scholarly journals Estimation of Grey-Box Dynamic Model of 2-DOF Pneumatic Actuator Robotic Arm Using Gravity Tests

2021 ◽  
Vol 11 (10) ◽  
pp. 4490
Author(s):  
Monika Trojanová ◽  
Tomáš Čakurda ◽  
Alexander Hošovský ◽  
Tibor Krenický
Keyword(s):  
Dynamic Model ◽  
Degrees Of Freedom ◽  
Trust Region ◽  
Nonlinear Least Squares ◽  
Optimization Method ◽  
Lagrangian Formalism ◽  
Physical Parameters ◽  
Trust Region Algorithm ◽  
3D Cad ◽  
Friction Term

This article describes the dynamics of a manipulator with two degrees of freedom, while the dynamic model of the manipulator’s arm is derived using Lagrangian formalism, which considers the difference between the kinetic and potential energy of the system. The compiled dynamic model was implemented in Matlab, taking into account the physical parameters of the manipulator and friction term. Physical parameters were exported from the 3D CAD model. A scheme (model) was compiled in the Simulink, which was used for the subsequent validation process. The outputs of the validations were compared with measured data of joint angles from the system (expected condition) obtained by using gravity tests. For obtaining better results were parameters of the model optimizing by using the Trust Region Algorithm for Nonlinear Least Squares optimization method. Therefore, the aim of the research described in the article is the comparison of the model with the parameters that come from CAD and its improvement by estimating the parameters based on gravitational measurements. The model with estimated parameters achieved an improvement in the results of the Normal Root Mean Square Error compared to the model with CAD parameters. For link 1 was an improvement from 28.49% to 67.93% depending on the initial joint angle, and for link 2, from 63.84% to 66.46%.

Toward a Minimal Dynamic Model of a 6-DOF Parallel Robot

1997 ◽  
Author(s):  
L. Beji ◽  
M. Pascal ◽  
P. Joli
Keyword(s):  
Dynamic Model ◽  
Degrees Of Freedom ◽  
Equations Of Motion ◽  
Computational Cost ◽  
Closed Form Solution ◽  
Parallel Robot ◽  
Form Solution ◽  
Lagrangian Formalism ◽  
Inverse Kinematic Problem ◽  
Geometrical Properties

Abstract In this paper, an architecture of a six degrees of freedom (dof) parallel robot and three limbs is described. The robot is called Space Manipulator (SM). In a first step, the inverse kinematic problem for the robot is solved in closed form solution. Further, we need to inverse only a 3 × 3 passive jacobian matrix to solve the direct kinematic problem. In a second step, the dynamic equations are derived by using the Lagrangian formalism where the coordinates are the passive and active joint coordinates. Based on geometrical properties of the robot, the equations of motion are derived in terms of only 9 coordinates related by 3 kinematic constraints. The computational cost of the obtained dynamic model is reduced by using a minimum set of base inertial parameters.

scholarly journals A new limited memory method for unconstrained nonlinear least squares

2021 ◽  
Author(s):  
Morteza Kimiaei ◽  
Arnold Neumaier
Keyword(s):  
Least Squares ◽  
Jacobian Matrix ◽  
Trust Region ◽  
Nonlinear Least Squares ◽  
Black Box ◽  
Least Squares Problems ◽  
Trust Region Algorithm ◽  
Limited Memory ◽  
Adaptive Radius ◽  
Quasi Newton

AbstractThis paper suggests a new limited memory trust region algorithm for large unconstrained black box least squares problems, called LMLS. Main features of LMLS are a new non-monotone technique, a new adaptive radius strategy, a new Broyden-like algorithm based on the previous good points, and a heuristic estimation for the Jacobian matrix in a subspace with random basis indices. Our numerical results show that LMLS is robust and efficient, especially in comparison with solvers using traditional limited memory and standard quasi-Newton approximations.

scholarly journals A Dynamical Study of Fusion Hindrance with Nakajima-Zwanzig Projection Method

2021 ◽  
Author(s):  
Yasuhisa Abe ◽  
David Boilley ◽  
Quentin Hourdillé ◽  
Caiwan Shen
Keyword(s):  
Cross Sections ◽  
Degrees Of Freedom ◽  
Operator Method ◽  
Initial Distribution ◽  
Physical Parameters ◽  
Relaxation Processes ◽  
Fast Variable ◽  
Dynamical Study ◽  
Injection Point ◽  
Slow Variables

Abstract A new framework is proposed for the study of collisions between very heavy ions which lead to the synthesis of Super-Heavy Elements (SHE), to address the fusion hindrance phenomenon. The dynamics of the reaction is studied in terms of collective degrees of freedom undergoing relaxation processes with different time scales. The Nakajima-Zwanzig projection operator method is employed to eliminate fast variable and derive a dynamical equation for the reduced system with only slow variables. There, the time evolution operator is renormalised and an inhomogeneous term appears, which represents a propagation of the given initial distribution. The term results in a slip to the initial values of the slow variables. We expect that gives a dynamical origin of the so-called “injection point s” introduced by Swiatecki et al in order to reproduce absolute values of measured cross sections for SHE. A formula for the slip is given in terms of physical parameters of the system, which confirms the results recently obtained with a Langevin equation, and permits us to compare various incident channels.

Three-dimensional asymmetric maximum weight lifting prediction considering dynamic joint strength

2021 ◽  
pp. 095441192098703
Author(s):  
Rahid Zaman ◽  
Yujiang Xiang ◽  
Jazmin Cruz ◽  
James Yang
Keyword(s):  
Experimental Data ◽  
Degrees Of Freedom ◽  
Inverse Dynamics ◽  
Three Dimensional ◽  
Optimization Method ◽  
Weight Lifting ◽  
Joint Torque ◽  
Maximum Weight ◽  
Angular Velocities ◽  
Asymmetric Lifting

In this study, the three-dimensional (3D) asymmetric maximum weight lifting is predicted using an inverse-dynamics-based optimization method considering dynamic joint torque limits. The dynamic joint torque limits are functions of joint angles and angular velocities, and imposed on the hip, knee, ankle, wrist, elbow, shoulder, and lumbar spine joints. The 3D model has 40 degrees of freedom (DOFs) including 34 physical revolute joints and 6 global joints. A multi-objective optimization (MOO) problem is solved by simultaneously maximizing box weight and minimizing the sum of joint torque squares. A total of 12 male subjects were recruited to conduct maximum weight box lifting using squat-lifting strategy. Finally, the predicted lifting motion, ground reaction forces, and maximum lifting weight are validated with the experimental data. The prediction results agree well with the experimental data and the model’s predictive capability is demonstrated. This is the first study that uses MOO to predict maximum lifting weight and 3D asymmetric lifting motion while considering dynamic joint torque limits. The proposed method has the potential to prevent individuals’ risk of injury for lifting.

scholarly journals Modeling and Fault Diagnosis of Interturn Short Circuit for Five-Phase Permanent Magnet Synchronous Motor

2015 ◽  
Vol 2015 ◽  
pp. 1-9 ◽  
Author(s):  
Jian-wei Yang ◽  
Man-feng Dou ◽  
Zhi-yong Dai
Keyword(s):  
Parameter Estimation ◽  
Fault Diagnosis ◽  
Permanent Magnet ◽  
Fault Tolerant ◽  
Short Circuit ◽  
Estimation Method ◽  
Trust Region ◽  
Fault Tolerant Control ◽  
Trust Region Algorithm ◽  
Parameter Estimation Method

Taking advantage of the high reliability, multiphase permanent magnet synchronous motors (PMSMs), such as five-phase PMSM and six-phase PMSM, are widely used in fault-tolerant control applications. And one of the important fault-tolerant control problems is fault diagnosis. In most existing literatures, the fault diagnosis problem focuses on the three-phase PMSM. In this paper, compared to the most existing fault diagnosis approaches, a fault diagnosis method for Interturn short circuit (ITSC) fault of five-phase PMSM based on the trust region algorithm is presented. This paper has two contributions. (1) Analyzing the physical parameters of the motor, such as resistances and inductances, a novel mathematic model for ITSC fault of five-phase PMSM is established. (2) Introducing an object function related to the Interturn short circuit ratio, the fault parameters identification problem is reformulated as the extreme seeking problem. A trust region algorithm based parameter estimation method is proposed for tracking the actual Interturn short circuit ratio. The simulation and experimental results have validated the effectiveness of the proposed parameter estimation method.

A Dynamic Model for the Design of Methanol to Hydrogen Steam Reformers for Transportation Applications

2004 ◽  
Vol 126 (2) ◽  
pp. 149-158 ◽  
Author(s):  
Gregory L. Ohl ◽  
Jeffrey L. Stein ◽  
Gene E. Smith
Keyword(s):  
Response Time ◽  
Dynamic Model ◽  
First Principles ◽  
Initial Conditions ◽  
Design Parameters ◽  
Physical Parameters ◽  
Steam Reformer ◽  
Powerful Means ◽  
Steam Reformers ◽  
Transportation Applications

As an aid to improving the dynamic response of the steam reformer, a dynamic model is developed to provide preliminary characterizations of the major constraints that limit the ability of a reformer to respond to the varying output requirements occurring in vehicular applications. This model is a first principles model that identifies important physical parameters in the steam reformer. The model is then incorporated into a design optimization process, where minimum steam reformer response time is specified as the objective function. This tool is shown to have the potential to be a powerful means of determining the values of the steam reformer design parameters that yield the fastest response time to a step input in hydrogen demand for a given set of initial conditions. A more extensive application of this methodology, yielding steam reformer design recommendations, is contained in a related publication.

scholarly journals Optimal design of high efficiency double helical gear based on dynamics model

2021 ◽  
Vol 3 (8) ◽  
Author(s):  
Fengxia Lu ◽  
Xuechen Cao ◽  
Weiping Liu
Keyword(s):  
Dynamic Model ◽  
High Efficiency ◽  
Bending Strength ◽  
Sliding Friction ◽  
Elastohydrodynamic Lubrication ◽  
Optimization Method ◽  
Transmission Efficiency ◽  
Helical Gear ◽  
Transmission System ◽  
Vibration Displacement

AbstractA 16-degree-of-freedom dynamic model for the load contact analysis of a double helical gear considering sliding friction is established. The dynamic equation is solved by the Runge–Kutta method to obtain the vibration displacement. The method combines the friction coefficient model based on the elastohydrodynamic lubrication theory with the dynamic model, which provides a theoretical basis for the calculation of the power loss of the transmission system. Moreover, the sensitivity analysis of the parameters that affect the transmission efficiency is carried out, and an optimization method of meshing efficiency is proposed without reducing the bending strength of the gears. This method can directly guide the design of the double helical gear transmission system.

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