Dynamic Modeling of a Multi-Legged Robotic Vehicle: Part 2 — Dynamic Analysis

1987 ◽  
Author(s):  
R. A. Hart ◽  
N. D. Ebrahimi
Keyword(s):  
Dynamic Analysis ◽  
Dynamic Model ◽  
Dynamic Modeling ◽  
Kinetic Equations ◽  
Euler Method ◽  
Degree Of Freedom ◽  
Time Response ◽  
Robotic Vehicle

Abstract In Part 1 of this report, we described the overall objective of the investigation; that is, the formulation of a dynamic model for determining the time response of a multi-legged robotic vehicle traveling on a variable-topographic terrain. Specifically, we developed expressions for the joint variables, and their rates, which are essential for describing the system’s links orientations, velocities, and accelerations. This procedure enabled us to determine the kinematic quantities associated with the entire vehicular system in accordance with the Newton-Euler method. In the present paper, we formulate the kinetic equations for the multi-degree-of-freedom leg assemblies, the rigid wheels, and the platform of the vehicle to achieve the prescribed motion and corresponding configuration of the system.

scholarly journals Dynamic analysis of a five degree of freedom robotic arm using MATLAB-Simulink Simscape

2021 ◽  
Vol 343 ◽  
pp. 08004
Author(s):  
Mihai Crenganis ◽  
Alexandru Barsan ◽  
Melania Tera ◽  
Anca Chicea
Keyword(s):  
Dynamic Analysis ◽  
Dynamic Model ◽  
Inverse Kinematics ◽  
Geometric Approach ◽  
Correct Choice ◽  
Inverse Kinematic ◽  
Degree Of Freedom ◽  
Robotic Arm ◽  
Inverse Kinematic Problem ◽  
Joint Torques

In this paper, a dynamic analysis for a 5 degree of freedom (DOF) robotic arm with serial topology is presented. The dynamic model of the robot is based on importing a tri-dimensional CAD model of the robot into Simulink®-Simscape™-Multibody™. The dynamic model of the robot in Simscape is a necessary and important step in development of the mechanical structure of the robot. The correct choice of the electric motors is made according to the resistant joint torques determined by running the dynamic analysis. One can import complete CAD assemblies, including all masses, inertias, joints, constraints, and tri-dimensional geometries, into the model block. The first step for executing a dynamic analysis is to resolve the Inverse Kinematics (IK) problem for the redundant robot. The proposed method for solving the inverse kinematic problem for this type of structure is based on a geometric approach and validated afterwards using SimScape Multibody. Solving the inverse kinematics problem is a mandatory step in the dynamic analysis of the robot, this is required to drive the robot on certain user-imposed trajectories. The dynamic model of the serial robot is necessary for the simulation of motion, analysis of the robot’s structure and design of optimal control algorithms.

Dynamic Modeling and Simulating Analysis of Submersible Buoy System

2013 ◽  
Vol 475-476 ◽  
pp. 1391-1396 ◽  
Author(s):  
Zhan Feng Qi ◽  
Li Juan Jia ◽  
Yu Feng Qin ◽  
Sen Zhang ◽  
Xiu Jun Sun
Keyword(s):  
Dynamic Analysis ◽  
Numerical Computation ◽  
Dynamic Model ◽  
Dynamic Modeling ◽  
Marine Environment ◽  
Structural Design ◽  
Lumped Mass ◽  
Simulating Analysis

The submersible buoy system is an important tool in the profile observation of marine environment. According to the lumped mass based method, the dynamic modeling of the submersible buoy system is established, then the dynamic analysis is carried out. The dynamic model is solved and analyzed by using the software MATLAB. The result provides theoretical reference for its structural design and numerical computation of the submersible buoy system.

Kinematic, Static, and Dynamic Analysis of a Planar One-Degree-of-Freedom Tensegrity Mechanism

2005 ◽  
Vol 127 (6) ◽  
pp. 1152-1160 ◽  
Author(s):  
Marc Arsenault ◽  
Clément M. Gosselin
Keyword(s):  
Dynamic Analysis ◽  
Dynamic Model ◽  
Analytical Solutions ◽  
Degree Of Freedom ◽  
Static And Dynamic Analysis ◽  
Tensegrity Systems ◽  
Analysis Methods ◽  
Control Scheme ◽  
Curve Singularities ◽  
Three Degree Of Freedom

The use of tensegrity systems as structures has been extensively studied. However, their development for use as mechanisms is quite recent even though they present such advantages as reduced mass and a deployment capability. The object of this paper is to apply analysis methods usually reserved for conventional mechanisms to a planar one-degree-of-freedom tensegrity mechanism. This mechanism is obtained from a three-degree-of-freedom tensegrity system by adding actuation to the latter as well as by making some assumptions of symmetry. Analytical solutions are thus developed for the mechanism’s direct and inverse static problems. Furthermore, the working curve, singularities, and stiffness of the mechanism are detailed. Finally, a dynamic model of the mechanism is developed and a preliminary control scheme is proposed.

scholarly journals Kinematic and dynamic modeling of a 3gdl robot for educational purposes

2020 ◽  
pp. 1-7
Author(s):  
Aleyda Irene Reyes-González ◽  
José Luis Ortiz-Simón ◽  
Martha Isabel Aguilera-Hernández ◽  
Gustavo Emilio Rojo-Velázquez
Keyword(s):  
Dynamic Analysis ◽  
Dynamic Model ◽  
Dynamic Modeling ◽  
Kinematic Analysis ◽  
Degrees Of Freedom ◽  
Kinematic Model ◽  
The Other ◽  
Final Position ◽  
Specific Point ◽  
Simulink Model

The following article presents the process to obtain the kinematic and dynamic model of a Cartesian robot with 3 degrees of freedom. The robot that is used was designed for educational purposes, it allows two linear movements and one angular. The kinematic model has two forms, direct and inverse, the first provides the final position of the robot if desired values are given to each of the robot's joints, the second provides the values of the joints if there are desired values for the effector final. On the other hand, the obtaining of the dynamic model is presented in detail, which obtains the torques and forces necessary for the robot to be able to move to a specific point. The procedure includes kinematic analysis using Denavit-Hartenberg parameters and dynamic analysis using Jacobeans. As a result, responses obtained from a Simulink model are presented that show the behavior of the developed models.

scholarly journals Dynamic Modeling and Analysis of the Telescopic Sleeve Antiswing Device for Shipboard Cranes

2021 ◽  
Vol 2021 ◽  
pp. 1-15
Author(s):  
Jianli Wang ◽  
Shenghai Wang ◽  
Haiquan Chen ◽  
Anqi Niu ◽  
Guoliang Jin
Keyword(s):  
Dynamic Analysis ◽  
Dynamic Model ◽  
Dynamic Modeling ◽  
Dynamic Characteristics ◽  
Structural Design ◽  
Three Dimensional ◽  
Modeling And Analysis ◽  
Research Results ◽  
Simulation Results ◽  
Reduction Characteristics

In order to explore the dynamic characteristics of the telescopic sleeve antiswing device for shipboard cranes under coupling excitation, a three-dimensional dynamic model of the ship crane telescopic sleeve antiswing device is established in this study, and the accuracy of the model is verified through experiments. By dynamic analysis, the influence of sleeve extension and contraction, damper parameters, and ship excitation on the payload swing is found; meanwhile, the influence of payload swing on ship stability is discovered. At the same time, the simulation results show that the three-dimensional dynamic model can accurately simulate the swing reduction characteristics of the antiswing device. The in-plane and out-plane angles of the swing are reduced by 70% and 90%. The research results have great significance to further explore the antiswing mechanism and structural design of the mechanical antiswing device.

Dynamic Modeling of a Multi-Legged Robotic Vehicle: Part 1 — Kinematic Analysis

1987 ◽  
Author(s):  
R. A. Hart ◽  
N. D. Ebrahimi
Keyword(s):  
Dynamic Model ◽  
Dynamic Modeling ◽  
Dynamic Equilibrium ◽  
Contact Forces ◽  
System Response ◽  
Kinematic Chains ◽  
Locomotion System ◽  
Robotic Vehicle ◽  
Ground Profile ◽  
Legged Vehicle

Abstract This two-part paper presents a dynamic model of a legged vehicle for travel on a variable-topographic terrain. In Part 1 of the paper, we develop expressions for the kinematics of the vehicular system. These expressions, in turn, form the foundation for the dynamic analysis of the robotic vehicle presented in Part 2 of the paper. The model applies to a system composed of a cargocarrying body supported by four multi-degree-of-freedom linkage assemblies whose configurations are adjustable to accommodate terrain irregularities. The mobility of the locomotion system is provided by four rigid wheels which serve as a base to the kinematic chains that extend from the platform of the vehicle. To assure dynamic equilibrium of all members in the system, torque actuators are employed at the joints between inter-connecting bodies to facilitate the adjustment of each articulated chain configuration without reducing the adaptability of the vehicle to ground profile variations. The dynamic model used for determining the system response to environmental contact forces is based on a Newton-Euler recursive formulation.

scholarly journals Time and Frequency Domain Dynamic Analysis of Offshore Mooring

2021 ◽  
Vol 9 (7) ◽  
pp. 781
Author(s):  
Shi He ◽  
Aijun Wang
Keyword(s):  
Dynamic Analysis ◽  
Frequency Domain ◽  
Time Domain ◽  
Linearization Method ◽  
Euler Method ◽  
Single Component ◽  
Hydrodynamic Drag ◽  
Lumped Mass ◽  
Mooring Lines ◽  
The Time Domain

The numerical procedures for dynamic analysis of mooring lines in the time domain and frequency domain were developed in this work. The lumped mass method was used to model the mooring lines. In the time domain dynamic analysis, the modified Euler method was used to solve the motion equation of mooring lines. The dynamic analyses of mooring lines under horizontal, vertical, and combined harmonic excitations were carried out. The cases of single-component and multicomponent mooring lines under these excitations were studied, respectively. The case considering the seabed contact was also included. The program was validated by comparing with the results from commercial software, Orcaflex. For the frequency domain dynamic analysis, an improved frame invariant stochastic linearization method was applied to the nonlinear hydrodynamic drag term. The cases of single-component and multicomponent mooring lines were studied. The comparison of results shows that frequency domain results agree well with nonlinear time domain results.

Inverse Kinematic Solution and Dynamic Model to 3PTT Parallel Mechanism

2014 ◽  
Vol 945-949 ◽  
pp. 1421-1425
Author(s):  
Xiu Qing Hao
Keyword(s):  
Dynamic Model ◽  
Dynamic Simulation ◽  
Parallel Mechanism ◽  
Inverse Kinematic ◽  
Euler Method ◽  
Research Subject ◽  
Adams Software ◽  
Inverse Kinematic Analysis ◽  
Simulation Results ◽  
Kinematic Solution

Take typical parallel mechanism 3PTT as research subject, its inverse kinematic analysis solution was gotten. Dynamic model of the mechanism was established by Newton-Euler method, and the force and torque equations were derived. Dynamic simulation of 3PTT parallel mechanism was done by using ADAMS software, and simulation results have verified the correctness of the theoretical conclusions.

scholarly journals An approach to quantify the influence of ground motion uncertainty on elastoplastic system acceleration in incremental dynamic analysis

2017 ◽  
Vol 20 (11) ◽  
pp. 1744-1756 ◽  
Author(s):  
Peng Deng ◽  
Shiling Pei ◽  
John W. van de Lindt ◽  
Hongyan Liu ◽  
Chao Zhang
Keyword(s):  
Dynamic Analysis ◽  
Ground Motion ◽  
Earthquake Engineering ◽  
Structural Response ◽  
Incremental Dynamic Analysis ◽  
Degree Of Freedom ◽  
Maximum Acceleration ◽  
Single Degree Of Freedom ◽  
Single Degree ◽  
Performance Based Earthquake Engineering

Inclusion of ground motion–induced uncertainty in structural response evaluation is an essential component for performance-based earthquake engineering. In current practice, ground motion uncertainty is often represented in performance-based earthquake engineering analysis empirically through the use of one or more ground motion suites. How to quantitatively characterize ground motion–induced structural response uncertainty propagation at different seismic hazard levels has not been thoroughly studied to date. In this study, a procedure to quantify the influence of ground motion uncertainty on elastoplastic single-degree-of-freedom acceleration responses in an incremental dynamic analysis is proposed. By modeling the shape of the incremental dynamic analysis curves, the formula to calculate uncertainty in maximum acceleration responses of linear systems and elastoplastic single-degree-of-freedom systems is constructed. This closed-form calculation provided a quantitative way to establish statistical equivalency for different ground motion suites with regard to acceleration response in these simple systems. This equivalence was validated through a numerical experiment, in which an equivalent ground motion suite for an existing ground motion suite was constructed and shown to yield statistically similar acceleration responses to that of the existing ground motion suite at all intensity levels.

scholarly journals Planetary Gearbox Dynamic Modeling Considering Bearing Clearance and Sun Gear Tooth Crack

Sensors ◽  
2021 ◽  
Vol 21 (8) ◽  
pp. 2638
Author(s):  
Xianhua Chen ◽  
Xingkai Yang ◽  
Ming J. Zuo ◽  
Zhigang Tian
Keyword(s):  
Dynamic Model ◽  
Dynamic Modeling ◽  
Failure Modes ◽  
Gear Tooth ◽  
Working Environment ◽  
The Sun ◽  
Planetary Gearbox ◽  
Bearing Clearance ◽  
Vibration Responses ◽  
Planet Gear

Planetary gearbox systems are critical mechanical components in heavy machinery such as wind turbines. They may suffer from various failure modes, due to the harsh working environment. Dynamic modeling is a useful method to support early fault detection for enhancing reliability and reducing maintenance costs. However, reported studies have not considered the sun gear tooth crack and bearing clearance simultaneously to analyze their combined effect on vibration characteristics of planetary gearboxes. In this paper, a dynamic model is developed for planetary gearboxes considering the clearance of planet gear, sun gear, and carrier bearings, as well as sun gear tooth crack levels. Bearing forces are calculated considering bearing clearance, and the dynamic model equations are updated accordingly. The results reveal that the combination of bearing clearances can affect the vibration response with sun gear tooth crack by increasing the kurtosis. It is found that the effect of planet gear bearing clearance is very small, while the sun gear and carrier bearing clearance has clear impact on the vibration responses. These findings suggest that the incorporation of bearing clearance is important for planetary gearbox dynamic modeling.

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