  
Author(s):  
Fengfeng Xi ◽  
Ottavio Angelico and ◽  
Rosario Sinatra

In this paper the tripod dynamics and its inertia effect is studied. The tripod design is becoming popular for the development of parallel kinematic machines (PKMs). The combination of a tripod with a gantry system forms a hybrid machine that offers the advantages from both serial and parallel structures. The tripod dynamics under study includes the mass of the moving platform as well as those of the legs. The natural orthogonal complement method is applied to derive the dynamic equations. The inertia effect of the moving platform and the legs is investigated in terms of two parameters, namely, the ratio of the total leg mass to the mass of the moving platform, and the velocity of the moving platform. The dynamic equations are separated by three terms, inertia, coupling, and gravity. Quantitative studies are carried out by simulation to examine how the two parameters affect the three respective terms. Based on the simulation results, the dynamic equations can be simplified by retaining the dominant terms while neglecting less significant ones. The simplified dynamic equations provide an efficient model for design and control of tripods.


1971 ◽  
Vol 44 (4) ◽  
pp. 962-995 ◽  
Author(s):  
A. G. Veith

Abstract We have shown that the cornering wet traction performance of tires, as measured with a special cornering trailer, is influenced by a number of factors and their interaction with each other. Unlike conventional low speed “spin-out” wet cornering traction testing, we have evaluated tire traction over the range 30–60 mph. Over this range there is a marked speed dependence in the rating of various tread rubbers and tread patterns. In general, tread rubbers show a wide range of performance ratings at the lower speeds (30–35 mph) and a narrower range at high speeds (55–60 mph). Various tread patterns on the contrary show similar behavior at low speeds but a wide divergence in traction level at high speeds. Higher durometer tread compounds show improved high speed traction for any given rubber. Tread hardness cannot be used as an omnibus indicator of wet traction performance, however, as each rubber has its own separate correlation line. Low coefficient pavement can have either low or high degrees of macrotexture, but the lack of microtexture or harshness (asperities in the fraction of a millimeter range) produces this type of pavement. Tires must perform safely on such pavement sections of public highways and the testing reported here was done on such test surfaces. Evaluations of four types of tread rubber show that they rank from high to low traction level in the order: SBR, Butyl, NR and BR (solution type) on smooth, low microtexture surfaces. Although BR gives low traction when used alone it is not so used in commercial tread compounds. When properly blended with SBR or NR, tread compounds containing BR give satisfactory traction performance and improved wear performance. The overall behavior of tires can be explained in terms of the concepts of hydrodynamic and boundary layer lubrication. At low speeds boundary layer lubrication predominates on all but the smoothest pavements. This accounts for the marked influence of tread rubber at low speeds. At high speeds both thick and thin film elastohydrodynamic lubrication predominate. In this speed range tread materials play a lesser role and tread pattern or geometry plays a larger role. The relative softness and deformability of tread compound, compared to pavement aggregate, accounts for the importance of elastohydrodynamic lubrication. Drawing on the work of many previous investigators and the data of this work it is postulated that the fraction of the tire contact area of a cornering tire that is in the elastohydrodynamic mode of lubrication is a linear function of speed. This accounts for the good linearity of the plots of traction as a function of speed. Test variability is discussed and steps taken to measure and control such relevant factors as water depth are outlined. The use of statistically designed testing programs with their inherent averaging character are advocated for those doing this work. In addition to their power at averaging test results, such designs uncover the strong interaction between tire and test variables that underlie all wet traction testing.


1999 ◽  
Vol 121 (1) ◽  
pp. 58-63 ◽  
Author(s):  
Daehie Hong ◽  
Steven A. Velinsky ◽  
Xin Feng

For low speed, low acceleration, and lightly loaded applications, kinematic models of Wheeled Mobile Robots (WMRs) provide reasonably accurate results. However, as WMRs are designed to perform more demanding, practical applications with high speeds and/or high loads, kinematic models are no longer valid representations. This paper includes experimental results for a heavy, differentially steered WMR for both loaded and unloaded conditions. These results are used to verify a recently developed dynamic model which includes a complex tire representation to accurately account for the tire/ground interaction. The dynamic model is then exercised to clearly show the inadequacy of kinematic models for high load and/or high speed conditions. Furthermore, through simulation, the failure of kinematic model based control for such applications is also shown.


Author(s):  
Dongsheng Qian ◽  
Xiaotian Xu ◽  
Song Deng ◽  
Shaofeng Jiang ◽  
Lin Hua

To accurately predict the dynamic behaviors of high speed ball bearings, an investigation on the sliding behavior of balls at high and low speeds, and light and heavy loads is necessary. However, existing nonlinear dynamic models fail to consider comprehensively key factors such as asperity and hydrodynamic tractions, time-varying friction coefficient and time-varying lubricant mode. In this work, these influencing factors are integrated into the nonlinear dynamic model to make it suitable for the working conditions of high and low speeds and light and heavy loads. The dynamic analysis provides the relation of angular speeds of balls with spin and sliding at light and heavy loads, also it reveals the number of pure rolling point under the combined effect of differential sliding and spin sliding. Research results provide a reliable mathematical model and theoretical bases for further studying the dynamic behaviors of high speed ball bearings.


2012 ◽  
Vol 6 (2) ◽  
pp. 175-179 ◽  
Author(s):  
Taku Yamazaki ◽  
◽  
Atsushi Matsubara ◽  
Shinya Ikenaga ◽  

High performance milling spindles with high rigidity and high speed are required for high productive machining. A preload switching spindle has been designed to obtain high rigidity at low speeds while avoiding bearing burn at high speeds. In this report, the load-displacement relationship of a preload switching spindle is measured with a non-contact magnetic loading device. Measurement and simulation results are compared to clarify the rigidity change by preload switching.


1996 ◽  
Vol 118 (1) ◽  
pp. 41-47 ◽  
Author(s):  
R. M. Harris ◽  
K. A. Edge ◽  
D. G. Tilley

This paper describes a dynamic model for slipper-pads that allows lift and tilt behavior to be predicted, including the effects of possible contact with the swashplate or slipper retaining plate. This model has been incorporated in the Bathfp simulation package and used to examine the dynamic stability of slipper-pads over the pumping cycle, and to compare the behavior over a range of pump speeds. The centripetal tilting moments acting on the slipper-pad increase with speed and as a consequence can lead to contact between the slipper and the swashplate at high speed. This is particularly likely to occur as the piston makes the transition between suction and delivery, where the pressure forces acting on the piston-slipper assembly change abruptly. The predicted nature of the swashplate contacts at high speeds correspond closely with witness marks on a dismantled pump. The model presented may also be used for predicting slipper behavior in other types of pump, for example, wobble-plate type pumps, or in piston motors.


TAPPI Journal ◽  
2009 ◽  
Vol 8 (1) ◽  
pp. 20-26 ◽  
Author(s):  
PEEYUSH TRIPATHI ◽  
MARGARET JOYCE ◽  
PAUL D. FLEMING ◽  
MASAHIRO SUGIHARA

Using an experimental design approach, researchers altered process parameters and material prop-erties to stabilize the curtain of a pilot curtain coater at high speeds. Part I of this paper identifies the four significant variables that influence curtain stability. The boundary layer air removal system was critical to the stability of the curtain and base sheet roughness was found to be very important. A shear thinning coating rheology and higher curtain heights improved the curtain stability at high speeds. The sizing of the base sheet affected coverage and cur-tain stability because of its effect on base sheet wettability. The role of surfactant was inconclusive. Part II of this paper will report on further optimization of curtain stability with these four variables using a D-optimal partial-facto-rial design.


Author(s):  
P.I. Tarasov

Research objective: studies of economic and transport infrastructure development in the Arctic and Northern Territories of Russia. Research methodology: analysis of transport infrastructure in the Republic of Sakha (Yakutia) and the types of railways used in Russia. Results: economic development of any region is proportional to the development of the road transport infrastructure and logistics. When a conventional railway is operated in the Arctic conditions, it is not always possible to maintain a cargo turnover that would ensure its efficient use, and transshipment from one mode of transport to another is very problematic. A new type of railway is proposed, i.e. a light railway. Conclusions: the proposed new type of transport offers all the main advantages of narrow gauge railroads (high speed of construction, efficiency, etc.) and helps to eliminate their main disadvantage, i.e. the need for transloading when moving from a narrow gauge to the conventional one with the width of 1520 mm, along with a significant reduction in capital costs.


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