scholarly journals A Passive Network Synthesis from Two-Terminal Measured Impedance Characteristic

2019 ◽  
Vol 27 (1) ◽  
pp. 183-190
Author(s):  
D. Krolak ◽  
P. Horsky
Keyword(s):  
Network Synthesis ◽  
Impedance Characteristic ◽  
Passive Network ◽  
Measured Impedance

A compliance modeling method of flexible rotary joint for collaborative robot using passive network synthesis theory

2021 ◽  
pp. 095440622110471
Author(s):  
Shoulin Xu ◽  
Bin He
Keyword(s):  
Design Method ◽  
Previous Method ◽  
Network Synthesis ◽  
Rotary Joint ◽  
Compliance Modeling ◽  
Passive Network ◽  
Modeling Theory ◽  
Trial And Error Method ◽  
Collaborative Robot ◽  
Error Method

Collaborative robots have become a research focus because of their wide applications. However, the previous compliance design method of the flexible rotary joint for collaborative robot mainly relied on experience of designers, and “trial and error” method is usually adopted, no feasible and systematic theory for the designer to select numerical value and series-parallel connection mode of the springs and dampers for the flexible rotary joint. Thus, developing a feasible compliance modeling theory to guide the design of the flexible rotary joint is a particularly challenging task. The main contribution of this paper is to present a novel and effective compliance modeling theory of the flexible rotary joint for collaborative robot based on electrical and mechanical passive network synthesis, to provide theoretical and systematic guidances for compliance design of the flexible rotary joint. First, inerter element is introduced into the mechanical system, and the compliance of the flexible rotary joint is expressed as an angular velocity admittance function using electrical and mechanical network analogy. Then, by passive network synthesis theory, the three kinds of compliance realization forms of rational function and four-element compliance realization conditions of biquadratic function for the flexible rotary joint are given using inerters, springs, and dampers. Moreover, numerical examples and simulations are conducted to illustrate effectiveness of the proposed compliance realization method. Finally, discussions are given to illustrate advantages of the proposed compliance modeling and design methods compared with the previous method.

Synthesis of Fractional-Order Biquadratic Immittance Functions

2019 ◽  
Vol 28 (11) ◽  
pp. 1950187
Author(s):  
Guishu Liang ◽  
Xiaoyan Huo
Keyword(s):  
System Theory ◽  
Fractional Order ◽  
Network Synthesis ◽  
Fractional Order Calculus ◽  
Integer Order ◽  
Passive Network ◽  
Passive Networks ◽  
Circuit And System ◽  
Impedance Functions

Passive network synthesis, as an important part of circuit and system theory, has been well developed in integer-order circuits. With the development of fractional-order calculus and fractional-order elements, the problem of using fractional-order passive networks to realize fractional-order immittance functions has drawn much attention. In this paper, the realization of a fractional-order biquadratic immittance function is considered. First, the form of a fractional-order biquadratic function and some theorems that could promote later research are introduced. Second, a detailed study for the realization of a fractional-order biquadratic immittance function is shown. Finally, through summarizing the realizability conditions of each network, we have obtained the scope of fractional biquadratic impedance functions that can be realized by this paper.

The Inerter: A Retrospective

2020 ◽  
Vol 3 (1) ◽  
pp. 361-391 ◽  
Author(s):  
Malcolm C. Smith
Keyword(s):  
Reverse Engineering ◽  
Network Synthesis ◽  
Formal Definition ◽  
Careful Attention ◽  
Ideal Behavior ◽  
Passive Network ◽  
Definition Of ◽  
Mechanical Devices ◽  
Imaginary Dialogue ◽  
The Ideal

This article provides an introduction and overview of the inerter concept and device. Careful attention is given to the distinction between the inerter as an ideal modeling element and devices that approximate the ideal behavior. The background is given to the formal definition of the inerter as a mechanical one-port with terminal forces proportional to the relative acceleration between them. Four major methods of construction are described and modeled. The discussion focuses particularly on the notion of terminals, the distinction between a device and an effect, sign reversals, back driving in geared systems, the conceptual aspects of the modeling step for inerter embodiments, and the problem of reverse engineering to discover a purpose. The article includes an analysis and discussion of the rotational inerter, a brief review of the ideas of passive network synthesis that led to the inerter concept, and an analysis and discussion of several examples of integrated mechanical devices. It concludes with an imaginary dialogue between the author and an interlocutor on the understanding and purpose of the inerter.

Passive Network Synthesis

10.1142/11567 ◽  
2019 ◽  
Author(s):  
Michael Z Q Chen ◽  
Kai Wang ◽  
Guanrong Chen
Keyword(s):  
Network Synthesis ◽  
Passive Network
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