scholarly journals Gripper Control Design and Simulation for OpenROV Submarine Robot

Actuators ◽  
2021 ◽  
Vol 10 (10) ◽  
pp. 252
Author(s):  
Nathir Rawashdeh ◽  
Nader Abu-Alrub
Keyword(s):  
Reference Frames ◽  
Forward Kinematics ◽  
Vehicle Design ◽  
Transformation Matrices ◽  
General Arrangement ◽  
Mass Moment ◽  
Mass Moment Of Inertia ◽  
Control Stability ◽  
Submarine Robot ◽  
Underwater Exploration

In this work, a design of a gripper for the underwater OpenROV vehicle is presented. OpenROV is an open-source underwater vehicle design for remote underwater exploration. It can enable systems of underwater internet of things and real-time monitoring. Mechanical aspects of the presented gripper design are discussed including actuation, motion transmission, kinematics and general arrangement, which resembles a delta robot. The Denavit-Hartenberg (DH) notation will be employed to define reference frames on one of the fingers in order to build transformation matrices and the forward kinematics matrix. The results from the forward kinematics are used to define the workspace that can be covered by each finger. The maximum force from the fingertip is estimated using Newton-Euler equations. Finally, the transfer function and the mass moment of inertia of the second link in the finger, that is, the fingertip is calculated for control simulations. A control stability analysis is provided and shows a stable system.

Modeling and validation of crankshaft speed fluctuations of a single-cylinder four-stroke diesel engine

2021 ◽  
pp. 095440702110262
Author(s):  
Mustafa Babagiray ◽  
Hamit Solmaz ◽  
Duygu İpci ◽  
Fatih Aksoy
Keyword(s):  
Diesel Engine ◽  
Dynamic Model ◽  
Moment Of Inertia ◽  
Mass Motion ◽  
Cylinder Pressure ◽  
Motion Equations ◽  
Single Cylinder ◽  
Mass Moment ◽  
Mass Moment Of Inertia ◽  
Speed Fluctuations

In this study, a dynamic model of a single-cylinder four-stroke diesel engine has been created, and the crankshaft speed fluctuations have been simulated and validated. The dynamic model of the engine consists of the motion equations of the piston, conrod, and crankshaft. Conrod motion was modeled by two translational and one angular motion equations, by considering the kinetic energy resulted from the mass moment of inertia and conrod mass. Motion equations involve in-cylinder gas pressure forces, hydrodynamic and dry friction, mass inertia moments of moving parts, starter moment, and external load moment. The In-cylinder pressure profile used in the model was obtained experimentally to increase the accuracy of the model. Pressure profiles were expressed mathematically using the Fourier series. The motion equations were solved by using the Taylor series method. The solution of the mathematical model was performed by coding in the MATLAB interface. Cyclic speed fluctuations obtained from the model were compared with experimental results and found compitable. A validated model was used to analyze the effects of in-cylinder pressure, mass moment of inertia of crankshaft and connecting rod, friction, and piston mass. In experiments for 1500, 1800, 2400, and 2700 rpm engine speeds, crankshaft speed fluctuations were observed as 12.84%, 8.04%, 5.02%, and 4.44%, respectively. In simulations performed for the same speeds, crankshaft speed fluctuations were calculated as 10.45%, 7.56%, 4.49%, and 3.65%. Besides, it was observed that the speed fluctuations decreased as the average crankshaft speed value increased. In the simulation for 157.07, 188.49, 219.91, 251.32, and 282.74 rad/s crankshaft speeds, crankshaft speed fluctuations occurred at rates of 10.45%, 7.56%, 5.84%, 4.49%, and 3.65%, respectively. The effective engine power was achieved as 5.25 kW at an average crankshaft angular speed of 219.91 rad/s. The power of friction loss in the engine was determined as 0.68 kW.

Optimal Performance of the TLCD in Structural Pitching Vibration Control

2002 ◽  
Vol 8 (5) ◽  
pp. 619-642 ◽  
Author(s):  
S. D. Xue ◽  
J. M. Ko ◽  
Y. L. Xu
Keyword(s):  
Numerical Optimization ◽  
Sensitivity Study ◽  
Optimization Approach ◽  
Optimum Control ◽  
Head Loss Coefficient ◽  
Tuning Ratio ◽  
Mass Moment ◽  
Practical Design ◽  
Mass Moment Of Inertia ◽  
Structural Uncertainties

A detailed optimal parametric study is performed for a tuned liquid column damper (TLCD) in suppressing the pitching vibration of structures. Due to the difficulty of finding analytical solutions for the damped structure, a numerical optimization approach is proposed and applied to the system to find the optimum TLCD parameters. The variations of the optimum control parameter with system parameters are determined and discussed. Using various numerical searching data, a set of practical design formulas for the optimum tuning ratio and optimum head loss coefficient of the TLCD are then derived through regression analysis. The comparison between practical design formula and numerical optimization shows a very close agreement between the two results. The practical design formulas provide a convenient tool for designers. In order to account for the possible effects of structural uncertainties, a parametric sensitivity study on the de-tuning of optimum damper parameters is also carried out. It is found that the detuning effect is more severe for low damped structure with lower ratios of mass moment of inertia, especially for the detuning of tuning ratio.

scholarly journals Heavy Military Land Vehicle Mass Properties Estimation Using Hoisting and Pendulum Motion Method

2019 ◽  
Vol 69 (6) ◽  
pp. 550-556
Author(s):  
M. S. Risby ◽  
Khalis Suhaimi ◽  
Tan Kean Sheng ◽  
Arif Syafiq M. S. ◽  
Mohd Hafizi N
Keyword(s):  
Centre Of Gravity ◽  
Mass Moment ◽  
Mass Properties ◽  
Proper Mass ◽  
Vehicle Rollover ◽  
Mass Moment Of Inertia ◽  
Mobile Crane ◽  
Vector Mechanics ◽  
Rollover Crash ◽  
Modelling Process

Mass properties such as the centre of gravity location, moments of inertia, and total mass are of great importance for vehicle stability studies and deployment. Certain parameters are required when these vehicles need to be arranged inside an aircraft for the carrier to achieve proper mass balance and stability during a flight. These parameters are also important for the design and modelling process of vehicle rollover crash studies. In this study, the mass properties of a military armoured vehicle were estimated using hoisting and pendulum method. The gross total weight, longitudinal and vertical measurements were recorded by lifting the vehicle using a mobile crane and the data were used to estimate the centre of gravity. The frequency of vehicle oscillation was measured by applying swing motion with a small angle of the vehicle as it is suspended on air. The centre of gravity and mass moment of inertia were calculated using the vector mechanics approach. The outcomes and limitations of the approach as discussed in details.

scholarly journals Research Concerning the Dynamic Model of the Conventional Sucker Rod Pumping Units

2019 ◽  
Vol 70 (8) ◽  
pp. 2818-2821
Author(s):  
Georgeta Toma
Keyword(s):  
Computer Program ◽  
Dynamic Model ◽  
Angular Speed ◽  
Management Program ◽  
Programming Environment ◽  
Synthesis Parameters ◽  
Mass Moment ◽  
Sucker Rod ◽  
Mass Moment Of Inertia ◽  
Pumping Units

The study of the dynamic model of the conventional sucker rod pumping units requires first determining the variation on the cinematic cycle of the synthesis parameters (the reduced moment and the reduced mass moment of inertia) and then the variation of the angular speed of the cranks, in response to the dynamic and resistant actions on the component elements that appear during operation. The paper presents the way of determining the variation on the cinematic cycle of the synthesis parameters of the dynamic model corresponding to the conventional pumping unit mechanism and of the variation of the angular speed of its cranks. The experimental records have been processed with the Total Well Management program. The simulations have been performed with a computer program developed by the author using the Maple programming environment.

scholarly journals Pengaruh Variasi Radius-Dalam Rim Terhadap Pengurangan Massa dan Momen Inersia Massa Dengan Studi Kasus Benda Putar Berdiameter 10 cm

2018 ◽  
Vol 1 (1) ◽  
Author(s):  
Eka Taufiq Firmansjah
Keyword(s):  
Outer Radius ◽  
Moment Of Inertia ◽  
Mass Reduction ◽  
Inner Radius ◽  
Mass Moment ◽  
Mass Moment Of Inertia ◽  
Machine Elements ◽  
The Moment ◽  
The Masses

ABSTRAK Mesin terdiri dari sekumpulan elemen mesin yang diam dan bergerak. Elemen mesin yang bergerak dengan gerakan berputar disebut benda putar. Pada beberapa kasus seringkali diinginkan pengurangan massa dari benda putar tersebut untuk alasan ekonomis, biasanya untuk elemen mesin yag diproduksi massal. Namun pengurangan massa berakibat pada pengurangan momen inersia massa benda putar bersangkutan. Jika tuntutan perancangan tidak mempermasalahkan perubahan tersebut, maka pengurangan massa tidak menjadi masalah. Namun jika momen inersia massa tidak boleh terlalu rendah, maka harus dicari kompromi dimana pengurangan massa sebesar-besarnya namun penurunan momen inersia massa sekecil-kecilnya. Pada penelitian ini dilakukan studi kasus terhadap benda putar berjari- jari 10 cm jari-jari dalam hub 2 cm dan jari-jari luar hub 4 cm. Jumlah jari-jari ada 4 dengan lebar 1 cm dan tebal benda putar 0,5 cm. Variasi pengurangan massa dilakukan dengan memvariasikan jari-jari- dalam rim. Untuk tiap variasi, dilakukan perhitungan untuk mendapatkan jumlah massa yang dapat dikurangi dan momen inersia massa dari benda putar. Ternyata pada nilai jari-jari dalam tertentu, dapat diperoleh nilai kompromi dari permasalahan diatas. Kata kunci: benda putar, penghematan bahan, momen inersia massa.  ABSTRACT Machine consists of a set of machine elements that still and moving. Machine elements that move in a circular motion called rotary object. In some cases it is often desirable reduction in the mass of the rotating object for economic reasons, usually for a mass production of machine elements. But the mass reduction results in a reduction in moment of inertia of the mass. If the demands of the design allow this decrease of moment of inertia, mass reduction is not a problem. But if the moment of inertia of the masses should not be too low, it must find a compromise in which a mass reduction profusely but the decrease in the mass moment of inertia of the smallest. In this research conducted a case study of rotating element radius of 10 cm, radius of the hub 2 cm and outer radius hub 4 cm. The number of spoke are 4 with a width of 1 cm and uniform thickness 0.5 cm all over rotating element. Variations mass reduction is done by varying the inner radius of the rim. For each variation, calculation is performed to obtain the amount of mass that can be reduced and the mass moment of inertia of the rotating object. It turned out that in the certain value of inner radius of the rim in particular, can compromise the values obtained from the above problem. Keywords: rotating element, reducing material, mass moment of inertia.

Robust and efficient forward, differential, and inverse kinematics using dual quaternions

2020 ◽  
pp. 027836492093194
Author(s):  
Neil T Dantam
Keyword(s):  
Inverse Kinematics ◽  
Forward Kinematics ◽  
Robot Kinematics ◽  
Dual Numbers ◽  
Dual Quaternion ◽  
Implicit Representation ◽  
Alternative Representation ◽  
Transformation Matrices ◽  
Dual Quaternions ◽  
Efficient Representation

Modern approaches for robot kinematics employ the product of exponentials formulation, represented using homogeneous transformation matrices. Quaternions over dual numbers are an established alternative representation; however, their use presents certain challenges: the dual quaternion exponential and logarithm contain a zero-angle singularity, and many common operations are less efficient using dual quaternions than with matrices. We present a new derivation of the dual quaternion exponential and logarithm that removes the singularity, we show an implicit representation of dual quaternions offers analytical and empirical efficiency advantages compared with both matrices and explicit dual quaternions, and we derive efficient dual quaternion forms of differential and inverse position kinematics. Analytically, implicit dual quaternions are more compact and require fewer arithmetic instructions for common operations, including chaining and exponentials. Empirically, we demonstrate a 30–40% speedup on forward kinematics and a 300–500% speedup on inverse position kinematics. This work relates dual quaternions with modern exponential coordinates and demonstrates that dual quaternions are a robust and efficient representation for robot kinematics.

A Design Approach for Storage Spar Buoy Platforms in the Concept and Preliminary Design Phases

2002 ◽  
Author(s):  
Richard David Schachter ◽  
Carlos Gomes Jordani ◽  
Antonio Carlos Fernandes
Keyword(s):  
Weight Control ◽  
Method Development ◽  
Design Method ◽  
Design Approach ◽  
Preliminary Design ◽  
Concept Design ◽  
Structural Topology ◽  
General Arrangement ◽  
Control Stability ◽  
Definition Of

The objective of this work is to present a design approach for the Concept and Preliminary Design Phases of Storage SPAR Buoy Platforms and to describe how the design method was developed. The influence of a VIV porosity device on the design is taken into consideration. The inherent advantages of Spar concepts for Petrobras’ applications for 1250 m, are discussed and compared with other concepts. The Spar concept was chosen. The design method development was carried out by means of a brainstorming process, using sketches and the creation of interactive flowcharts of the design processes (similar to a design spiral) comprising the main design factors, their sequencing and interrelations, for both the Concept and Preliminary Design phases. The intent of the design approach is to provide the designer with means to define quick and efficiently the optimal hull dimensions for a pre-established scenario. For the Concept Design, the method includes the definition of the main dimensions, the Wellbay, the structural topology and compartmentation, general arrangement, weight control, stability (intact, damaged and flooded), motions and mooring. A discussion on the influence of the VIV porosity device on the dimensioning and mooring of the Spar Platform is provided. A concept design application example is presented.

An Improved Transfer Matrix-Direct Integration Method for Rotor Dynamics

1986 ◽  
Vol 108 (2) ◽  
pp. 182-188 ◽  
Author(s):  
Jialiu Gu
Keyword(s):  
Transfer Matrix ◽  
Integration Method ◽  
Equations Of Motion ◽  
Rotor Dynamics ◽  
Direct Integration ◽  
Rotating System ◽  
Direct Integration Method ◽  
Mass Moment ◽  
Mass Moment Of Inertia ◽  
Matrix Iteration

A transfer matrix-direct integration combined method is proposed, which employs the transfer matrix method to derive the equations of motion of a “characteristic disk,” and uses the direct integration method to determine the critical speeds, modes and unbalance response of a rotor-bearing system, and to analyze its stability. Despite the complexity of the system, the number of governing equations is not greater than eight. For a single-spool rotating system, the number of equations is only four. A transfer matrix for a uniform shaft is derived to consider its distributed mass, moment of inertia and the effect of shearing force. An impedance matrix iteration method is proposed to consider the effect of a complicated bearing-supporting system on the rotor dynamics. Two examples are given, and the results agree satisfactorily with the experiments.

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