Rigid-Flexible Coupled Dynamics Modeling and Analysis for a Novel High-Speed Spatial Parallel Robot

2011 ◽  
Vol 4 (8) ◽  
pp. 2595-2599 ◽  
Author(s):  
Xiulong Chen ◽  
Yu Deng ◽  
Shuaishuai Jia
Keyword(s):  
High Speed ◽  
Parallel Robot ◽  
Dynamics Modeling ◽  
Coupled Dynamics ◽  
Modeling And Analysis

Dynamics modeling and analysis of a four-wheel independent motor-drive virtual-track train

2020 ◽  
pp. 146441932096401
Author(s):  
Zhonghui Yin ◽  
Jiye Zhang ◽  
Haiying Lu ◽  
Weihua Zhang
Keyword(s):  
High Speed ◽  
Load Capacity ◽  
Dynamic Performance ◽  
Spatial Dynamics ◽  
Dynamic Responses ◽  
Dynamics Modeling ◽  
Dynamics Model ◽  
Coupling Effects ◽  
Dynamic Interactions ◽  
Modeling And Analysis

Due to urbanisation and the economic challenges of traffic, it is urgently necessary to develop an environmentally friendly virtual-track train with suitable speed, high load capacity and low construction cost in China. To guide the design and evaluate this train’s dynamic behaviour, a spatial-dynamics model has been developed based on the dynamics theory and tyre-road interaction. The proposed dynamics model comprises mechanical vehicle systems, traction and braking characteristics and tyre-road dynamic interactions. The coupling effects amongst those systems of virtual track train are derived theoretically for the first time. The nonlinear characteristics of the tyre are modelled by the transit tyre-magic formula with consideration of road irregularities. Based on a designed PID controller and the comprehensive dynamics model, the dynamic performance of the system can be revealed considering motion coupling effects and complicated excitations, especially under traction and braking conditions. The dynamic responses of whole virtual track train can be obtained by numerical integration under different conditions. The vibration characteristics of such train are assessed under running at a constant speed and during the traction/braking process. The results show that the vibrations of the vehicle system are significantly influenced by road irregularities, especially at high speed ranges. The motions and vibrations of different components are intensive coupled, which should not to be neglected in the dynamics assessment of the virtual track train. Besides, the dynamics model can also be applied to dynamics-related assessment (fatigue, strength and some damage conditions, et al.) and parameter optimisation of the virtual-track train.

Dynamic Analysis of a Parallel Pick-and-Place Robot With Flexible Links

2008 ◽  
Author(s):  
Haihong Li ◽  
Zhiyong Yang
Keyword(s):  
High Speed ◽  
Dynamic Performance ◽  
Lithium Ion ◽  
Parallel Robot ◽  
Parallel Robots ◽  
Modeling And Analysis ◽  
Flexible Links ◽  
Pick And Place ◽  
Floating Frame ◽  
Pick And Place Operation

The dynamic modeling and analysis of a 2-DOF translational parallel robot for high-speed pick-and-place operation was presented. Considering the flexibility of all links, the governing equation of motion of a flexible link is formulated in the floating frame of reference using Euler-Lagrange method. A kineto-elasto dynamic model of the system is achieved, ready for modal analysis. Simulation in FEM software showed the similar modes with above computational result in typical location and rotation. The dynamic experiment presented the dominant modes and proved the theoretical analysis and simulation. The Diamond robot used in Lithium-ion battery sorting was taken as an example to demonstrate how to finish above studies. The result shows that the mechanism has good dynamic performance. The work is available for all parallel robots with flexible links.

Performance simulation and energetic analysis of TBot high-speed cable-driven parallel robot

2021 ◽  
pp. 1-14
Author(s):  
Jinhao Duan ◽  
Zhufeng Shao ◽  
Zhaokun Zhang ◽  
Fazhong Peng
Keyword(s):  
Energy Consumption ◽  
Trajectory Planning ◽  
High Speed ◽  
Low Cost ◽  
Parallel Robot ◽  
Industrial Applications ◽  
Parallel Robots ◽  
Dynamics Modeling ◽  
Serial Robots ◽  
Key Issues

Abstract Compared with serial robots, parallel robots have the advantages of high stiffness and good dynamics. By replacing the rigid limbs with cables, the cable-driven parallel robot (CDPR) is greatly simplified in structure and lightweight. We designed a high-speed CDPR tensioned by the passive rod and spring, named TBot. The robot can realize the SCARA movement as the classical Delta parallel robot. Comparison analysis of TBot and Delta is carried out to reveal the natures of the CDPRs and rigid parallel robots, identify the key issues, and promote industrial applications. Based on kinematics and dynamics modeling, performances are analyzed with simulation under a typical Adept Motion trajectory. Results illustrate that TBot has advantages of low cost, low inertia, low energy consumption and adjustable workspace and has great application potential. Energy consumption of the TBot is discussed and the trajectory planning is studied with the genetic algorithm to further reduce the energy consumption, considering the influence of the passive spring. Finally, on the basis of 30% less energy consumption for the Adept Motion than Delta, extra 14.3% energy consumption is saved through the trajectory planning of TBot.

Dynamics Modeling and Analysis of a Reconfigurable Rotorcraft Unmanned Aerial Vehicle

ROBOT ◽  
2013 ◽  
Vol 35 (2) ◽  
pp. 227 ◽  
Author(s):  
Xiaogang RUAN ◽  
Xuyang HOU ◽  
Daoxiong GONG
Keyword(s):  
Unmanned Aerial Vehicle ◽  
Dynamics Modeling ◽  
Modeling And Analysis ◽  
Aerial Vehicle

scholarly journals Modeling and Analysis of a Linear Generator for High Speed Maglev Train

IEEE Access ◽  
2021 ◽  
Vol 9 ◽  
pp. 24637-24645
Author(s):  
Sansan Ding ◽  
Weitao Han ◽  
Jinji Sun ◽  
Fujie Jiang ◽  
Guimei Deng ◽  
...  
Keyword(s):  
High Speed ◽  
Maglev Train ◽  
Modeling And Analysis ◽  
Linear Generator

Multiple CMOS Intersection Measuring System Modeling and Analysis

2012 ◽  
Vol 614-615 ◽  
pp. 1299-1302
Author(s):  
Ming Jing Li ◽  
Yu Bing Dong ◽  
Guang Liang Cheng
Keyword(s):  
High Speed ◽  
High Performance ◽  
High Reliability ◽  
System Modeling ◽  
Position Effect ◽  
Field Of View ◽  
Measuring System ◽  
Price Ratio ◽  
Matlab Simulation ◽  
Modeling And Analysis

Multiple high speed CMOS cameras composing intersection system to splice large effect field of view(EFV). The key problem of system is how to locate multiple CMOS cameras in suitable position. Effect field of view was determined according to size, quantity and dispersion area of objects, so to determine camera position located on below, both sides and ahead to moving targets. This paper analyzes effect splicing field of view, operating range etc through establishing mathematical model and MATLAB simulation. Location method of system has advantage of flexibility splicing, convenient adjustment, high reliability and high performance-price ratio.

Motor car–track spatial coupled dynamics model of a high-speed train with traction transmission systems

2019 ◽  
Vol 137 ◽  
pp. 386-403 ◽  
Author(s):  
Zhiwei Wang ◽  
Guiming Mei ◽  
Qing Xiong ◽  
Zhonghui Yin ◽  
Weihua Zhang
Keyword(s):  
High Speed ◽  
High Speed Train ◽  
Dynamics Model ◽  
Transmission Systems ◽  
Coupled Dynamics

scholarly journals A distributed power management design based on MOST networks

2011 ◽  
Vol 8 (4) ◽  
pp. 1097-1115
Author(s):  
Yushan Jin ◽  
Ruikai Liu ◽  
Xingran He ◽  
Yongping Huang
Keyword(s):  
Power Management ◽  
High Speed ◽  
Transport Protocol ◽  
Master Node ◽  
Sleep State ◽  
Distributed Power ◽  
Modeling And Analysis ◽  
Network State ◽  
Intelligent Management ◽  
Audio Video

MOST (Media Oriented Systems Transport) protocol is a high-speed multimedia bus protocol. The system can make more and more media devices in the car automatically collaborate, sharing of audio, video and other data, but its own power consumption has not been a better optimization. In the paper, depending on the network management and the notification mechanism, a distributed power management solutions was designed that the slave nodes can sleep independently and the master node manages the network state, and the wake-up mechanisms in the sleep state were proposed. A mathematical modeling and analysis of MOST networks power were built in MATLAB. This program takes full advantage of MOST network protocol for the intelligent management. Simulation results shown that, with the increasing number of nodes in MOST, energy saving become more effective. More than 20% power saved can be achieved with distributed power management solution in 8-node MOST.

Modelling and Simulation of a Isoglide T3R1 Parallel Robot

2010 ◽  
Vol 166-167 ◽  
pp. 457-462
Author(s):  
Dan Verdes ◽  
Radu Balan ◽  
Máthé Koppány
Keyword(s):  
High Speed ◽  
Degrees Of Freedom ◽  
Parallel Robot ◽  
Parallel Robots ◽  
Practical Implementation ◽  
Medical Robots ◽  
The Past ◽  
And Control ◽  
Workspace Design ◽  
Human Systems

Parallel robots find many applications in human-systems interaction, medical robots, rehabilitation, exoskeletons, to name a few. These applications are characterized by many imperatives, with robust precision and dynamic workspace computation as the two ultimate ones. This paper presents kinematic analysis, workspace, design and control to 3 degrees of freedom (DOF) parallel robots. Parallel robots have received considerable attention from both researchers and manufacturers over the past years because of their potential for high stiffness, low inertia and high speed capability. Therefore, the 3 DOF translation parallel robots provide high potential and good prospects for their practical implementation in human-systems interaction.

Sign in / Sign up

Export Citation Format

Share Document