scholarly journals Nonlinear Hysteresis Model Considering Strength Degradation by Cyclic Loading for RC Members

2008 ◽  
Vol 49 (4) ◽  
pp. 227-231
Author(s):  
Yuta NOGAMI ◽  
Yoshitaka MURONO ◽  
Tsutomu SATO
Keyword(s):  
Cyclic Loading ◽  
Strength Degradation ◽  
Hysteresis Model ◽  
Nonlinear Hysteresis

A Force Control Joint for Robot–Environment Contact Application

2019 ◽  
Vol 11 (3) ◽  
Author(s):  
Qilong Wang ◽  
Wei Wang ◽  
Xilun Ding ◽  
Chao Yun
Keyword(s):  
Force Control ◽  
Model Simulation ◽  
Industrial Robot ◽  
Artificial Muscle ◽  
Hysteresis Model ◽  
Link Length ◽  
Nonlinear Hysteresis ◽  
The Difference ◽  
Parallel Configuration ◽  
Improved Accuracy

Accurate and robust force control is still a great challenge for robot–environment contact applications, such as in situ repair, polishing, and assembly. To tackle this problem, this paper proposes a force control joint with a parallel configuration, including two identical four-bar linkages driven by linear springs to push up the output end of the joint, and a parallel-connected pneumatic artificial muscle (PAM) to pull down its output end. In the new design, the link length of the linkages will be optimized to make the difference between the profile of the linkage and that of PAM constant within the limits of the joint given the force–displacement profile of PAM at a certain level of its input pressure. Furthermore, PAM's nonlinear hysteresis effect, which is believed to limit the accuracy of the joint's force control, will be represented by a new dynamics model that is to be developed from the classical Bouc–Wen (BW) hysteresis model. Simulation tests are then conducted to reveal that the adoption of the PAM hysteresis model yields improved accuracy of force control, and a series of curve trajectory tracking experiments are performed on a six-joint universal industrial robot to verify that the parallel force control joint is capable to enhance force control accuracy for robot contact applications.

State machine based nonlinear hysteresis model

Mechatronics ◽  
2015 ◽  
Vol 31 ◽  
pp. 215-221
Author(s):  
Andreas Meister ◽  
Steffen Buechner ◽  
Arvid Amthor
Keyword(s):  
State Machine ◽  
Hysteresis Model ◽  
Nonlinear Hysteresis

Hysteretic Behaviors of Yield Stress in Smart ER/MR Materials: Experimental Results

2006 ◽  
Vol 326-328 ◽  
pp. 1459-1462
Author(s):  
Young Min Han ◽  
Quoc Hung Nguyen ◽  
Seung Bok Choi ◽  
Kyung Su Kim
Keyword(s):  
Yield Stress ◽  
Smart Materials ◽  
Hysteretic Behavior ◽  
Preisach Model ◽  
Hysteresis Model ◽  
First Order ◽  
Input Field ◽  
Nonlinear Hysteresis ◽  
Field Dependent ◽  
Discrete Manner

This paper experimentally investigates the hysteretic behaviors of yield stress in electrorheological (ER) and magnetorheological (MR) materials which are known as smart materials. As a first step, the PMA-based ER material is prepared by dispersing the chemically synthesized polymethylaniline (PMA) particles into non-conducting oil. For the MR material, commercially available one (Lord MRF-132LD) is chosen for the test. Using the rheometer, the torque resulting from the shear stress of the ER/MR materials is measured, and then the yield stress is calculated from the measured torque. In order to describe the hysteretic behavior of the fielddependent yield stress, a nonlinear hysteresis model of the ER/MR materials is formulated between input (field) and output (yield stress). Subsequently, the Preisach model is identified using experimental first order descending (FOD) curves of yield stress in discrete manner. The effectiveness of the identified hysteresis model is verified in time domain by comparing the predicted field-dependent yield stress with the measured one.

The Hysteresis Model of Terfenol-D with Magneto-Stress Coupling

2011 ◽  
Vol 121-126 ◽  
pp. 4820-4825
Author(s):  
Ai Hua Meng ◽  
Han Lin He ◽  
Min Kong ◽  
Ming Fan Li
Keyword(s):  
Magnetic Field ◽  
Experimental Data ◽  
Constitutive Relation ◽  
Hysteresis Model ◽  
Hysteresis Behavior ◽  
Nonlinear Hysteresis ◽  
Nonlinear Constitutive Relation

The output of Terfenol-D is nonlinear and hysteretic under the effect of magnetic field and prestress. The nonlinear constitutive relation between magnetostriction and magnetization with magneto-stress coupling was built in consideration of the magnetostriction saturation and the prestress correlation. Then, the hysteresis behavior of Terfenol-D was modeled based on the Jiles-Atherton model. The error of magnetostriction between simulations and experimental data is less than 6%. This result indicates that the model can adequately predict the nonlinear hysteresis and magneto-stress coupling character of Terfenol-D.

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