Experimental Model Validation for a Flexible Robot With a Prismatic Joint

1990 ◽  
Vol 112 (3) ◽  
pp. 315-323 ◽  
Author(s):  
Ye-Chen Pan ◽  
A. Galip Ulsoy ◽  
R. A. Scott
Keyword(s):  
Rigid Body ◽  
Numerical Simulations ◽  
Dynamic Model ◽  
Experimental Model ◽  
Model Validation ◽  
Solution Method ◽  
Flexible Robot ◽  
Spherical Coordinate ◽  
Prismatic Joints ◽  
Rigid Body Motions

In [1] a dynamic model for flexible manipulators with prismatic joints and the solution method were presented. In this paper experiments on a spherical coordinate robot are performed to further validate the proposed dynamic model. Using the validated model, numerical simulations are performed to illustrate the coupling effects between the rigid body motions and the flexible motions, the effects of the flexible motion on a rigid body controller, and the effects of axial shortening.

Analytical models for the rigid body motions of skew bridges

1987 ◽  
Vol 15 (8) ◽  
pp. 923-944 ◽  
Author(s):  
Emmanuel A. Maragakis ◽  
Paul C. Jennings
Keyword(s):  
Rigid Body ◽  
Analytical Models ◽  
Skew Bridges ◽  
Rigid Body Motions

Parabolic trough collector field dynamic model: Validation, energetic and exergetic analyses

2019 ◽  
Vol 148 ◽  
pp. 777-786 ◽  
Author(s):  
Jose A. Carballo ◽  
Javier Bonilla ◽  
Manuel Berenguel ◽  
Patricia Palenzuela
Keyword(s):  
Dynamic Model ◽  
Model Validation ◽  
Parabolic Trough ◽  
Parabolic Trough Collector ◽  
Field Dynamic

MULTIBODY DYNAMIC MODELING AND FLUTTER ANALYSIS OF A FLEXIBLE SLENDER VEHICLE

2012 ◽  
Vol 12 (06) ◽  
pp. 1250049 ◽  
Author(s):  
A. RASTI ◽  
S. A. FAZELZADEH
Keyword(s):  
Differential Equations ◽  
Rigid Body ◽  
Dynamic Modeling ◽  
Equations Of Motion ◽  
The Body ◽  
Elastic Deformations ◽  
Strip Theory ◽  
Multibody Dynamic ◽  
Flutter Analysis ◽  
Rigid Body Motions

In this paper, multibody dynamic modeling and flutter analysis of a flexible slender vehicle are investigated. The method is a comprehensive procedure based on the hybrid equations of motion in terms of quasi-coordinates. The equations consist of ordinary differential equations for the rigid body motions of the vehicle and partial differential equations for the elastic deformations of the flexible components of the vehicle. These equations are naturally nonlinear, but to avoid high nonlinearity of equations the elastic displacements are assumed to be small so that the equations of motion can be linearized. For the aeroelastic analysis a perturbation approach is used, by which the problem is divided into a nonlinear flight dynamics problem for quasi-rigid flight vehicle and a linear extended aeroelasticity problem for the elastic deformations and perturbations in the rigid body motions. In this manner, the trim values that are obtained from the first problem are used as an input to the second problem. The body of the vehicle is modeled with a uniform free–free beam and the aeroelastic forces are derived from the strip theory. The effect of some crucial geometric and physical parameters and the acting forces on the flutter speed and frequency of the vehicle are investigated.

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.

Dynamic Model of Dual Clutch Lever-Based Electromechanical Actuator

2011 ◽  
Author(s):  
Vladimir Ivanovic´ ◽  
Josˇko Deur ◽  
Milan Milutinovic´ ◽  
H. Eric Tseng
Keyword(s):  
Experimental Data ◽  
Dynamic Model ◽  
Model Validation ◽  
Bond Graph ◽  
Test Rig ◽  
Electromechanical Actuator ◽  
Actuator Dynamics ◽  
Operating Modes ◽  
Graph Modeling ◽  
Bond Graph Modeling

The paper presents a dynamic model of a dual clutch lever-based electromechanical actuator. Bond graph modeling technique is used to describe the clutch actuator dynamics. The model is parameterized and thoroughly validated based on the experimental data collected by using a test rig. The model validation results are used for the purpose of analysis of the actuator behavior under typical operating modes.

Sign in / Sign up

Export Citation Format

Share Document