Dynamic Models of Robots With Linkage Structures

1992 ◽  
Author(s):  
Shin-Liang Wang
Keyword(s):  
Kinetic Energy ◽  
Potential Energy ◽  
Euler Equation ◽  
Dynamic Model ◽  
Systematic Approach ◽  
Dynamic Models ◽  
Lagrangian Equation ◽  
Serial Link ◽  
Passive Joint ◽  
Inertial Terms

Abstract A systematic approach to formulate the dynamic model of a robot with a linkage structure is presented. A dynamic model similar to that of a serial link robot can be obtained with respect to active joints only. The kinetic energy can be formulated from the Newton-Euler equation, and passive joint rates can be eliminated using loop closure equations. Inertial terms can be derived from the kinetic energy; gravitational terms from the potential energy and Lagrangian equation; and the Coriolis and centrifugal terms from the inertial terms and the Lagrangian method. This approach is very efficient for simple mechanisms, most likely to be used in linkage robots.

scholarly journals A New Mechanism for Soft Landing in Robotic Space Exploration

Robotics ◽  
2019 ◽  
Vol 8 (4) ◽  
pp. 103 ◽  
Author(s):  
Stefano Seriani
Keyword(s):  
Solar System ◽  
Kinetic Energy ◽  
Potential Energy ◽  
System Design ◽  
Dynamic Models ◽  
Space Exploration ◽  
Reactive Force ◽  
Soft Landing ◽  
Theoretical Limit ◽  
Robotic Space Exploration

Landing safely is the key to successful exploration of the solar system; the mitigation of the connected effects of collision in mechanical systems relies on the conversion of kinetic energy into heat or potential energy. An effective landing-system design should minimize the acceleration acting on the payload. In this paper, we focus on the application of a special class of nonlinear preloaded mechanisms, which take advantage of a variable radius drum (VRD) to produce a constant reactive force during deceleration. Static and dynamic models of the mechanism are presented. Numerical results show that the system allows for very efficient kinetic energy accumulation during impact, approaching the theoretical limit.

Nonlinear Dynamic Modeling and Vibration Analysis of Faulty Rolling Bearing Based on Collision Impact

2021 ◽  
Vol 16 (6) ◽  
Author(s):  
Longkui Zheng ◽  
Yang Xiang ◽  
Chenxing Sheng
Keyword(s):  
Kinetic Energy ◽  
Potential Energy ◽  
Dynamic Model ◽  
Nonlinear Dynamic ◽  
Rolling Bearing ◽  
Hertzian Contact ◽  
Nonlinear Dynamic Model ◽  
Impact System ◽  
Rolling Element ◽  
The Impact

Abstract This study proposes a new nonlinear dynamic model of rolling bearing faults based on a collision impact system. The dynamic model accounts for the collision impact system consisting of the rolling elements and localized faults according to the nonlinear Hertzian contact. First, considering the impact of the rolling element and fault structure, the collision impact system between rolling element and localized fault is established, and the vibration responses of the collision impact system can be obtained. Second, the overall rolling bearing is treated as a mass-spring model, and the contact between the rolling element and raceway is treated as a nonlinear spring that conforms to the Hertzian contact deformation theory. Third, according to the Lagrange equation, overall potential energy, overall kinetic energy, elastic potential energy, and kinetic energy of the collision impact system are used to describe the vibration characteristics. Considering the impact of collision impact systems, a nonlinear dynamic model of rolling bearing faults is established. The simulated acceleration results based on the nonlinear dynamic model are compared to experimental results. The comparison indicates that the numerical model can be used to predict the vibration characteristics of rolling bearings faults effectively.

MULTI–INERT OSCILLATORY MECHANISM

2020 ◽  
Vol 2 ◽  
pp. 19-25
Author(s):  
I.P. POPOV
Keyword(s):  
Kinetic Energy ◽  
Potential Energy ◽  
Oscillation Frequency ◽  
Free Oscillation ◽  
Initial Conditions ◽  
Oscillatory System ◽  
Harmonic Oscillations ◽  
Oscillatory Systems ◽  
Oscillatory Mechanism ◽  
Mutual Conversion

A mechanical oscillatory system with homogeneous elements, namely, with n massive loads (multi– inert oscillator), is considered. The possibility of the appearance of free harmonic oscillations of loads in such a system is shown. Unlike the classical spring pendulum, the oscillations of which are due to the mutual conversion of the kinetic energy of the load into the potential energy of the spring, in a multi–inert oscillator, the oscillations are due to the mutual conversion of only the kinetic energies of the goods. In this case, the acceleration of some loads occurs due to the braking of others. A feature of the multi–inert oscillator is that its free oscillation frequency is not fixed and is determined mainly by the initial conditions. This feature can be very useful for technical applications, for example, for self–neutralization of mechanical reactive (inertial) power in oscillatory systems.

Tracker-assisted modelling: simultaneous validation of the conservation law of energy and the work-energy theorem

2021 ◽  
Vol 57 (1) ◽  
pp. 015012
Author(s):  
Unofre B Pili ◽  
Renante R Violanda
Keyword(s):  
Kinetic Energy ◽  
Potential Energy ◽  
Gravitational Potential ◽  
Conservation Law ◽  
Gravitational Potential Energy ◽  
Time Data ◽  
Home Based ◽  
Basic Physics ◽  
Free Falling ◽  
Work Done

Abstract The video of a free-falling object was analysed in Tracker in order to extract the position and time data. On the basis of these data, the velocity, gravitational potential energy, kinetic energy, and the work done by gravity were obtained. These led to a rather simultaneous validation of the conservation law of energy and the work–energy theorem. The superimposed plots of the kinetic energy, gravitational potential energy, and the total energy as respective functions of time and position demonstrate energy conservation quite well. The same results were observed from the plots of the potential energy against the kinetic energy. On the other hand, the work–energy theorem has emerged from the plot of the total work-done against the change in kinetic energy. Because of the accessibility of the setup, the current work is seen as suitable for a home-based activity, during these times of the pandemic in particular in which online learning has remained to be the format in some countries. With the guidance of a teacher, online or face-to-face, students in their junior or senior high school—as well as for those who are enrolled in basic physics in college—will be able to benefit from this work.

Study of the Mechanisms of Vortex Variability in the Lofoten Basin Based on the Energy Analysis

2021 ◽  
Vol 37 (3) ◽  
Author(s):  
V. S. Travkin ◽  
◽  
T. V. Belonenko ◽  
Keyword(s):  
Kinetic Energy ◽  
Potential Energy ◽  
Baroclinic Instability ◽  
Positive Trend ◽  
Barotropic Instability ◽  
Available Potential Energy ◽  
Conversion Rates ◽  
Order Of Magnitude ◽  
The Mean ◽  
Mean Kinetic Energy

Purpose. The Lofoten Basin is one of the most energetic zones of the World Ocean characterized by high activity of mesoscale eddies. The study is aimed at analyzing different components of general energy in the basin, namely the mean kinetic and vortex kinetic energy calculated using the integral of the volume of available potential and kinetic energy of the Lofoten Vortex, as well as variability of these characteristics. Methods and Results. GLORYS12V1 reanalysis data for the period 2010–2018 were used. The mean kinetic energy and the eddy kinetic one were analyzed; and as for the Lofoten Vortex, its volume available potential and kinetic energy were studied. The mesoscale activity of eddies in winter is higher than in summer. Evolution of the available potential energy and kinetic energy of the Lofoten Vortex up to the 1000 m horizon was studied. It is shown that the vortex available potential energy exceeds the kinetic one by an order of magnitude, and there is a positive trend with the coefficient 0,23⋅1015 J/year. It was found that in the Lofoten Basin, the intermediate layer from 600 to 900 m made the largest contribution to the potential energy, whereas the 0–400 m layer – to kinetic energy. The conversion rates of the mean kinetic energy into the vortex kinetic one and the mean available potential energy into the vortex available potential one (barotropic and baroclinic instability) were analyzed. It is shown that the first type of transformation dominates in summer, while the second one is characterized by its increase in winter. Conclusions. The vertical profile shows that the kinetic energy of eddies in winter is higher than in summer. The available potential energy of a vortex is by an order of magnitude greater than the kinetic energy. An increase in the available potential energy is confirmed by a significant positive trend and by a decrease in the vortex Burger number. The graphs of the barotropic instability conversion rate demonstrate the multidirectional flows in the vortex zone with the dipole structure observed in a winter period, and the tripole one – in summer. The barotropic instability highest intensity is observed in summer. The baroclinic instability is characterized by intensification of the regime in winter that is associated with weakening of stratification in this period owing to winter convection.

Research on mechanism configuration and dynamic characteristics for multi-split transmission line mobile robot

2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Wei Jiang ◽  
Yating Shi ◽  
Dehua Zou ◽  
Hongwei Zhang ◽  
Hong Jun Li
Keyword(s):  
Mobile Robot ◽  
Transmission Line ◽  
Dynamic Model ◽  
Dynamic Characteristics ◽  
Transmission Lines ◽  
Dynamic Models ◽  
Working Environment ◽  
Joint Torque ◽  
Content Type ◽  
Working Space

Purpose The purpose of this paper is to achieve the optimal system design of a four-wheel mobile robot on transmission line maintenance, as the authors know transmission line mobile robot is a kind of special robot which runs on high-voltage cable to replace or assist manual power maintenance operation. In the process of live working, the manipulator, working end effector and the working environment are located in the narrow space and with heterogeneous shapes, the robot collision-free obstacle avoidance movement is the premise to complete the operation task. In the simultaneous operation, the mechanical properties between the manipulator effector and the operation object are the key to improve the operation reliability. These put forward higher requirements for the mechanical configuration and dynamic characteristics of the robot, and this is the purpose of the manuscript. Design/methodology/approach Based on the above, aiming at the task of tightening the tension clamp for the four-split transmission lines, the paper proposed a four-wheel mobile robot mechanism configuration and its terminal tool which can adapt to the walking and operation on multi-split transmission lines. In the study, the dynamic models of the rigid robot and flexible transmission line are established, respectively, and the dynamic model of rigid-flexible coupling system is established on this basis, the working space and dynamic characteristics of the robot have been simulated in ADAMS and MATLAB. Findings The research results show that the mechanical configuration of this robot can complete the tightening operation of the four-split tension clamp bolts and the motion of robot each joint meets the requirements of driving torque in the operation process, which avoids the operation failure of the robot system caused by the insufficient or excessive driving force of the robot joint torque. Originality/value Finally, the engineering practicability of the mechanical configuration and dynamic model proposed in the paper has been verified by the physical prototype. The originality value of the research is that it has double important theoretical significance and practical application value for the optimization of mechanical structure parameters and electrical control parameters of transmission line mobile robots.

Force-based delay compensation for hardware-in-the-loop simulation divergence of 6-DOF space contact

2017 ◽  
Vol 233 (1) ◽  
pp. 151-165
Author(s):  
Qian Wang ◽  
Chenkun Qi ◽  
Feng Gao ◽  
Xianchao Zhao ◽  
Anye Ren ◽  
...  
Keyword(s):  
Dynamic Model ◽  
Dynamic Models ◽  
Contact Process ◽  
Three Dimensional ◽  
Compensation Method ◽  
Degree Of Freedom ◽  
Hardware In The Loop ◽  
Delay Compensation ◽  
Measurement Delay ◽  
Six Degree Of Freedom

The contact process of a space docking device needs verification before launching. The verification cannot only rely on the software simulation since the contact dynamic models are not accurate enough yet, especially when the geometric shape of the device is complex. Hardware-in-the-loop simulation is a choice to perform the ground test, where the contact dynamic model is replaced by a real device and the real contact occurs. However, the Hardware-in-the-loop simulation suffers from energy increase and instability since time delay is unavoidable. The existing delay compensation methods are mainly focused on a uniaxial or three-dimensional contact. In this paper, a force-based delay compensation method is proposed for the hardware-in-the-loop simulation of a six degree-of-freedom space contact. A six degree-of-freedom dynamic model of the spacecraft motion is derived, and a six degree-of-freedom delay compensation method is proposed. The delay is divided into track delay and measurement delay, which are compensated individually. Experiment results show that the proposed delay compensation method is effective for the six degree-of-freedom space contact.

scholarly journals Walking in simulated reduced gravity: mechanical energy fluctuations and exchange

1999 ◽  
Vol 86 (1) ◽  
pp. 383-390 ◽  
Author(s):  
Timothy M. Griffin ◽  
Neil A. Tolani ◽  
Rodger Kram
Keyword(s):  
Kinetic Energy ◽  
Potential Energy ◽  
Gravitational Potential ◽  
Inverted Pendulum ◽  
Mechanical Energy ◽  
Center Of Mass ◽  
Metabolic Cost ◽  
Metabolic Energy ◽  
Gravitational Potential Energy ◽  
Reduced Gravity

Walking humans conserve mechanical and, presumably, metabolic energy with an inverted pendulum-like exchange of gravitational potential energy and horizontal kinetic energy. Walking in simulated reduced gravity involves a relatively high metabolic cost, suggesting that the inverted-pendulum mechanism is disrupted because of a mismatch of potential and kinetic energy. We tested this hypothesis by measuring the fluctuations and exchange of mechanical energy of the center of mass at different combinations of velocity and simulated reduced gravity. Subjects walked with smaller fluctuations in horizontal velocity in lower gravity, such that the ratio of horizontal kinetic to gravitational potential energy fluctuations remained constant over a fourfold change in gravity. The amount of exchange, or percent recovery, at 1.00 m/s was not significantly different at 1.00, 0.75, and 0.50 G (average 64.4%), although it decreased to 48% at 0.25 G. As a result, the amount of work performed on the center of mass does not explain the relatively high metabolic cost of walking in simulated reduced gravity.

scholarly journals An Analysis of the Energetics of Tropical and Extra-Tropical Regions for Warm ENSO Composite Episodes

2017 ◽  
Vol 32 (1) ◽  
pp. 39-51
Author(s):  
Zayra Christine Sátyro ◽  
José Veiga
Keyword(s):  
Kinetic Energy ◽  
Potential Energy ◽  
El Niño ◽  
Energy Production ◽  
El Nino ◽  
Southern Oscillation ◽  
Stable Condition ◽  
The Other ◽  
Tropical Regions ◽  
Using Data

Abstract This study focuses on the quantification and evaluation of the effects of ENSO (El Niño Southern Oscillation) warm phases, using a composite of five intense El Niño episodes between 1979 – 2011 on the Energetic Lorenz Cycle for four distinct regions around the globe: 80° S – 5° N (region 1), 50° S – 5° N (region 2), 30° S – 5° N (region 3), and 30° S – 30° N (region 4), using Data from NCEP reanalysis-II. Briefly, the results showed that zonal terms of potential energy and kinetic energy were intensified, except for region 1, where zonal kinetic energy weakened. Through the analysis of the period in which higher energy production is observed, a strong communication between the available zonal potential and the zonal kinetic energy reservoirs can be identified. This communication weakened the modes linked to eddies of potential energy and kinetic energy, as well as in the other two baroclinic conversions terms. Furthermore, the results indicate that for all the regions, the system itself works to regain its stable condition.

Development of a reduced dynamic model for comfort evaluation of rail vehicle systems

2016 ◽  
Vol 230 (4) ◽  
pp. 489-504 ◽  
Author(s):  
Mortadha Graa ◽  
Mohamed Nejlaoui ◽  
Ajmi Houidi ◽  
Zouhaier Affi ◽  
Lotfi Romdhane
Keyword(s):  
Dynamic Model ◽  
Degrees Of Freedom ◽  
Dynamic Models ◽  
Railway Vehicle ◽  
Passenger Comfort ◽  
Rail Vehicle ◽  
Vehicle System ◽  
Comfort Evaluation ◽  
Complex Models ◽  
Reduced Dynamic

In this paper, an analytical reduced dynamic model of a rail vehicle system is developed. This model considers only 38 degrees of freedom of the rail vehicle system. This reduced model can predict the dynamic behaviour of the rail vehicle while being simpler than existing dynamic models. The developed model is validated using experimental results found in the bibliography and its results are compared with existing more complex models from the literature. The developed model is used for the passenger comfort evaluation, which is based on the value of the weighted root mean square acceleration according to the ISO 2631 standard. Several parameters of the system, i.e., passenger position, loading of the railway vehicle and its speed, and their effect on the passenger comfort are investigated. It was shown that the level of comfort is mostly affected by the speed of the railway vehicle and the position of the seat. The load, however, did not have a significant effect on the level of comfort of the passenger.

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