scholarly journals Building dynamic equations of manipulator with flexible links

2017 ◽  
Vol 20 (K1) ◽  
pp. 28-34
Author(s):  
Duong Xuan Bien ◽  
Chu Anh My ◽  
Phan Bui Khoi
Keyword(s):  
Finite Element Method ◽  
Finite Element ◽  
Control System ◽  
Dynamic Modeling ◽  
General Model ◽  
Horizontal Plane ◽  
Dynamic Equations ◽  
Initial Moment ◽  
Dynamic Behaviors ◽  
Flexible Links

This paper presents the research of general model and building dynamic equations of two flexible links manipulator motion in the horizontal plane. Dynamic modeling is considered with adding factors which are payload, elastic friction, mass and initial moment of rotors. So it is closed to reality. Dynamic equations are derived through finite element method based on Lagrange approach. Dynamic behaviors of the system with payload were simulated like a specific example. The results can be used to building the control system which increases accuracy position of manipulators under influence of elastic displacements of links.

Dynamics of 3D Micropolar Gyroelastic Beams

2014 ◽  
Author(s):  
Soroosh Hassanpour ◽  
G. R. Heppler
Keyword(s):  
Finite Element Method ◽  
Finite Element ◽  
Dynamic Modeling ◽  
Dynamic Equations ◽  
Hamilton’S Principle ◽  
The Finite Element Method ◽  
Hamilton's Principle ◽  
Modeling And Analysis ◽  
Element Method

This paper is devoted to the dynamic modeling of micropolar gyroelastic beams and explores some of the modeling and analysis issues related to them. The simplified micropolar beam torsion and bending theories are used to derive the governing dynamic equations of micropolar gyroelastic beams from Hamilton’s principle. Then these equations are solved numerically by utilizing the finite element method and are used to study the spectral and modal behaviour of micropolar gyroelastic beams.

scholarly journals Programmed task based motion analysis of robotic systems equipped with flexible links and supports

2018 ◽  
Vol 241 ◽  
pp. 01008 ◽  
Author(s):  
Elżbieta Jarzębowska ◽  
Krzysztof Augustynek ◽  
Andrzej Urbaś
Keyword(s):  
Finite Element Method ◽  
Finite Element ◽  
Motion Analysis ◽  
Computational Procedure ◽  
Robotic Systems ◽  
Dynamics Analysis ◽  
Flexible Link ◽  
Flexible Links ◽  
Rigid Finite Element Method ◽  
Joint Coordinates

The automatic computational procedure to derivate dynamics equations of systems with programmed constraints modified to encompass compliant mechanical components in their structures is discussed in the paper. The dynamics analysis of the compliant manipulator model with a flexible link is presented as an example. The rigid finite element method is used in order to take into account the flexibility of the link. The formalism of joint coordinates and homogeneous transformations are used to describe the manipulator motion.

scholarly journals Analytical Investigation of MR Damper for Vibration Control: A Review

2021 ◽  
Vol 11 (1) ◽  
pp. 49-52
Author(s):  
K. Sumanth Ratna ◽  
C. Daniel ◽  
Anshika Ram ◽  
B. Siva Kumar Yadav ◽  
G. Hemalatha
Keyword(s):  
Finite Element Method ◽  
Finite Element ◽  
Control System ◽  
Vibration Control ◽  
Active Control ◽  
Mr Damper ◽  
Analytical Investigation ◽  
Seismic Resistance ◽  
Mr Dampers ◽  
Active Control System

Abstract In this paper, a vibration control system with magnetorheological (MR) damper investigation is reviewed. At first a MR damper is investigated analytically using various finite element method software and the performance is investigated using experimental. The MR Dampers are designed and modelled for a scaled down setup. The application is in seismic resistance of buildings, automobile, physical and biological. Finally, the damper is investigated using various technique and methods used to study the performance is reviewed. This device reduces the vibration in both active and semi active control system effectively.

Dynamic Modeling of the Capture Process of Snare Space Grapple Device

2011 ◽  
Vol 217-218 ◽  
pp. 1093-1097
Author(s):  
Long Li ◽  
Zong Quan Deng ◽  
Bing Li
Keyword(s):  
Finite Element Method ◽  
Finite Element ◽  
Dynamic Modeling ◽  
Central Body ◽  
Solar Sails ◽  
Capture Process ◽  
Target Vehicle ◽  
Process Dynamic ◽  
Element Method ◽  
Flexible Appendages

Snare space grapple device is designed for grappling large in-orbit payloads. Based on describing the grappling process, dynamic modeling of capturing a free-floating vehicle with large solar sails is performed by using Newton-Euler and hybrid coordinate methods in this paper. The models considering target vehicle as a rigid central body with flexible appendages which are discrete by using finite element method.

Design and Analysis of MEMS-Based Actuator

2010 ◽  
Vol 97-101 ◽  
pp. 3471-3474
Author(s):  
Shuang Jie Liu ◽  
Yong Ping Hao
Keyword(s):  
Finite Element Method ◽  
Finite Element ◽  
Mechanical System ◽  
Dynamic Modeling ◽  
Lagrange Equation ◽  
Micro Electro Mechanical System ◽  
Flexible Coupling ◽  
Adams Software ◽  
Coupling Dynamic ◽  
Element Method

One Micro-Electro-Mechanical System(MEMS) based actuator that fabricated by LIGA (Lithographie ,Galanoformung and Abformung) technology was designed to distinguish the change of the exterior condition. In order to prove whether the parts in the actuator intervene each other during motion, ADAMS software was utilized to simulate the motion. The rigid-flexible coupling dynamic modeling of the design was obtained by combining finite element method (FEM) with Lagrange equation, the mathematics modeling was solved with Gear method in ADAMS. The results showed that the MEMS-based actuator could move smoothly, and the simulated curve meets the intent.

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