Inertia Force Analysis of Spatial Mechanisms

1971 ◽  
Vol 93 (1) ◽  
pp. 27-32 ◽  
Author(s):  
An Tzu Yang
Keyword(s):  
Closed Form ◽  
Mechanical System ◽  
Dynamic Equation ◽  
Geometric Interpretation ◽  
Analytical Tool ◽  
Inertia Force ◽  
Force Analysis ◽  
Digital Computation ◽  
Spatial Mechanisms ◽  
Analytical Expressions

A dual dynamic equation, based on dual vectors and screw calculus, is formulated here to provide a concise analytical tool for the study of the dynamics of rigid members in any complex mechanical system. In this paper the equation is applied to inertia force analysis of an RCCC mechanism of general proportions; bearing reactions and inertia torque are obtained in closed form dual-number expressions. Such analytical expressions are more susceptible for geometric interpretation and well adapted for digital computation.

Application of Dual-Number Quaternion Algebra to the Analysis of Spatial Mechanisms

1964 ◽  
Vol 31 (2) ◽  
pp. 300-308 ◽  
Author(s):  
A. T. Yang ◽  
F. Freudenstein
Keyword(s):  
Closed Form ◽  
Quaternion Algebra ◽  
Digital Computation ◽  
Dual Number ◽  
Spatial Mechanisms ◽  
Algebraic Expressions ◽  
Transmission Angle

Dual-number quaternion algebra has been used to obtain explicit, closed-form algebraic expressions for the displacements, velocities, velocity ratios, forces, torques, mechanical advantages, transmission angle, and locking positions in spatial four-link mechanisms having one turning pair and three turn-slides. The results have been programmed for automatic digital computation.

Task-based torque minimization of a 3-PṞR spherical parallel manipulator

Robotica ◽  
2021 ◽  
pp. 1-30
Author(s):  
Soheil Zarkandi
Keyword(s):  
Closed Form ◽  
Dynamic Modeling ◽  
Dynamic Equation ◽  
Parallel Manipulator ◽  
Optimization Problem ◽  
Dynamic Constraints ◽  
Part C ◽  
Euler Approach ◽  
Three Degree Of Freedom ◽  
Spherical Parallel Manipulator

Abstract A comprehensive dynamic modeling and actuator torque minimization of a new symmetrical three-degree-of-freedom (3-DOF) 3-PṞR spherical parallel manipulator (SPM) is presented. Three actuating systems, each of which composed of an electromotor, a gearbox and a double Rzeppa-type driveshaft, produce input torques of the manipulator. Kinematics of the 3-PṞR SPM was recently studied by the author (Zarkandi, Proc. Inst. Mech. Eng. Part C J. Mech. Eng. Sci. 2020, https://doi.org/10.1177%2F0954406220938806). In this paper, a closed-form dynamic equation of the manipulator is derived with the Newton–Euler approach. Then, an optimization problem with kinematic and dynamic constraints is presented to minimize torques of the actuators for implementing a given task. The results are also verified by the SimMechanics model of the manipulator.

SCATTERING AND DISSOCIATION OF DEUTERONS AND 3H-NUCLEI BY NUCLEI AT INTERMEDIATE ENERGIES

1995 ◽  
Vol 04 (03) ◽  
pp. 563-586 ◽  
Author(s):  
YU. A. BEREZHNOY ◽  
V. YU. KORDA
Keyword(s):  
Elastic Scattering ◽  
Closed Form ◽  
Cross Sections ◽  
Differential Cross ◽  
Particle System ◽  
Center Of Mass ◽  
Scattering Angle ◽  
Intermediate Energies ◽  
Oscillating Functions ◽  
Analytical Expressions

We present a closed-form description that enables us to obtain the analytical expressions for the elastic scattering and dissociation differential cross-sections of deuterons and 3H-nuclei by heavy target nuclei. The resulting expressions are used to analyze the data for the 110 MeV deuterons elastically scattered on 208Pb-nuclei. The dissociation cross-sections of deuterons and 3H-nuclei are the oscillating functions of the scattering angle of the released two- and three-nucleon-particle system center-of-mass.

scholarly journals NONLINEAR OPTICAL WAVEGUIDE STRUCTURE FOR SENSOR APPLICATION: TM CASE

2007 ◽  
Vol 21 (30) ◽  
pp. 5075-5089 ◽  
Author(s):  
HALA M. KHALIL ◽  
MOHAMMED M. SHABAT ◽  
SOFYAN A. TAYA ◽  
MAZEN M. ABADLA
Keyword(s):  
Refractive Index ◽  
Theoretical Analysis ◽  
Closed Form ◽  
Optical Waveguide ◽  
Effective Refractive Index ◽  
Nonlinear Optical ◽  
Waveguide Structure ◽  
Analytical Expressions ◽  
Evanescent Waveguide ◽  
Waveguide Sensor

In this work, we present an extensive theoretical analysis of nonlinear optical waveguide sensor. The waveguide under consideration consists of a thin dielectrica film surrounded by a self-focused nonlinear cladding and a linear substrate. The nonlinearity of the cladding is considered to be of Kerr-type. Both cases, when the effective refractive index is greater and when it is smaller than the index of the guiding layer, are discussed. The sensitivity of the effective refractive index to any change in the cladding index in evanescent optical waveguide sensor is derived for TM modes. Closed form analytical expressions and normalized charts are given to provide the conditions required for the sensor to exhibit its maximum sensitivity. The results are compared with those of the well-known linear evanescent waveguide sensors.

A new closed-form method for inertia force and moment calculation in reciprocating piston engine design

2018 ◽  
Vol 61 (6) ◽  
pp. 879-885
Author(s):  
ZhiFeng Xie ◽  
QuanYong Xu ◽  
NanXiang Guan ◽  
Ming Zhou
Keyword(s):  
Closed Form ◽  
Inertia Force ◽  
Piston Engine ◽  
Engine Design

A New Method and Automatic Generation for Dynamic Analysis of Complex Planar Mechanisms Based on the Ordered Single-Opened-Chains

1994 ◽  
Author(s):  
Jian-Qing Zhang ◽  
Ting-Li Yang
Keyword(s):  
Dynamic Analysis ◽  
Dynamic Equation ◽  
Automatic Generation ◽  
The Other ◽  
New Method ◽  
Complex Mechanism ◽  
Planar Mechanisms ◽  
Spatial Mechanisms ◽  
General Dynamic

Abstract This work presents a new method for kinetostatic analysis and dynamic analysis of complex planar mechanisms, i.e. the ordered single-opened-chains method. This method makes use of the ordered single-opened chains (in short, SOC,) along with the properties of SOC, and the network constraints relationship between SOC,. By this method, any planar complex mechanism can be automatically decomposed into a series of the ordered single-opened chains and the optimal structural decomposition route (s) can be automatically selected for dynamic analysis, the paper present the dynamic equation which can be used to solve both the kinetostatic problem and the general dynamic problem. The main advantage of the proposed approach is the possibility to reduce the number of equations to be solved simultaneously to the minimum, and its high automation as well. The other advantage is the simplification of the determination of the coefficients in the equations, and thus it maybe result in a much less time-consuming algorthem. The proposed approach is illustrated with three examples. The presented method can be easily extended to the dynamic analysis of spatial mechanisms.

Response-Based Estimation of Sea State Parameters

2007 ◽  
Author(s):  
Ulrik D. Nielsen
Keyword(s):  
Closed Form ◽  
Energy Content ◽  
Wave Spectrum ◽  
Final Outcome ◽  
Bayesian Modelling ◽  
Sea State ◽  
Safe Navigation ◽  
Wave Radar ◽  
Frequency Components ◽  
Analytical Expressions

Reliable estimation of the on-site sea state parameters is essential to decision support systems for safe navigation of ships. The sea state parameters can be estimated by Bayesian Modelling which uses complex-valued frequency response functions (FRF) to estimate the wave spectrum on the basis of measured ship responses. It is therefore interesting to investigate how the filtering aspect, introduced by FRF, affects the final outcome of the estimation procedures. The paper contains a study based on numerical generated time series, and the study shows that filtering has an influence on the estimations, since high frequency components of the wave excitations are not estimated as accurately as lower frequency components. Moreover, the paper investigates how the final outcome of the Bayesian Modelling is influenced by the accuracy of the FRF. Thus, full-scale data is analysed by use of FRF calculated by a 3-D time domain code and by closed-form (analytical) expressions, respectively. Based on comparisons with wave radar measurements and satellite measurements it is seen that the wave estimations based on closed-form expressions exhibit a reasonable energy content, but the distribution of energy appears to be incorrect.

Projected Phase-Plane Switching Curves for Vibration Reduction Filters With Negative Amplitudes

2014 ◽  
Vol 136 (5) ◽  
Author(s):  
Abhishek Dhanda
Keyword(s):  
Closed Form ◽  
Real Time ◽  
Phase Plane ◽  
Closed Loop ◽  
Vibration Reduction ◽  
Shaping Filter ◽  
Negative Impulse ◽  
Acceleration And Deceleration ◽  
Analytical Expressions ◽  
Loop Scheme

In this paper, we extend the phase-plane based closed-loop scheme of implementing commands shaped with vibration-reduction filters. A generalized shaping filter is considered in this work which can have negative impulse intensities and different acceleration and deceleration limits. Switching conditions are derived in terms of the filter parameters for both convolution-based and closed-form based shaping techniques. Analytical expressions are provided for the switching curves and various schemes are discussed for selecting appropriate phase-planes and implementing shaped-commands on real-time servomechanisms.

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