Dynamic Analysis of Flexible Manipulator Arms With Distributed Viscoelastic Damping

1997 ◽  
Vol 119 (4) ◽  
pp. 831-833 ◽  
Author(s):  
Fan Zijie ◽  
Lu Bingheng ◽  
C. H. Ku
Keyword(s):  
Finite Element ◽  
Dynamic Response ◽  
Dynamic Analysis ◽  
Virtual Work ◽  
Robot Manipulators ◽  
Flexible Manipulator ◽  
Viscoelastic Damping ◽  
Principle Of Virtual Work ◽  
Flexible Robot ◽  
Damping Treatments

The main objective of this work is to predict the effect of distributed viscoelastic damping on the dynamic response of multilink flexible robot manipulators. A general approach, based on the principle of virtual work, is presented for the modeling of flexible robot arms with distributed viscoelastic damping. The finite element equations are developed, and a recurrence formulation for numerical integration of these equations is obtained. It is demonstrated, by a numerical example, that the viscoelastic damping treatments have a significant effect on the dynamic response of flexible robot manipulators.

On the Properties of a Dynamic Model of Flexible Robot Manipulators

1998 ◽  
Vol 120 (1) ◽  
pp. 8-14 ◽  
Author(s):  
Marco A. Arteaga
Keyword(s):  
Dynamic Model ◽  
Structural Properties ◽  
Robot Manipulators ◽  
Equations Of Motion ◽  
Mechanical Systems ◽  
Control Design ◽  
Flexible Manipulator ◽  
Robot Dynamics ◽  
Flexible Link ◽  
Flexible Robot

Control design of flexible robot manipulators can take advantage of the structural properties of the model used to describe the robot dynamics. Many of these properties are physical characteristics of mechanical systems whereas others arise from the method employed to model the flexible manipulator. In this paper, the modeling of flexible-link robot manipulators on the basis of the Lagrange’s equations of motion combined with the assumed modes method is briefly discussed. Several notable properties of the dynamic model are presented and their impact on control design is underlined.

A Study on Vibrations of Hexarot-Based High-G Centrifugal Simulators

Robotica ◽  
2019 ◽  
Vol 38 (2) ◽  
pp. 299-316 ◽  
Author(s):  
Siamak Pedrammehr ◽  
Houshyar Asadi ◽  
Saeid Nahavandi
Keyword(s):  
Dynamic Model ◽  
Virtual Work ◽  
Viscous Friction ◽  
Stability Index ◽  
Flexible Manipulator ◽  
Kinematics And Dynamics ◽  
Principle Of Virtual Work ◽  
End Effector ◽  
Dynamic Formulation ◽  
Different Parts

SummaryThis paper investigates the vibrations of hexarot simulators. The generalized modeling of kinematics and dynamics formulation of a hexarot mechanism is addressed. This model considers the flexible manipulator with the base motion. The dynamic formulation has been developed based on the principle of virtual work. The dynamic model consists of the stiffness of the different parts of the mechanism, the effects of gravity and inertia, torque and force related to the joints viscous friction. Finally, the response of the end effector at various frequencies has been presented, and the vibrations of the mechanism and the dynamic stability index have been investigated.

Vibration Analyses of Cylindrical Hybrid Panel with Viscoelastic Layer Based on Layerwise Finite Elements

2006 ◽  
Vol 324-325 ◽  
pp. 699-702 ◽  
Author(s):  
Il Kwon Oh ◽  
Tai Hong Cheng
Keyword(s):  
Finite Element ◽  
Virtual Work ◽  
Structural Parameters ◽  
Element Model ◽  
Viscoelastic Layer ◽  
Normal Strain ◽  
Constrained Layer Damping ◽  
Damping Characteristics ◽  
Viscoelastic Layers ◽  
Damping Treatments

Based on full layerwise displacement shell theory, the vibration and damping characteristics of cylindrical sandwiched panels with viscoelastic layers are investigated. The transverse shear deformation and the normal strain of the cylindrical hybrid panels are fully taken into account for the structural damping modeling. The layerwise finite element model is formulated by using Hamilton’s virtual work principle and the cylindrical curvature of hybrid panels is exactly modeled. Modal loss factor and frequency response functions are analyzed for various structural parameters of cylindrical sandwich panels. Present results show that the full layerwise finite element method can accurately predict the vibration and damping characteristics of the cylindrical hybrid panels with surface damping treatments and constrained layer damping.

Instantaneous Dynamic Analysis of the New Stirring Kneader Shaft

2011 ◽  
Vol 221 ◽  
pp. 472-477
Author(s):  
Zhi Min Fan ◽  
Guang Ting Zhou ◽  
Jian Ping Liu
Keyword(s):  
Finite Element ◽  
Fatigue Life ◽  
Dynamic Response ◽  
Finite Element Model ◽  
Dynamic Analysis ◽  
Structural Parameters ◽  
Element Model ◽  
Fatigue Analysis ◽  
Exciting Force ◽  
The Finite Element Model

The finite element model of the stirring kneader shaft was built by PRO/E software, which was inserted into ANSYS. Next, the instantaneous dynamic analysis of the new stirring kneader shaft was carried out. The instantaneous dynamic response of stirring shaft about the exciting force of fluid was obtained, which was to optimize the structural parameters of the stirring shaft. The foundation for the next fatigue analysis was laid based on the instantaneous dynamic response; the fatigue life of stirring kneader shaft can be predicted.

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