scholarly journals Leg Trajectory Planning for Quadruped Robots with High-Speed Trot Gait

2019 ◽  
Vol 9 (7) ◽  
pp. 1508 ◽  
Author(s):  
Xuanqi Zeng ◽  
Songyuan Zhang ◽  
Hongji Zhang ◽  
Xu Li ◽  
Haitao Zhou ◽  
...  
Keyword(s):  
Trajectory Planning ◽  
High Speed ◽  
Gait Pattern ◽  
Stride Frequency ◽  
Tracking Accuracy ◽  
Element Analysis ◽  
Maximum Acceleration ◽  
Quadruped Robots ◽  
Trot Gait ◽  
High Acceleration

In this paper, a single leg platform for quadruped robots is designed based on the motivation of high-speed locomotion. The leg is designed for lightweight and low inertia with a structure of three joints by imitating quadruped animals. Because high acceleration and extensive loadings will be involved on the legs during the high-speed locomotion, the trade-off between the leg mass and strength is specifically designed and evaluated with the finite element analysis. Moreover, quadruped animals usually increase stride frequency and decrease contact time as the locomotion speed increases, while maintaining the swing duration during trot gait. Inspired by this phenomenon, the foot-end trajectory for quadruped robots with a high-speed trot gait is proposed. The gait trajectory is planned for swing and stance phase; thus the robot can keep its stability with adjustable trajectories while following a specific gait pattern. Especially for the swing phase, the proposed trajectory can minimize the maximum acceleration of legs and ensure the continuity of position, speed, and acceleration. Then, based on the kinematics analysis, the proposed trajectory is compared with the trajectory of Bézier curve for the power consumption. Finally, a simulation with Webots software is carried out for verifying the motion stability with two trajectory planning schemes respectively. Moreover, a motion capture device is used for evaluating the tracking accuracy of two schemes for obtaining an optimal gait trajectory suitable for high-speed trot gait.

Adaptive Synchronized Control for a Planar Parallel Manipulator: Theory and Experiments

2005 ◽  
Vol 128 (4) ◽  
pp. 976-979 ◽  
Author(s):  
Lu Ren ◽  
James K. Mills ◽  
Dong Sun
Keyword(s):  
Parallel Manipulator ◽  
High Speed ◽  
Control Method ◽  
Parametric Uncertainty ◽  
Synchronization Error ◽  
Tracking Accuracy ◽  
Unknown Parameters ◽  
High Acceleration ◽  
Planar Parallel Manipulator ◽  
Synchronized Control

In this paper, we develop a new control method, termed adaptive synchronized (A-S) control, for improving tracking accuracy of a P-R-R type planar parallel manipulator with parametric uncertainty. The novelty of A-S control, a combination of synchronized control and adaptive control, is in the application of synchronized control to a single parallel manipulator so that tracking accuracy is improved during high-speed, high-acceleration tracking motions. Through treatment of each chain as a submanipulator; the P-R-R manipulator is thus modeled as a multi-robot system comprised of three submanipulators grasping a common payload. Considering the geometry of the platform, these submanipulators are kinematically constrained and move in a synchronous manner. To solve this synchronization control problem, a synchronization error is defined, which represents the coupling effects among the submanipulators. With the employment of this synchronization error, tracking accuracy of the platform is improved. Simultaneously, the estimated unknown parameters converge to their true values through the use of a bounded-gain-forgetting estimator. Experiments conducted on the P-R-R manipulator demonstrate the validity of the approach.

Dynamic Analysis of HSDB System and Evaluation of Boundary Non-linearity through Experiments

2016 ◽  
Vol 66 (3) ◽  
pp. 210
Author(s):  
K. Chandrakar ◽  
P.L. Venkateshwara Rao ◽  
P. Rajendran ◽  
C. Satyanarayana
Keyword(s):  
Finite Element ◽  
Natural Frequency ◽  
High Speed ◽  
Printed Circuit Board ◽  
Structural Integrity ◽  
Mechanical Design ◽  
Circuit Board ◽  
Element Analysis ◽  
Maximum Acceleration ◽  
Vibration Tests

<p class="FAIMTextBody">This paper deals with mechanical design and development of high speed digital board (HSDB) system which consists of printed circuit board (PCB) with all electronic components packaged inside the cavity for military application. The military environment poses a variety of extreme dynamic loading conditions, namely, quasi static, vibration, shock and acoustic loads that can seriously degrade or even cause failure of electronics. The vibrational requirement for the HSDB system is that the natural frequency should be more than 200 Hz and sustain power spectrum density of 14.8 Grms in the overall spectrum. Structural integrity of HSDB is studied in detail using finite element analysis (FEA) tool against the dynamic loads and configured the system. Experimental vibration tests are conducted on HSDB with the help of vibration shaker and validated the FE results. The natural frequency and maximum acceleration response computed from vibration tests for the configured design were found. The finite element results show a good correlation with the experiment results for the same boundary conditions. In case of fitment scenario of HSDB system, it is observed that the influence of boundary non-linearity during experiments. This influence of boundary non-linearity is evaluated to obtain the closeout of random vibration simulation results.</p>

Trajectory tracking control of delta parallel robot based on disturbance observer

2020 ◽  
pp. 095965182097482
Author(s):  
Mingkun Wu ◽  
Jiangping Mei ◽  
Jinlu Ni ◽  
Weizhong Hu
Keyword(s):  
Dynamic Model ◽  
Trajectory Tracking ◽  
Disturbance Observer ◽  
High Speed ◽  
Parallel Robot ◽  
Tracking Accuracy ◽  
Trajectory Tracking Control ◽  
Uncertain Dynamics ◽  
High Acceleration ◽  
Highly Nonlinear

Delta parallel robot is widely used in the manufacturing process of food, medicine, electronics and military industries, which is a highly nonlinear system with strongly uncertain dynamics. Therefore, there are many difficulties in the controller design of delta robot. Based on the simplified dynamic model, a nonlinear PD+ controller with nonlinear disturbance observer is proposed for Delta parallel robot in this article, which can realize high-precision trajectory tracking in high-speed and high-acceleration motion. Then, the asymptotic stability of the closed-loop system’s equilibrium point is proven by utilizing Lyapunov techniques and LaSalle’s invariance theorem. It is obvious that the proposed controller is significantly less dependent on the accuracy of the dynamic model. Besides, a disturbance observer based on the generalized momentum is constructed, which can effectively observe and compensate the disturbances. What’s more, the constructed disturbance observer avoids the calculation of the inverse of inertia matrix, which will greatly improve the response speed of the controller. The simulation results show that the proposed controller can assure better trajectory tracking accuracy in high-speed and high-acceleration motion. And the disturbance observer can effectively estimate the disturbance. The author(s) disclosed receipt of the following financial support for the research, authorship, and/or publication of this article:This work was supported by the National Natural Science Foundation of China (grant number51474320).

Adaptive LQR-Control Design and Friction Compensation for Flexible High-Speed Rack Feeders

2013 ◽  
Vol 9 (1) ◽  
Author(s):  
Dominik Schindele ◽  
Harald Aschemann
Keyword(s):  
High Speed ◽  
Practical Importance ◽  
Control Design ◽  
Vertical Direction ◽  
Control Measures ◽  
Experimental Setup ◽  
Tracking Accuracy ◽  
Maximum Acceleration ◽  
Elastic Multibody System ◽  
Control Concept

Rack feeders for the automated operation of high bay rackings are of high practical importance. They are characterized by a horizontally movable carriage supporting a tall and flexible vertical beam structure, on which a cage containing the payload can be positioned in vertical direction. To shorten the transport times by using trajectories with increased maximum acceleration and jerk values, accompanying control measures can be introduced counteracting or avoiding undesired vibrations of the flexible structure. In this contribution, both the control-oriented modeling for an experimental setup of such a flexible rack feeder and the model-based design of a gain-scheduled feedforward and feedback control structure are presented. Whereas, a kinematical model is sufficient for the vertical axis, the horizontal motion of the rack feeder is modeled as a planar elastic multibody system with the cage position as scheduling parameter. For the mathematical description of the bending deflections, a one-dimensional Ritz ansatz is introduced. The tracking control design is performed separately for both the horizontal and the vertical axes using decentralized state-space representations. Remaining model uncertainties are estimated by a disturbance observer. The resulting tracking accuracy of the proposed control concept is shown by measurement results from the experimental setup. Furthermore, these results are compared to those obtained with an alternative control concept from previous work.

Performance analysis of magnetic gear with Halbach array for high power and high speed

2020 ◽  
Vol 64 (1-4) ◽  
pp. 959-967
Author(s):  
Se-Yeong Kim ◽  
Tae-Woo Lee ◽  
Yon-Do Chun ◽  
Do-Kwan Hong
Keyword(s):  
Permanent Magnet ◽  
Eddy Current ◽  
High Power ◽  
High Speed ◽  
Torque Ripple ◽  
Eddy Current Loss ◽  
Element Analysis ◽  
Current Loss ◽  
Halbach Array ◽  
Magnetic Gear

In this study, we propose a non-contact 80 kW, 60,000 rpm coaxial magnetic gear (CMG) model for high speed and high power applications. Two models with the same power but different radial and axial sizes were optimized using response surface methodology. Both models employed a Halbach array to increase torque. Also, an edge fillet was applied to the radial magnetized permanent magnet to reduce torque ripple, and an axial gap was applied to the permanent magnet with a radial gap to reduce eddy current loss. The models were analyzed using 2-D and 3-D finite element analysis. The torque, torque ripple and eddy current loss were compared in both models according to the materials used, including Sm2Co17, NdFeBs (N42SH, N48SH). Also, the structural stability of the pole piece structure was investigated by forced vibration analysis. Critical speed results from rotordynamics analysis are also presented.

Tribological and dynamical analysis of a brake pad with multiple blocks for a high-speed train

2019 ◽  
Vol 234 (11) ◽  
pp. 1771-1788
Author(s):  
YK Wu ◽  
JL Mo ◽  
B Tang ◽  
JW Xu ◽  
B Huang ◽  
...  
Keyword(s):  
High Speed ◽  
Wear Behavior ◽  
Dynamical Analysis ◽  
Brake Disc ◽  
Brake Pad ◽  
High Speed Train ◽  
Brake Squeal ◽  
Element Analysis ◽  
Single Block ◽  
Middle Ring

In this research, the tribological and dynamical characteristics of a brake pad with multiple blocks are investigated using experimental and numerical methods. A dynamometer with a multiblock brake pad configuration on a brake disc is developed and a series of drag-type tests are conducted to study the brake squeal and wear behavior of a high-speed train brake system. Finite element analysis is performed to derive physical explanations for the observed experimental phenomena. The experimental and numerical results show that the rotational speed and braking force have important influences on the brake squeal; the trends of the multiblock and single-block systems are different. In the multiblock brake pad, the different blocks exhibit significantly different magnitudes of contact stresses and vibration accelerations. The blocks located in the inner and outer rings have higher vibration acceleration amplitudes and stronger vibration energies than the blocks located in the middle ring.

Dynamic Analysis of DVG 850 High-Speed Machining Center

2012 ◽  
Vol 487 ◽  
pp. 203-207
Author(s):  
Gong Xue Zhang ◽  
Xiao Kai Shen
Keyword(s):  
High Speed ◽  
Simulation Analysis ◽  
Response Analysis ◽  
Improved Method ◽  
Analysis Software ◽  
Element Analysis ◽  
Harmonic Response ◽  
Machining Center ◽  
Calculation Results ◽  
Harmonic Response Analysis

Purpose, with the application of workbench finite element analysis software, get the analysis results of DVG 850 high-speed vertical machining center via the modal analysis and harmonic response analysis. Use the calculation results for reference, put forward the improved method, and prove the credibility of the simulation analysis by testing DVG 850 prototype.

scholarly journals Optimization of Air Gap Length and Capacitive Auxiliary Winding in Three-Phase Induction Motors Based on a Genetic Algorithm

Energies ◽  
2021 ◽  
Vol 14 (15) ◽  
pp. 4407
Author(s):  
Mbika Muteba
Keyword(s):  
Genetic Algorithm ◽  
Design Process ◽  
Power Factor ◽  
High Speed ◽  
High Efficiency ◽  
Air Gap ◽  
Element Analysis ◽  
Three Phase ◽  
High Torque ◽  
Cage Induction Motor

There is a necessity to design a three-phase squirrel cage induction motor (SCIM) for high-speed applications with a larger air gap length in order to limit the distortion of air gap flux density, the thermal expansion of stator and rotor teeth, centrifugal forces, and the magnetic pull. To that effect, a larger air gap length lowers the power factor, efficiency, and torque density of a three-phase SCIM. This should inform motor design engineers to take special care during the design process of a three-phase SCIM by selecting an air gap length that will provide optimal performance. This paper presents an approach that would assist with the selection of an optimal air gap length (OAL) and optimal capacitive auxiliary stator winding (OCASW) configuration for a high torque per ampere (TPA) three-phase SCIM. A genetic algorithm (GA) assisted by finite element analysis (FEA) is used in the design process to determine the OAL and OCASW required to obtain a high torque per ampere without compromising the merit of achieving an excellent power factor and high efficiency for a three-phase SCIM. The performance of the optimized three-phase SCIM is compared to unoptimized machines. The results obtained from FEA are validated through experimental measurements. Owing to the penalty functions related to the value of objective and constraint functions introduced in the genetic algorithm model, both the FEA and experimental results provide evidence that an enhanced torque per ampere three-phase SCIM can be realized for a large OAL and OCASW with high efficiency and an excellent power factor in different working conditions.

scholarly journals Study on the High-Speed Milling Performance of High-Volume Fraction SiCp/Al Composites

Materials ◽  
2021 ◽  
Vol 14 (15) ◽  
pp. 4143
Author(s):  
Youzheng Cui ◽  
Shenrou Gao ◽  
Fengjuan Wang ◽  
Qingming Hu ◽  
Cheng Xu ◽  
...  
Keyword(s):  
High Speed ◽  
Large Scale ◽  
Volume Fraction ◽  
Simulation Analysis ◽  
Cutting Temperature ◽  
High Volume ◽  
Cutting Parameters ◽  
High Volume Fraction ◽  
High Wear Resistance ◽  
Element Analysis

Compared with other materials, high-volume fraction aluminum-based silicon carbide composites (hereinafter referred to as SiCp/Al) have many advantages, including high strength, small change in the expansion coefficient due to temperature, high wear resistance, high corrosion resistance, high fatigue resistance, low density, good dimensional stability, and thermal conductivity. SiCp/Al composites have been widely used in aerospace, ordnance, transportation service, precision instruments, and in many other fields. In this study, the ABAQUS/explicit large-scale finite element analysis platform was used to simulate the milling process of SiCp/Al composites. By changing the parameters of the tool angle, milling depth, and milling speed, the influence of these parameters on the cutting force, cutting temperature, cutting stress, and cutting chips was studied. Optimization of the parameters was based on the above change rules to obtain the best processing combination of parameters. Then, the causes of surface machining defects, such as deep pits, shallow pits, and bulges, were simulated and discussed. Finally, the best cutting parameters obtained through simulation analysis was the tool rake angle γ0 = 5°, tool clearance angle α0 = 5°, corner radius r = 0.4 mm, milling depth ap = 50 mm, and milling speed vc= 300 m/min. The optimal combination of milling parameters provides a theoretical basis for subsequent cutting.

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