Torsional Stiffness Model of an Industrial Robotic Joint Using Fractal Theory

2019 ◽  
Author(s):  
Jingjing Xu ◽  
Zhifeng Liu ◽  
Yongsheng Zhao ◽  
Qiang Cheng ◽  
Yanhu Pei ◽  
...  
Keyword(s):  
Prediction Accuracy ◽  
Fractal Theory ◽  
Great Influence ◽  
Joint Stiffness ◽  
Equilibrium Analysis ◽  
Torsional Stiffness ◽  
Tangential Stiffness ◽  
Proposed Model ◽  
Stiffness Model ◽  
Rv Reducer

Abstract It is known that mechanical connections have great influence on the dynamic characteristic of the assembly. In existing methods, the torsional stiffness of the robotic joint is calculated only considering the stiffness of components of the system, which largely reduces the prediction accuracy of the joint stiffness. In the paper, to predict the joint stiffness more accurately, a model is proposed considering influences of the stiffness of all connections existed in a joint system. The normal and tangential stiffness of the contact surface of each connection are calculated by combining the equilibrium analysis of the force and the fractal theory. Then the total stiffness of one robotic joint can be modelled by putting the torsional stiffness of all connections and that of the RV reducer and gear pair in parallel. To verify the proposed model, its simulation result is compared to the stiffness based on the previous technique without considering the influence of connections. The comparison result shows that the proposed model can improve the stiffness-prediction accuracy. This study can be extended to the stiffness modeling of other joint systems and provides a theoretical basis for the dynamic analysis of the robotic system.

scholarly journals Rotation-joint stiffness modeling for industrial robots considering contacts

2018 ◽  
Vol 10 (8) ◽  
pp. 168781401879306 ◽  
Author(s):  
Zhifeng Liu ◽  
Jingjing Xu ◽  
Qiang Cheng ◽  
Yongsheng Zhao ◽  
Yanhu Pei
Keyword(s):  
Fractal Theory ◽  
Joint Stiffness ◽  
Industrial Robots ◽  
Torsional Stiffness ◽  
Equivalent Stiffness ◽  
Force Analysis ◽  
Joint System ◽  
End Effector ◽  
Stiffness Modeling ◽  
High Speeds

Joint flexibility has a major impact on the motion accuracy of a robotic end effector, particularly at high speeds. This work proposes a technique of precisely modeling the torsional stiffness of the rotational joints for the industrial robots. This technique considers the contacts that exist in the joint system, which can have a significant effect on the overall joint stiffness. The torsional stiffness of the connections that commonly exist in the rotational joints, such as the belt connection, the connections using key, bolts, and pins, were modeled by combining the force analysis and the fractal theory. Through modeling the equivalent stiffness for the springs in serial and in parallel, the torsional stiffness of all joints for the ER3A-C60 robot were calculated and analyzed. The results show that the estimated stiffness based on the proposed technique is closer to the actual values than that based on the previous model without considering the contacts. The analysis is useful for controlling the dynamic characteristic of the industrial robots with the rotational joints while planning the trajectory for the end effector.

A Contact Stiffness Model of Machined Plane Joint Based on Fractal Theory

2009 ◽  
Vol 132 (1) ◽  
Author(s):  
Shuyun Jiang ◽  
Yunjian Zheng ◽  
Hua Zhu
Keyword(s):  
Contact Stiffness ◽  
Fractal Theory ◽  
Fractal Model ◽  
Experimental Results ◽  
Size Dependent ◽  
Contact Loads ◽  
Proposed Model ◽  
Stiffness Model ◽  
Surface Profiles ◽  
Plane Joint

A general contact stiffness model is proposed in this paper to study the contacts between rough surfaces of machined plane joints. The proposed model uses fractal geometry for surface topography description, elastic-plastic deformation of contacting asperities, and size-dependent contact stiffness of microcontacts, where the contact stiffness is derived from Hertz contact theory. Three cast iron specimens are produced from different machining methods (milling, grinding, and scraping), and their rough surface profiles are extracted. The structure function method was used to calculate each profile’s fractal dimension and scale coefficient. Both theoretical analysis and experimental results of contact stiffness are obtained for these specimens under different contact loads. The comparison between the theoretical contact stiffness and the experimental results at the interface indicates that the present fractal model for the contact stiffness is appropriate and the theoretical contact stiffness is consistent with the experimental data.

A realistic model for transverse shear stiffness prediction of composite corrugated-core sandwich structure with bonding effect

2021 ◽  
pp. 109963622199386
Author(s):  
Tianshu Wang ◽  
Licheng Guo
Keyword(s):  
Present Model ◽  
Shear Stiffness ◽  
Realistic Model ◽  
Torsional Stiffness ◽  
Fem Model ◽  
The Core ◽  
Bonding Effect ◽  
Stiffness Model ◽  
Bonding Area ◽  
The Relationship

In this paper, a shear stiffness model for corrugated-core sandwich structures is proposed. The bonding area is discussed independently. The core is thought to be hinged on the skins with torsional stiffness. The analytical model was verified by FEM solution. Compared with the previous studies, the new model can predict the valley point of the shear stiffness at which the relationship between the shear stiffness and the angle of the core changes from negative correlation to positive correlation. The valley point increases when the core becomes stronger. For the structure with a angle of the core smaller than counterpart for the valley point, the existing analytical formulations may significantly underestimate the shear stiffness of the structure with strong skins. The results obtained by some previous models may be only 10 persent of that of the present model, which is supported by the FEM model.

scholarly journals A Robust Lane Detection Model Using Vertical Spatial Features and Contextual Driving Information

Sensors ◽  
2021 ◽  
Vol 21 (3) ◽  
pp. 708
Author(s):  
Wenbo Liu ◽  
Fei Yan ◽  
Jiyong Zhang ◽  
Tao Deng
Keyword(s):  
Information Exchange ◽  
Information Transfer ◽  
Spatial Information ◽  
Contextual Information ◽  
Great Influence ◽  
Light Condition ◽  
Lane Detection ◽  
Detection Model ◽  
Spatial Features ◽  
Proposed Model

The quality of detected lane lines has a great influence on the driving decisions of unmanned vehicles. However, during the process of unmanned vehicle driving, the changes in the driving scene cause much trouble for lane detection algorithms. The unclear and occluded lane lines cannot be clearly detected by most existing lane detection models in many complex driving scenes, such as crowded scene, poor light condition, etc. In view of this, we propose a robust lane detection model using vertical spatial features and contextual driving information in complex driving scenes. The more effective use of contextual information and vertical spatial features enables the proposed model more robust detect unclear and occluded lane lines by two designed blocks: feature merging block and information exchange block. The feature merging block can provide increased contextual information to pass to the subsequent network, which enables the network to learn more feature details to help detect unclear lane lines. The information exchange block is a novel block that combines the advantages of spatial convolution and dilated convolution to enhance the process of information transfer between pixels. The addition of spatial information allows the network to better detect occluded lane lines. Experimental results show that our proposed model can detect lane lines more robustly and precisely than state-of-the-art models in a variety of complex driving scenarios.

An Improved Stiffness Model for Bolted Joints

2009 ◽  
Vol 131 (12) ◽  
Author(s):  
Sayed A. Nassar ◽  
Antoine Abboud
Keyword(s):  
Joint Stiffness ◽  
Effective Area ◽  
Accurate Estimate ◽  
Diameter Ratio ◽  
Bolted Joints ◽  
Plate Material ◽  
Reliable Prediction ◽  
Novel Approach ◽  
Stiffness Model ◽  
Initial Assembly

An improved stiffness model is proposed for bolted joints made of similar and dissimilar plates. A novel approach is used to obtain an expression for the effective area used for determining the joint stiffness. More accurate estimate of the joint stiffness provides a more reliable prediction of the joint behavior both during its initial assembly, as well as under subsequently applied tensile loads in service. The effect of the grip length-to-diameter ratio, joint sizes, underhead contact radii ratio, hole clearance, and plate material/thickness ratio are investigated. Experimental data are used for determining the envelope angle α in the proposed analytical model. Finite element modeling is used for evaluating the accuracy of the proposed stiffness model.

scholarly journals Conceptual design and comparative stiffness analysis of an Exechon-like parallel kinematic machine with lockable spherical joints

2017 ◽  
Vol 14 (4) ◽  
pp. 172988141772413
Author(s):  
Teng-fei Tang ◽  
Jun Zhang
Keyword(s):  
Conceptual Design ◽  
Prediction Accuracy ◽  
Parallel Kinematic Machine ◽  
Stiffness Analysis ◽  
Parallel Kinematic Machines ◽  
Stiffness Model ◽  
Dynamic Analyses ◽  
Parallel Kinematic ◽  
Kinetostatic Model ◽  
Limb Structure

This article proposes two types of lockable spherical joints which can perform three different motion patters by locking or unlocking corresponding rotational axes. Based on the proposed lockable spherical joints, a general reconfigurable limb structure with two passive joints is designed with which the conceptual designs of two types of Exechon-like parallel kinematic machines are completed. To evaluate the stiffness of the proposed Exechon-like parallel kinematic machines, an expanded kinetostatic model is established by including the compliances of all joints and limb structures. The prediction accuracy of the expanded stiffness model is validated by numerical simulations. The comparative stiffness analyses prove that the Exe-Variant parallel kinematic machine claims competitive rigidity performance to the Exechon parallel kinematic machine. The present work can provide useful information for further investigations on structural enhancement, rigidity improvement, and dynamic analyses of other Exechon-like parallel kinematic machines.

scholarly journals Predicting Corporate Financial Sustainability Using Novel Business Analytics

2018 ◽  
Vol 11 (1) ◽  
pp. 64 ◽  
Author(s):  
Kyoung-jae Kim ◽  
Kichun Lee ◽  
Hyunchul Ahn
Keyword(s):  
Financial Distress ◽  
Prediction Accuracy ◽  
Prediction Models ◽  
Support Vector ◽  
Model Parameters ◽  
Financial Sustainability ◽  
Business Analytics ◽  
Financial Distress Prediction ◽  
Proposed Model ◽  
Distress Prediction

Measuring and managing the financial sustainability of the borrowers is crucial to financial institutions for their risk management. As a result, building an effective corporate financial distress prediction model has been an important research topic for a long time. Recently, researchers are exerting themselves to improve the accuracy of financial distress prediction models by applying various business analytics approaches including statistical and artificial intelligence methods. Among them, support vector machines (SVMs) are becoming popular. SVMs require only small training samples and have little possibility of overfitting if model parameters are properly tuned. Nonetheless, SVMs generally show high prediction accuracy since it can deal with complex nonlinear patterns. Despite of these advantages, SVMs are often criticized because their architectural factors are determined by heuristics, such as the parameters of a kernel function and the subsets of appropriate features and instances. In this study, we propose globally optimized SVMs, denoted by GOSVM, a novel hybrid SVM model designed to optimize feature selection, instance selection, and kernel parameters altogether. This study introduces genetic algorithm (GA) in order to simultaneously optimize multiple heterogeneous design factors of SVMs. Our study applies the proposed model to the real-world case for predicting financial distress. Experiments show that the proposed model significantly improves the prediction accuracy of conventional SVMs.

scholarly journals Simplified and Accurate Stiffness of a Prismatic Anisotropic Thin-Walled Box

2018 ◽  
Vol 12 (1) ◽  
pp. 1-20 ◽  
Author(s):  
Giacomo Canale ◽  
Felice Rubino ◽  
Paul M. Weaver ◽  
Roberto Citarella ◽  
Angelo Maligno
Keyword(s):  
Cross Sections ◽  
Torsional Stiffness ◽  
Element Analysis ◽  
Cross Sectional ◽  
Analysis And Design ◽  
Proposed Model ◽  
Vertical Walls ◽  
Thin Walled ◽  
High Level ◽  
Realistic Geometries

Background:Beam models have been proven effective in the preliminary analysis and design of aerospace structures. Accurate cross sectional stiffness constants are however needed, especially when dealing with bending, torsion and bend-twist coupling deformations. Several models have been proposed in the literature, even recently, but a lack of precision may be found when dealing with a high level of anisotropy and different lay-ups.Objective:A simplified analytical model is proposed to evaluate bending and torsional stiffness of a prismatic, anisotropic, thin-walled box. The proposed model is an extension of the model proposed by Lemanski and Weaver for the evaluation of the bend-twist coupling constant.Methods:Bending and torsional stiffness are derived analytically by using physical reasoning and by applying bending and torsional stiffness mathematic definition. Unitary deformations have been applied when evaluation forces and moments arising on the cross section.Results:Good accuracy has been obtained for structures with different geometries and lay-ups. The model has been validated with respect to finite element analysis. Numerical results are commented upon and compared with other models presented in literature.Conclusion:For cross sections with a high level of anisotropy, the accuracy of the proposed formulation is within 2% for bending stiffness and 6% for torsional stiffness. The percentage of error is further reduced for more realistic geometries and lay-ups.The proposed formulation gives accurate results for different dimensions and length rations of horizontal and vertical walls.

Effect of the Thick-Walled Steel Tubular Joint Stiffness on the Overall Stability of a Single-Layer Latticed Shell

2014 ◽  
Vol 501-504 ◽  
pp. 791-795
Author(s):  
Lan Chen ◽  
Bo Yin
Keyword(s):  
Great Influence ◽  
Joint Stiffness ◽  
Single Layer ◽  
Steel Tube ◽  
Tube Section ◽  
Overall Stability ◽  
Rectangular Tube ◽  
New Type ◽  
Tubular Joint ◽  
Geometric Nonlinear Analysis

As a new type of joint, the thick-walled steel tubular joint is applied in the single-layer latticed shell to solve the connectivity problem of rectangular tube. In combination with the design of practical project, the effect of the new joint stiffness on the overall stability of a single-layer latticed shell and the value of joint stiffness are studied by ANSYS. Some parameters as the rectangular tube section, the thickness of thick-walled steel tube and connecting plate are taken into account in the process of geometric nonlinear analysis. The results show that joint stiffness has great influence on the overall stability of a single-layer latticed shell and the range of effect gradually increases with the growth of rectangular tube section.

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