scholarly journals Modeling and Kinematics Simulation of a Mecanum Wheel Platform in RecurDyn

2018 ◽  
Vol 2018 ◽  
pp. 1-7 ◽  
Author(s):  
Yunwang Li ◽  
Sumei Dai ◽  
Yuwei Zheng ◽  
Feng Tian ◽  
Xucong Yan
Keyword(s):  
Virtual Prototype ◽  
Mobile System ◽  
Design Quality ◽  
Simulation Experiments ◽  
Motion Models ◽  
Kinematics Simulation ◽  
Simulation Results ◽  
Mecanum Wheel ◽  
Motion Characteristics ◽  
Theoretical Results

The innovative method of modeling and kinematics simulation in RecurDyn are proposed, taking a Mecanum wheel platform(MWP) for omnidirectional wheelchair as research object. In order to study the motion characteristics and mobile performance of the MWP, the virtual prototype simulation model is established in SolidWorks, and virtual prototype simulation is carried out in RecurDyn. The experience of simulation for the MWP in RecurDyn is introduced, and the simulation steps and points for attention are described detailedly. The working states of the mobile system in real environment have been simulated through virtual simulation experiments. Four typical motion models including moving forward, moving laterally, moving laterally in the direction of 45°, and rotation have been simulated in RecurDyn. The simulation results exactly reflect the motion of the MWP. By comparing the simulation results with the theoretical results, there are acceptable errors that are relatively less overall in the simulation results. The simulation results can be used to predict the performance of the platform and evaluate the design rationality, and design quality can be improved according to the exposed problem. This paper can provide reference for the simulation of mobile platform by using RecurDyn.

Study on Engine Kinematics and Dynamics Simulation Based on COSMOSMotion

2012 ◽  
Vol 503-504 ◽  
pp. 731-734
Author(s):  
Xiao Xu Liu ◽  
Min Chen ◽  
Ai Hua Tang
Keyword(s):  
Virtual Prototype ◽  
Dynamics Simulation ◽  
Kinematics And Dynamics ◽  
Engine Model ◽  
Kinematics Simulation ◽  
Simulation Based ◽  
Calculation Results ◽  
Simulation Results ◽  
Dynamics Simulations

The engine model with 4 cylinders is built by SolidWorks, the kinematics and dynamics simulations of the engine virtual prototype are done by COSMOSMotion, the results of kinematics simulation are checked, there are very small errors between the simulation results and the calculation results according to formulas. The mainly results of dynamics simulation are given. The simulation result consists with the parameters of the engine.

Forward Kinematics Simulation for a Surgical Robot Using CATIA 5

2015 ◽  
Vol 22 ◽  
pp. 21-28
Author(s):  
Shao Gang Liu ◽  
Farah Edris
Keyword(s):  
Minimally Invasive Surgery ◽  
Theoretical Calculations ◽  
Surgical Robot ◽  
Forward Kinematics ◽  
Kinematic Simulation ◽  
Kinematics Simulation ◽  
Robot Tracking ◽  
Simulation Results ◽  
Forward Kinematic ◽  
Theoretical Results

Forward Kinematic simulation of a 6 DOF surgical robot tracking a path through the constraint of the Remote Center of Motion point (RCM) is developed in this paper. Theoretical calculations of the forward kinematics are analyzed by solving the configuration kinematic equations of the robot. CAD prototype of the surgical robot and the patient are created using CATIA5 part and assembly tools. The theoretical results are validated through a Kinematic simulation of CATIA kinematics. The simulation results confirm the usefulness of the six revolute joint robots in minimally invasive surgery (MIS) and the efficiency of using the power full CATIA5 software to simulate surgical robot, and checking the robot mechanism capability of doing surgical procedures.

Parametric Research on Micro-Zigzag Slot Mechanism in OICW

2011 ◽  
Vol 483 ◽  
pp. 699-704 ◽  
Author(s):  
Chuan Qin Liu ◽  
Wen Zhong Lou ◽  
Long Fei Zhang ◽  
Yong Jia Lv
Keyword(s):  
Mathematic Model ◽  
Rectangular Pulse ◽  
Structural Parameter ◽  
Delayed Effect ◽  
Linear Dynamic ◽  
Simulation Results ◽  
Motion Characteristics ◽  
Acceleration Signals ◽  
Theoretical Results ◽  
Simulation Condition

This paper describes the delayed effect on the motion characteristics of the slider in the S&A mechanism resulting from the micro-zigzag slot used in OICW (Objective Individual Combat Weapon) and studies its influence on the ability of filtering transient acceleration signals. Firstly, we established the mathematic model of the slider when the S&A mechanism was loaded by the rectangular pulse acceleration according to the Rigid Dynamic Mechanics Theory and got its analytical solution by using MATLAB. Secondly, to verify the feasibility of this micro-zigzag slot mechanism, we adopted two different kinds of acceleration loading curves, after the non-linear dynamic mechanics simulation on it by using ANSYS/LS-DYNA, displacement and velocity curves of the slider were calculated. Then, to find which structural parameter playing more important role in affecting the characteristics of micro-zigzag slot, we adopted Single-variable Method to study its structural parameter under the same simulation condition. The simulation results we got were almost consistent with the theoretical results. The parametric research of the micro-zigzag slot lays certain a foundation on the research of MEMS system.

Analysis of the Spinning Motion and the Orientation Description Methods for 2-DOF RMs

2018 ◽  
Author(s):  
Liu Kai ◽  
Yu Jingjun ◽  
Kong Xianwen
Keyword(s):  
Virtual Prototype ◽  
Degree Of Freedom ◽  
Graphical Approach ◽  
Motion Models ◽  
Motion Characteristic ◽  
Motion Characteristics ◽  
Two Degree Of Freedom ◽  
Rotational Freedom

In this work, two degree-of-freedom rotational mechanisms (2-DOF RMs) also called 2-DOF pointing mechanisms are discussed systematically about their motion characteristic and orientation description methods. Based on the graphical approach, 2-DOF RMs are divided into three types in term of the features of their instantaneous rotational freedom lines, and the models of the spinning motions for all the three types of 2-DOF RMs are built respectively by constraint conditions. According to the spinning motion models, the orientation description methods suitable for the three types of 2-DOF RMs are introduced in detail severally to simplify the kinematic equations in succedent work. Then the correctness of the spinning motion models is verified via the virtual prototype simulation with several examples. Finally, the methods suitable for describing the orientation of these mechanisms are proposed. Conclusions would facilitate the analysis of kinematics of 2-DOF RMs and exhibit the motion characteristics of 2-DOF RMs expressly.

The Dynamics Analysis of Rolling Movable Teeth Reducer

2011 ◽  
Vol 221 ◽  
pp. 429-435
Author(s):  
Jun Fei Wu ◽  
Xiao Chen Zhu ◽  
Wei Gao ◽  
Ying Yu
Keyword(s):  
Time Domain ◽  
Optimization Design ◽  
Virtual Prototype ◽  
Dynamics Analysis ◽  
Engineering Analysis ◽  
Input Shaft ◽  
Kinematics Simulation ◽  
Adams Software ◽  
Simulation Results ◽  
The Time Domain

The structure and operating principle of rolling movable teeth reducer are introduced in this paper. Through the virtual prototype technology, the modeling of rolling movable teeth reducer is made by Pro/E software,and is had the kinematics simulation and dynamic analysis by ADAMS software. The simulation results show that the speed curves of the input shaft and the output shaft of rolling movable teeth reducer coincide with the theory transmission. It proves correctness of virtual prototype. The mechanical properties of rolling movable teeth reducer is obtained by the time-domain graph of meshing force. It provides the basis for the optimization design and engineering analysis of reducer.

Observability Analysis for MAUVs Cooperative Navigation System Based on Moving Long Baseline

2013 ◽  
Vol 475-476 ◽  
pp. 609-615
Author(s):  
Peng Ma ◽  
Fu Bin Zhang ◽  
De Min Xu ◽  
Shao Kun Yang
Keyword(s):  
Kalman Filter ◽  
Navigation System ◽  
Autonomous Underwater Vehicles ◽  
Underwater Vehicles ◽  
Simulation Experiments ◽  
Cooperative Navigation ◽  
Long Baseline ◽  
Simulation Results ◽  
Moving Long Baseline ◽  
Theoretical Results

This paper addresses the observability problem of 2D Multiple Autonomous Underwater Vehicles (MAUVs) cooperative navigation system. We derive the conditions to keep the local weak observability of navigation system using the Lie derivatives, and characterize the unobservable trajectories of AUVs. We design a series of simulation experiments using the Extended Kalman Filter (EKF) to verify the theoretical results. Finally, the simulation results show that the good performance of navigation system can be presented if avoiding the unobservable trajectories of AUVs.

Kinematics Simulation of Parallel Mechanism Based on ADAMS

2012 ◽  
Vol 538-541 ◽  
pp. 479-482
Author(s):  
Xin Yu Du ◽  
Hong Wei Liu
Keyword(s):  
Parallel Mechanism ◽  
Screw Theory ◽  
Virtual Prototype ◽  
Degree Of Freedom ◽  
Kinematics Analysis ◽  
Kinematics Simulation ◽  
Spatial Parallel Mechanism ◽  
Moving Platform ◽  
Simulation Results ◽  
Position And Orientation

In this paper,a kind of 3-UPU spatial parallel mechanism is introduced. Through deep analysis of the degree-of-freedom (DoF) for the platform using screw theory， the position and orientation of the moving platform is discussed. At last, the 3D virtual prototype modeling of this 3-UPU parallel mechanism based on software ADAMS is developed; the kinematics simulation and analysis are also carried out accordingly. From the simulation results, we can see that the proposed calculation of the DoFs and kinematics analysis is correct.

scholarly journals A Convergent Collocation Approach for Generalized Fractional Integro-Differential Equations Using Jacobi Poly-Fractonomials

Mathematics ◽  
2021 ◽  
Vol 9 (9) ◽  
pp. 979
Author(s):  
Sandeep Kumar ◽  
Rajesh K. Pandey ◽  
H. M. Srivastava ◽  
G. N. Singh
Keyword(s):  
Differential Equation ◽  
Fractional Derivative ◽  
Collocation Method ◽  
Caputo Fractional Derivative ◽  
Fractional Derivatives ◽  
Special Cases ◽  
Collocation Approach ◽  
Linear And Nonlinear ◽  
Simulation Results ◽  
Theoretical Results

In this paper, we present a convergent collocation method with which to find the numerical solution of a generalized fractional integro-differential equation (GFIDE). The presented approach is based on the collocation method using Jacobi poly-fractonomials. The GFIDE is defined in terms of the B-operator introduced recently, and it reduces to Caputo fractional derivative and other fractional derivatives in special cases. The convergence and error analysis of the proposed method are also established. Linear and nonlinear cases of the considered GFIDEs are numerically solved and simulation results are presented to validate the theoretical results.

Investigating the NO-dependent photooxidation of limonene by OH and O3 using the atmosphere simulation chamber SAPHIR

2021 ◽  
Author(s):  
Yat Sing Pang ◽  
Martin Kaminski ◽  
Anna Novelli ◽  
Philip Carlsson ◽  
Ismail-Hakki Acir ◽  
...  
Keyword(s):  
Organic Aerosol ◽  
Oxidation Products ◽  
Chemical Mechanism ◽  
Reaction Pathways ◽  
Oh Radicals ◽  
Oh Radical ◽  
Simulation Experiments ◽  
Master Chemical Mechanism ◽  
Simulation Results ◽  
Atmosphere Simulation Chamber

<p>Limonene is the fourth-most abundant monoterpene in the atmosphere, which upon oxidation leads to the formation of secondary organic aerosol (SOA) and thereby influences climate and air quality.</p><p>In this study, the oxidation of limonene by OH at different atmospherically relevant NO and HO<sub>2</sub> levels (NO: 0.1 – 10 ppb; HO<sub>2</sub>: 20 ppt) was investigated in simulation experiments in the SAPHIR chamber at Forschungszentrum Jülich. The analysis focuses on comparing measured radical concentrations (RO<sub>2</sub>, HO<sub>2</sub>, OH) and OH reactivity (k<sub>OH</sub>) with modeled values calculated using the Master Chemical Mechanism (MCM) version 3.3.1.</p><p>At high and medium NO concentrations, RO<sub>2</sub> is expected to quickly react with NO. An HO<sub>2</sub> radical is produced during the process that can be converted back to an OH radical by another reaction with NO. Consistently, for experiments conducted at medium NO levels (~0.5 ppb, RO<sub>2</sub> lifetime ~10 s), simulated RO<sub>2</sub>, HO<sub>2</sub>, and OH agree with observations within the measurement uncertainties, if the OH reactivity of oxidation products is correctly described.</p><p>At lower NO concentrations, the regeneration of HO<sub>2</sub> in the RO<sub>2</sub> + NO reaction is slow and the reaction of RO<sub>2</sub> with HO<sub>2</sub> gains importance in forming peroxides. However, simulation results show a large discrepancy between calculated radical concentrations and measurements at low NO levels (<0.1 ppb, RO<sub>2</sub> lifetime ~ 100 s). Simulated RO<sub>2</sub> concentrations are found to be overestimated by a factor of three; simulated HO<sub>2</sub> concentrations are underestimated by 50 %; simulated OH concentrations are underestimated by about 35%, even if k<sub>OH</sub> is correctly described. This suggests that there could be additional RO<sub>2</sub> reaction pathways that regenerate HO<sub>2</sub> and OH radicals become important, but they are not taken into account in the MCM model.</p>

scholarly journals Comparative study on the redundancy of mobile single- and dual-arm robots

2016 ◽  
Vol 13 (6) ◽  
pp. 172988141666678
Author(s):  
Hongxing Wang ◽  
Ruifeng Li ◽  
Yunfeng Gao ◽  
Chuqing Cao ◽  
Lianzheng Ge
Keyword(s):  
Rate Control ◽  
Control Algorithm ◽  
Redundant Robot ◽  
Motion Models ◽  
Redundant Robots ◽  
Operational Space ◽  
Rate Control Algorithm ◽  
Simulation Results ◽  
Dual Arm Robot ◽  
Dual Arm

A whole resolved motion rate control algorithm designed for mobile dual-arm redundant robots is presented in this article. Based on this algorithm, the end-effector movements of the dual arms of the mobile dual-arm redundant robot can be decomposed into the movements of the two driving wheels of the differential driving platform and the movements of the dual-arm each joint of this robot harmoniously. The influence of the redundancies of the single- and dual-arm robots on the operation based on the fixed- and differential-driving platforms, which are then based on the whole resolved motion rate control algorithm, is studied after building their motion models. Some comparisons are made to show the advantages of this algorithm on the entire modeling of the complicated robotic system and the influences of the redundancy. First, the comparison of the simulation results between the fixed single-arm robot and the mobile single-arm robot is presented. Second, a comparison of the simulation results between the mobile single-arm robot and the mobile dual-arm robots is shown. Compared with the mobile single-arm robot and the fixed dual-arm robot based on this algorithm, the mobile dual-arm robot has more redundancy and can simultaneously track and operate different objects. Moreover, the mobile dual-arm redundant robot has better smoothness, more flexibility, larger operational space, and more harmonious cooperation between the two arms and the differential driving platform during the entire mobile operational process.

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