TriRhino: a five-DOF hybrid serial-parallel manipulator with all rotating axes being continuous: stiffness analysis and experiments

2020 ◽  
pp. 1-15
Author(s):  
Yundou Xu ◽  
Fan Yang ◽  
Zhenghe Xu ◽  
Jiantao Yao ◽  
Yulin Zhou ◽  
...  
Keyword(s):  
Structural Design ◽  
Parallel Manipulator ◽  
Element Analysis ◽  
Great Ability ◽  
Stiffness Analysis ◽  
The Real ◽  
Hybrid Manipulator ◽  
The Finite Element Analysis ◽  
Measurement Results ◽  
Structural Parts

Abstract This paper studies the stiffness and experiment of a five-degree-of-freedom hybrid, serial-parallel, manipulator, with all rotating axes being continuous: TriRhino. First, the motion principle of the hybrid manipulator is introduced and the structural design is presented. Next, the stiffness analysis of the hybrid manipulator is carried out. Specifically, a stiffness test, based on prototype and loading device, is performed, proving that the real stiffness is lower than that obtained by the finite element analysis. Following, the main geometric parameters, involving error, are determined, while the real values of the parameters with error are identified, through performed calibration experiments. Finally, the measurement results show that the positioning accuracy of the manipulator is significantly improved, after kinematic calibration. Moreover, machining experiments on a workpiece show the great ability of the proposed manipulator, in machining parts with curved surface, thus great application prospects, in the machining of structural parts with complex surfaces, are quite realistic.

Structure Analysis of Electron Gun Deflection Coil Based on ProE and ANSYS

2011 ◽  
Vol 201-203 ◽  
pp. 1352-1355
Author(s):  
Hai Lang Liu ◽  
Rui Bin Zhang ◽  
Yi Ping Huang
Keyword(s):  
Finite Element Analysis ◽  
Finite Element ◽  
Structure Analysis ◽  
Structural Design ◽  
Electron Gun ◽  
Structure Modeling ◽  
Element Analysis ◽  
The Finite Element Analysis ◽  
Coil Size

Through the example of the electron gun deflection coil, this paper implements the structure modeling with ProE and makes the finite element analysis with ANSYS .The structure analysis is performed by the combination of the advantages of two softwares. The reasonableness of the design is verified. This method helps to optimize the structural design of the coil. The production of precision of the coil was improved, and coil size can effectively control and reduce material waste.

scholarly journals Analysis of Intensity and Vibration of 190T Electric Wheel Dump Truck Frame

2011 ◽  
Vol 2-3 ◽  
pp. 1008-1013
Author(s):  
Xiao Guang Yu ◽  
L. Yang
Keyword(s):  
Frame Structure ◽  
Weak Links ◽  
Dump Truck ◽  
Strength Analysis ◽  
Analysis Method ◽  
Element Analysis ◽  
Stiffness Analysis ◽  
The Finite Element Analysis ◽  
Strength And Stiffness ◽  
Analysis Of Performance

Through the cracking failure analysis of dump truck frame with large electric wheel, the static and dynamic frame analysis of performance evaluation are conducted by the finite element analysis method. From the strength and stiffness analysis frame structure in the weak links, it is easy to find out crack the parts and the reasons with frame, and through the modal analysis and random vibration and fatigue strength analysis the danger frequency of the frame induced by road encourage is obtained, which can prevent the occurrence of frame cracks and provide a foundation for further optimization of the frame.

Strength Analysis and Structural Design Improvement of the Drill Floor of a Self-Elevating Drilling Unit

2015 ◽  
Author(s):  
Qi Wang ◽  
Ji Zeng ◽  
Yong Yang
Keyword(s):  
Finite Element Analysis ◽  
Finite Element ◽  
Structural Design ◽  
Structural Strength ◽  
Element Analysis ◽  
Environmental Loads ◽  
Design Improvement ◽  
The Finite Element Analysis ◽  
Floor Structure ◽  
Drilling Unit

The self-elevating drilling units are widely used in the offshore industry for oil and gas exploration. The drill floor structure is the main part of the drilling package for a self-elevating drilling unit due to its key function. Its structural strength checking is of great significance on account of the special structure features and the complex combined loading conditions it suffers. The sufficient structural strength of the drill floor is the base and guarantee for safe drilling and extraction. The finite element method was applied to calculate the structural strength of the drill floor directly considering different load cases which was the combination of environmental loads, permanent loads, variable function loads, and reaction forces from structures and equipments. Total forty load cases were set in the finite element analysis. A detailed finite element model without simplification of the drill floor was built correctly so that it can show the accurate stiffness of the real structure. Based on this model, the design method and the design criterion of the drill floor were described in detail. The environmental loads were calculated according to ABS MODU rules. The influence of the direction of the environmental loads on the drill floor were studied and concluded. Since the drill floor was not just welding with the cantilever beam, the boundary conditions were also particularly introduced owning to the complex connection between them. After finite element analysis and calculation, the stress distribution of the whole drill floor which includes the main girders and derrick supports were obtained. The locations with high stress were found so those places should be paid more attention. The curves which show the stress variation according to the environment loading direction were drawn and their characteristics were found. The load case and the load which have the main effect on drill floor structure were found. As a result, the suggestions for design improvement were put forward for the structural design, and the finite element analysis was run again to test and verify the design improvement. This paper can provide meaningful guidance for the future design of the drill floor.

The Application of CAD/CAE Integration Simulation Technology in Dynamic Analysis for Bearing

2011 ◽  
Vol 304 ◽  
pp. 115-118 ◽  
Author(s):  
Biao Zhou ◽  
Xiao Lei Deng
Keyword(s):  
Structural Design ◽  
Ball Bearing ◽  
Dynamic Stiffness ◽  
Simulation Technology ◽  
Ansys Software ◽  
Element Analysis ◽  
Process Measures ◽  
The Finite Element Analysis ◽  
Bearing Assembly ◽  
Simulation Results

The CAD/CAE integration simulation technology route of bearing is established, and the parameterization numerical model of 7021 angle contact ball bearing is established by using the Solidworks software. Then the finite element analysis of bearing assembly is carried out in ANSYS software. The simulation result indicates that the bearing structural design is reasonable, and the intensity request and the dynamic stiffness of the spindle system can be satisfied. By the analysis and simulation results, the process measures which can improve the structure and increase rigidity of bearing can be proposed．

Four-Terminal Measurement and Simulations for Sheet Resistance in Piezoresistive Sensing Elements

2003 ◽  
Vol 125 (4) ◽  
pp. 466-469 ◽  
Author(s):  
Steven Chen ◽  
J. Albert Chiou
Keyword(s):  
Input Resistance ◽  
Sensing Element ◽  
Element Analysis ◽  
Pressure Sensing ◽  
The Finite Element Analysis ◽  
Measurement Results ◽  
Element Input ◽  
Van Der Pauw ◽  
The Difference ◽  
Good Agreement

We have seen some wafers rejected with abnormally large within-wafer variation for the input resistance (Rin) of the X-ducer in the pressure sensing element. Input resistance consists of p+,p−, the resistance of aluminum lines, and its contact resistance to p+ and p−. A four-terminal measurement (FTM) is used to characterize piezoresistors for our pressure sensing elements. The purpose in using a FTM is to find which process causes this abnormally large input resistance. Good agreement has been obtained between the finite element analysis (FEA) and experimental measurement results for this FTM technique. The difference between the conventional van der Pauw method and FEA approach is also compared and presented. It is concluded that p+ variation is the major process to cause this abnormally large input resistance. This methodology was used to diagnose the process-related problem without using special test patterns. Therefore, the development cost and cycle time was significantly reduced.

Rack and Pinion Lifting Device Structural Design of Large-Scale Dynamic Sculpture

2009 ◽  
Vol 628-629 ◽  
pp. 299-304
Author(s):  
C.Y. Lv ◽  
W.W. Shi ◽  
Xian Hai Yang
Keyword(s):  
Finite Element Analysis ◽  
Finite Element ◽  
Structural Design ◽  
Large Scale ◽  
Analysis Software ◽  
Element Analysis ◽  
The Finite Element Analysis

The design of lifting device for a large-scale dynamic sculpture at tourist district was introduced. According to its own characteristics of lift device, the "back-to-back" style of rack and pinion for the lift system was designed. It was used the finite element analysis software to analyze the strength of the rack and pinion which is a key part of the lift device. According to the stress of dedendum for the pinion is too bad, it was proposed that increased the radius of the fillet for dedendum.

A Finite Element Analysis in Structural Design of Wall-Troweling Robot

2013 ◽  
Vol 325-326 ◽  
pp. 1083-1086
Author(s):  
Yu Ming Han ◽  
Mei Jing Guo
Keyword(s):  
Finite Element Analysis ◽  
Finite Element ◽  
Stress Distribution ◽  
Static Analysis ◽  
Structural Design ◽  
Research Effort ◽  
Virtual Prototype ◽  
Element Analysis ◽  
The Finite Element Analysis ◽  
Design And Manufacturing

The troweling of wall space is an essential decorative process and the development of wall-troweling robots, which are expected to release labors from the burdensome pargeting tasks, is growing to be a promising sector in todays architectural industry. In this paper, a static analysis is conducted for the key components of troweling disk and vertical guiderail, based on the proposed virtual prototype of wall-troweling robots. The stress distribution across these components provides a sound basis for the structural design. With the finite element analysis module of SolidWorks package, the paper investigates the modal characteristics of the key components operating under practical conditions. The research effort in this paper is contributive to the design and manufacturing of wall-troweling robots.

The Finite Element Analysis and Structure Optimizing of the 42MN Flatting Mill’s Higher Beam

2010 ◽  
Vol 145 ◽  
pp. 317-320
Author(s):  
Chun Ming Zhang ◽  
Run Yuan Hao
Keyword(s):  
Mathematical Model ◽  
Finite Element Analysis ◽  
Finite Element ◽  
Structural Design ◽  
Structural Parameters ◽  
Element Model ◽  
Optimum Structure ◽  
Element Analysis ◽  
The Finite Element Analysis ◽  
The Mathematical Model

This text is on the basis of the investigation of the 42MN flatting mill’s higher beam, establishing the flatting mill’s higher beam’s finite element model and the mathematical model which has optimum structure. According to the results of their structure finite element analysis, weaved the relevant procedures and optimized them, obtained ideal structural parameters, this text provide better ideas and ways for the structural design of the flatting mill’s higher beam.

Displacement Measurement of Derrick Model Base on the Non-Contact Type Video Measurement Technology

2013 ◽  
Vol 318 ◽  
pp. 125-129
Author(s):  
Xiao Bing Xu ◽  
Xing Han ◽  
Li Yu
Keyword(s):  
Finite Element Analysis ◽  
Finite Element ◽  
Low Cost ◽  
Displacement Measurement ◽  
Measurement Technology ◽  
Element Analysis ◽  
Model Base ◽  
Contact Type ◽  
The Finite Element Analysis ◽  
Measurement Results

In this paper, a non-contact type video measurement technology is introduced, and the displacements of derrick model are measured by this technology. Then comparative analysis between this measurement results and the finite element analysis results showed that the precision of measurement displacement of derrick model used this technology is good. Therefore, this technology is an effective, convenient, safe, low cost, low labor and a new method of derrick displacement measurement.

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