Dynamical Modeling of Flexible Linear Robots

2011 ◽  
Author(s):  
F. Johannes Kilian ◽  
Hubert Gattringer ◽  
Hartmut Bremer
Keyword(s):  
Maximum Velocity ◽  
Production Sector ◽  
Synchronous Motors ◽  
Flexible Links ◽  
Lightweight Structures ◽  
Recursive Scheme ◽  
Elastic Bodies ◽  
N Efficiency ◽  
Highly Nonlinear ◽  
Projection Equation

The production sector aims towards increasing capacity and energy efficiency. A possibility to achieve this is the usage of manipulators built of lightweight structures in order to raise the maximum velocity, acceleration and payload. This leads to an elastic robot that tends to vibrate. The main focus of this paper is the modeling of a fast moving, elastic robot with three linear axes. These axes are connected by four flexible links driven by synchronous motors with elastic gear racks and bearing elasticities. The Projection Equation in subsystem form is used to calculate the dynamic model. This equation in combination with a Ritz approximation for the flexible links, which are modeled as Rayleigh beams, leads to a set of highly nonlinear ordinary differential equations. The usage of the Projection Equation in subsystem form simplifies the modeling of this system and offers the possibility of a fast numerical integration supported by the Maple® packages SimCode2, SimSubs and SimRecursive. The subsystems of the elastic bodies are assembled by the kinematical chain. This leads to the possibility to evaluate the minimal accelerations of the system by a recursive scheme with O(n) efficiency. These results for the endpoint (position and acceleration) of the complete elastically modeled robot are compared to experimental measurements.

Semi-Symbolical Equations of Motion for Flexible Multibody Systems

1993 ◽  
Author(s):  
Frank Melzer
Keyword(s):  
Data Model ◽  
Multibody Systems ◽  
Equations Of Motion ◽  
General Purpose ◽  
Flexible Multibody Systems ◽  
Dynamical Analysis ◽  
Lightweight Structures ◽  
Elastic Bodies ◽  
Flexible Multibody ◽  
Increasing Demand

Abstract The need for computer aided engineering in the analysis of machines and mechanisms led to a wide variety of general purpose programs for the dynamical analysis of multibody systems. In the past few years the incorporation of flexible bodies in this methodology has evolved to one of the major research topics in the field of multibody dynamics, due to the use of more lightweight structures and an increasing demand for high-precision mechanisms such as robots. This paper presents a formalism for flexible multibody systems based on a minimum set of generalized coordinates and symbolic computation. A standardized object-oriented data model is used for the system matrices, describing the elastodynamic behaviour of the flexible body. Consequently, the equations of motion are derived in a form independent of the chosen modelling technique for the elastic bodies.

scholarly journals Feedback Linearization Based Robust Control for Linear Permanent Magnet Synchronous Motors

Energies ◽  
2020 ◽  
Vol 13 (20) ◽  
pp. 5242
Author(s):  
Yung-Te Chen ◽  
Chi-Shan Yu ◽  
Ping-Nan Chen
Keyword(s):  
Robust Control ◽  
Permanent Magnet ◽  
Feedback Linearization ◽  
Position Control ◽  
Feedback Controller ◽  
Permanent Magnet Synchronous Motors ◽  
Synchronous Motors ◽  
Linear Motors ◽  
Highly Nonlinear ◽  
The Impact

In this study, we designed a feedback linearization control strategy for linear permanent magnet synchronous motors (LPMSMs) as well as a robust control mechanism. First, the highly nonlinear system was transformed into an exact linear system by the feedback linearization technique. Then, we designed a robust controller to mitigate the impact of system parameter disturbances on system performance. This novel robust feedback controller can be applied to electromagnetic force, speed and position control loops in linear motors, correct the errors created by uncertainty factors in the entire system in real time, and set the system’s settling time based on the application environment of the plant. Finally, we performed simulations and experiments using a PC-based motor control system, which demonstrated that the proposed robust feedback controller can achieve good performance in the controlled system with robust anti-disturbance control.

Forms and Concepts for Lightweight Structures

2020 ◽  
Author(s):  
Koryo Miura ◽  
Sergio Pellegrino
Keyword(s):  
Lightweight Structures

Umbilical artery time-averaged maximum velocity: First trimester reference range

2014 ◽  
Vol 74 (S 01) ◽  
Author(s):  
SK Amylidi ◽  
P Tappeser ◽  
B Mosimann ◽  
J Zdanowicz ◽  
M Baumann ◽  
...  
Keyword(s):  
Umbilical Artery ◽  
Reference Range ◽  
Maximum Velocity ◽  
First Trimester

Sources of Variability in Dose Response Platelet Aggregometry

1985 ◽  
Vol 53 (02) ◽  
pp. 219-220 ◽  
Author(s):  
M V Vickers ◽  
S G Thompson
Keyword(s):  
Dose Response ◽  
Maximum Velocity ◽  
Adenosine Diphosphate ◽  
Method Error ◽  
Platelet Aggregability ◽  
Differential Effects ◽  
Platelet Aggregometry ◽  
Simultaneous Comparison ◽  
Aggregation Parameters ◽  
Very High

SummaryAn experiment designed to assess the components of variability of a number of measures of platelet aggregability showed that the ADP ED50 (the estimated dose of adenosine diphosphate at which primary aggregation occurs at half its maximum velocity) had the least method error of any of the parameters measured, but that none had a very high between-person component of variability. A simultaneous comparison of a syringe technique and a free-flowing technique for venepuncture revealed no differential effects on the aggregation parameters measured. An enforced increase in the stirring speed in the aggregometer led to an experiment which showed that such a change did not apparently affect the ED50s.

Influence of unbalanced magnetic force on shaft deflection in permanent magnet synchronous motor with fractional slot concentrated windings

2020 ◽  
Vol 64 (1-4) ◽  
pp. 1461-1468
Author(s):  
Ting Dong ◽  
Juyan Huang ◽  
Bing Peng ◽  
Ling Jian
Keyword(s):  
Permanent Magnet ◽  
Magnetic Force ◽  
Permanent Magnet Synchronous Motor ◽  
Operational Reliability ◽  
Topology Structure ◽  
Permanent Magnet Synchronous Motors ◽  
Synchronous Motors ◽  
Shaft Deflection ◽  
Large Length ◽  
Fractional Slot

The calculation accuracy of unbalanced magnetic forces (UMF) is very important to the design of rotor length, because it will effect the shaft deflection. But in some permanent magnet synchronous motors (PMSMs) with fractional slot concentrated windings (FSCW), the UMF caused by asymmetrical stator topology structure is not considered in the existing deflection calculation, which is very fatal for the operational reliability, especially for the PMSMs with the large length-diameter ratio, such as submersible PMSMs. Therefore, the part of UMF in the asymmetrical stator topology structure PMSMs caused by the choice of pole-slot combinations is analysized in this paper, and a more accurate rotor deflection calculation method is also proposed.

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