A Polynomial Formulation of Inverse Kinematics of Rolling Contact

2015 ◽  
Vol 7 (4) ◽  
Author(s):  
Lei Cui ◽  
Jian S. Dai
Keyword(s):  
Degrees Of Freedom ◽  
Contact Point ◽  
Rolling Contact ◽  
Moving Object ◽  
Algebraic Equations ◽  
Nonlinear Algebraic Equations ◽  
Univariate Polynomial ◽  
Curvature Theory ◽  
Robotic Devices ◽  
Polynomial Formulation

Rolling contact has been used by robotic devices to drive between configurations. The degrees of freedom (DOFs) of rolling contact pairs can be one, two, or three, depending on the geometry of the objects. This paper aimed to derive three kinematic inputs required for the moving object to follow a trajectory described by its velocity profile when the moving object has three rotational DOFs and thus can rotate about any axis through the contact point with respect to the fixed object. We obtained three contact equations in the form of a system of three nonlinear algebraic equations by applying the curvature theory in differential geometry and simplified the three nonlinear algebraic equations to a univariate polynomial of degree six. Differing from the existing solution that requires solving a system of nonlinear ordinary differential equations, this polynomial is suitable for fast and accurate numerical root approximations. The contact equations further revealed the two essential parts of the spin velocity: The induced spin velocity governed by the geometry and the compensatory spin velocity provided externally to realize the desired spin velocity.

A Polynomial Approach to Inverse Kinematics of Rolling Contact

2012 ◽  
Author(s):  
Lei Cui ◽  
Jian S. Dai
Keyword(s):  
Differential Equations ◽  
Velocity Profile ◽  
Open Source Software ◽  
Inverse Kinematics ◽  
Degrees Of Freedom ◽  
Rolling Contact ◽  
Moving Object ◽  
Nonlinear Ordinary Differential Equations ◽  
Rotational Degrees Of Freedom ◽  
Polynomial Formulation

A moving object has three rotational degrees of freedom with respect to the fixed one when the two objects maintain rolling contact. Thus three kinematic inputs are considered necessary for the moving object to follow a trajectory described by its velocity profile as function of time. This paper formulates the problem as a system of three nonlinear equations and reduces it to solving a polynomial of degree six with one variable. This leads to fast and accurate numerical approximations of roots on a computer either by commercial software or open-source software. This polynomial formulation is different from previous ones that require solving a system of nonlinear ordinary differential equations.

Localized Modes in Periodic Systems With Nonlinear Disorders

1997 ◽  
Vol 64 (4) ◽  
pp. 940-945 ◽  
Author(s):  
C. W. Cai ◽  
H. C. Chan ◽  
Y. K. Cheung
Keyword(s):  
Degrees Of Freedom ◽  
Maximum Amplitude ◽  
Critical Value ◽  
Periodic Systems ◽  
Algebraic Equations ◽  
Localized Modes ◽  
Transformation Technique ◽  
Nonlinear Algebraic Equations ◽  
Coupling Stiffness ◽  
Localized Mode

The localized modes of periodic systems with infinite degrees-of-freedom and having one or two nonlinear disorders are examined by using the Lindstedt-Poincare (L-P) method. The set of nonlinear algebraic equations with infinite number of variables is derived and solved exactly by the U-transformation technique. It is shown that the localized modes exist for any amount of the ratio between the linear coupling stiffness kc and the coefficient γ of the nonlinear disordered term, and the nonsymmetric localized mode in the periodic system with two nonlinear disorders occurs as the ratio kc/γ, decreasing to a critical value depending on the maximum amplitude.

In-hand forward and inverse kinematics with rolling contact

Robotica ◽  
2017 ◽  
Vol 35 (12) ◽  
pp. 2381-2399 ◽  
Author(s):  
Lei Cui ◽  
Jie Sun ◽  
Jian S. Dai
Keyword(s):  
Inverse Kinematics ◽  
Degrees Of Freedom ◽  
Rolling Contact ◽  
Moving Frame ◽  
Robot Hand ◽  
Robotic Hands ◽  
Geometric Framework ◽  
Univariate Polynomial ◽  
Forward And Inverse Kinematics ◽  
Exponential Formula

SUMMARYRobotic hands use rolling contact to manipulate a grasped object to a desired location, even when the finger and the palm linkage mechanisms lack degrees of freedom. This paper presents a systematic approach to the forward and inverse kinematics of in-hand manipulation. The moving frame method in differential geometry is integrated into the product of exponential formula to establish a pure geometric framework of the kinematics of a robot hand. The forward and inverse kinematics of a multifingered hand are obtained in terms of the joint rates and contact trajectories. A two-fingered planar robot hand and a three-fingered spatial robot hand are used to demonstrate the proposed approach. The proposed formulation amounts to solving a univariate polynomial, providing an alternative to the existing ones that require numerical integration.

scholarly journals Frequency–Amplitude Relationship of a Nonlinear Symmetric Panel Absorber Mounted on a Flexible Wall

Symmetry ◽  
2021 ◽  
Vol 13 (7) ◽  
pp. 1188
Author(s):  
Yiu-Yin Lee
Keyword(s):  
Elliptic Integral ◽  
Algebraic Equations ◽  
Cavity Depth ◽  
Nonlinear Algebraic Equations ◽  
Flexible Panel ◽  
Flexible Wall ◽  
Elliptic Integral Method ◽  
Flexible Panels ◽  
Relationship Of ◽  
Panel Absorber

This study addresses the frequency–amplitude relationship of a nonlinear symmetric panel absorber mounted on a flexible wall. In many structural–acoustic works, only one flexible panel is considered in their models with symmetric configuration. There are very limited research investigations that focus on two flexible panels coupled with a cavity, particularly for nonlinear structural–acoustic problems. In practice, panel absorbers with symmetric configurations are common and usually mounted on a flexible wall. Thus, it should not be assumed that the wall is rigid. This study is the first work employing the weighted residual elliptic integral method for solving this problem, which involves the nonlinear multi-mode governing equations of two flexible panels coupled with a cavity. The reason for adopting the proposed solution method is that fewer nonlinear algebraic equations are generated. The results obtained from the proposed method and finite element method agree reasonably well with each other. The effects of some parameters such as vibration amplitude, cavity depth and thickness ratio, etc. are also investigated.

scholarly journals A Pseudospectral Algorithm for Solving Multipantograph Delay Systems on a Semi-Infinite Interval Using Legendre Rational Functions

2014 ◽  
Vol 2014 ◽  
pp. 1-9 ◽  
Author(s):  
E. H. Doha ◽  
D. Baleanu ◽  
A. H. Bhrawy ◽  
R. M. Hafez
Keyword(s):  
Numerical Solutions ◽  
Rational Functions ◽  
Absolute Error ◽  
Delay Systems ◽  
Infinite Interval ◽  
Algebraic Equations ◽  
Collocation Points ◽  
Nonlinear Algebraic Equations ◽  
Linear And Nonlinear ◽  
Pseudospectral Scheme

A new Legendre rational pseudospectral scheme is proposed and developed for solving numerically systems of linear and nonlinear multipantograph equations on a semi-infinite interval. A Legendre rational collocation method based on Legendre rational-Gauss quadrature points is utilized to reduce the solution of such systems to systems of linear and nonlinear algebraic equations. In addition, accurate approximations are achieved by selecting few Legendre rational-Gauss collocation points. The numerical results obtained by this method have been compared with various exact solutions in order to demonstrate the accuracy and efficiency of the proposed method. Indeed, for relatively limited nodes used, the absolute error in our numerical solutions is sufficiently small.

scholarly journals Modal Perturbation Method for the Dynamic Characteristics of Timoshenko Beams

2005 ◽  
Vol 12 (6) ◽  
pp. 425-434 ◽  
Author(s):  
Menglin Lou ◽  
Qiuhua Duan ◽  
Genda Chen
Keyword(s):  
Perturbation Method ◽  
Dynamic Characteristics ◽  
Timoshenko Beam ◽  
Natural Frequencies ◽  
Solution Process ◽  
Equation Of Motion ◽  
Timoshenko Beams ◽  
Algebraic Equations ◽  
Nonlinear Algebraic Equations ◽  
Shear Distortion

Timoshenko beams have been widely used in structural and mechanical systems. Under dynamic loading, the analytical solution of a Timoshenko beam is often difficult to obtain due to the complexity involved in the equation of motion. In this paper, a modal perturbation method is introduced to approximately determine the dynamic characteristics of a Timoshenko beam. In this approach, the differential equation of motion describing the dynamic behavior of the Timoshenko beam can be transformed into a set of nonlinear algebraic equations. Therefore, the solution process can be simplified significantly for the Timoshenko beam with arbitrary boundaries. Several examples are given to illustrate the application of the proposed method. Numerical results have shown that the modal perturbation method is effective in determining the modal characteristics of Timoshenko beams with high accuracy. The effects of shear distortion and moment of inertia on the natural frequencies of Timoshenko beams are discussed in detail.

Periodic Response of a Link Coupling With Clearance

1989 ◽  
Vol 111 (2) ◽  
pp. 253-259 ◽  
Author(s):  
Y. S. Choi ◽  
S. T. Noah
Keyword(s):  
Steady State ◽  
Boundary Conditions ◽  
Solution Procedure ◽  
Contact Forces ◽  
Steady State Response ◽  
Algebraic Equations ◽  
State Response ◽  
Contact Points ◽  
Integration Schemes ◽  
Nonlinear Algebraic Equations

The nonlinear, steady-state response of a displacement-forced link coupling with clearance with finite stiffness is determined. The solution procedure is derived from satisfying the boundary conditions at the contact points and then solving the resulting nonlinear algebraic equations by setting the duration of contact as a parameter. This direct approach to determining periodic solutions for systems with clearances with finite stiffness is substantially more efficient than numerical integration schemes. Results in terms of contact forces and durations of contact are pertinent to fatigue and wear studies. Parametric relations are presented for effects of the variation of damping, stiffness, exciting displacement, and gap length on the dynamic behavior of the link pair.

Periodic Solutions in Rotor Dynamic Systems With Nonlinear Supports: A General Approach

1989 ◽  
Vol 111 (2) ◽  
pp. 187-193 ◽  
Author(s):  
C. Nataraj ◽  
H. D. Nelson
Keyword(s):  
Dynamic Systems ◽  
Original Problem ◽  
Squeeze Film ◽  
Algebraic Equations ◽  
Trigonometric Collocation ◽  
Nonlinear Algebraic Equations ◽  
The Stability ◽  
Future Work ◽  
Rotor Dynamic ◽  
Large Rotor

A new quantitative method of estimating steady state periodic behavior in nonlinear systems, based on the trigonometric collocation method, is outlined. A procedure is developed to analyze large rotor dynamic systems with nonlinear supports by the use of the above method in conjunction with Component Mode Synthesis. The algorithm discussed is seen to reduce the original problem to solving nonlinear algebraic equations in terms of only the coordinates associated with the nonlinear supports and is a big improvement over commonly used integration methods. The feasibility and advantages of the procedure so developed are illustrated with the help of an example of a typical rotor dynamic system with an uncentered squeeze film damper. Future work on the investigation of the stability of the periodic response so obtained is outlined.

The Influence of Small Particles on the Structure of a Turbulent Shear Flow

2004 ◽  
Vol 126 (4) ◽  
pp. 613-619 ◽  
Author(s):  
David I. Graham
Keyword(s):  
Shear Flow ◽  
General Trend ◽  
Turbulent Shear ◽  
Mass Loading ◽  
Turbulent Shear Flow ◽  
Algebraic Equations ◽  
Reynolds Stresses ◽  
Temporal Correlations ◽  
Fluid Velocities ◽  
Nonlinear Algebraic Equations

In this paper, an analytical solution is found for the Reynolds equations describing a simple turbulent shear flow carrying small, wake-less particles. An algebraic stress model is used as the basis of the model, the particles leading to source terms in the equations for the turbulent stresses in the flow. The sources are proportional to the mass loading of the particles and depend on the temporal correlations of the fluid velocities seen by particles, Rijτ. The resulting set of equations is a system of nonlinear algebraic equations for the Reynolds stresses and the dissipation. The system is solved exactly and the influence of the particles can be quantified. The predictions are compared with DNS results and are shown to predict trends quite well. Different scenarios are investigated, including the effects of isotropic, anisotropic and non-equilibrium time scales and negative loops in Rijτ. The general trend is to increase anisotropy and attenuate turbulence with higher mass loadings. The occurrence of turbulence enhancement is investigated and shown to be theoretically possible, but physically unlikely.

Trajectory Tracking of Underactuated Multibody Systems

2011 ◽  
Author(s):  
Stefan Reichl ◽  
Wolfgang Steiner
Keyword(s):  
Trajectory Tracking ◽  
Multibody Systems ◽  
Degrees Of Freedom ◽  
Inverse Dynamics ◽  
Feedforward Control ◽  
Equations Of Motion ◽  
Three Dimensional ◽  
Differential Algebraic Equations ◽  
State Variables ◽  
Algebraic Equations

This work presents three different approaches in inverse dynamics for the solution of trajectory tracking problems in underactuated multibody systems. Such systems are characterized by less control inputs than degrees of freedom. The first approach uses an extension of the equations of motion by geometric and control constraints. This results in index-five differential-algebraic equations. A projection method is used to reduce the systems index and the resulting equations are solved numerically. The second method is a flatness-based feedforward control design. Input and state variables can be parameterized by the flat outputs and their time derivatives up to a certain order. The third approach uses an optimal control algorithm which is based on the minimization of a cost functional including system outputs and desired trajectory. It has to be distinguished between direct and indirect methods. These specific methods are applied to an underactuated planar crane and a three-dimensional rotary crane.

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