scholarly journals Slip and Magnetic Attraction Effects in a Microrobot with Magnetic-Wheels and Skid-Steering

Micromachines ◽  
2019 ◽  
Vol 10 (6) ◽  
pp. 379 ◽  
Author(s):  
Munehisa Takeda ◽  
Isao Shimoyama
Keyword(s):  
Driving Performance ◽  
Simulation Program ◽  
Magnetic Attraction ◽  
Column Type ◽  
Skid Steering ◽  
Simulation Results ◽  
Attraction Effects ◽  
Gripping Force

This study investigated slip and magnetic attraction effects in a skid-steered magnetic-wheeled microrobot. The dynamics of the microrobot were derived by considering the slip and magnetic attraction of the wheels. In addition, the slip characteristics of the magnetic wheels were measured using an evaluation apparatus built for this purpose. A simulation program for driving performance was developed as well. Simulations indicated that the turning characteristics of the skid-steered wheeled microrobot degrade because the gripping force decreases due to the decrease in weight with decreasing size. However, the turning characteristics of a skid-steered microrobot can be improved with the magnetic attraction of magnetic wheels. A 5 mm × 9 mm × 6.5 mm skid-steered microrobot with four magnetic wheels was fabricated, and the measured performance was consistent with the simulation results. The differences in driving performance were clarified between a microrobot with column-type magnetic wheels and one with barrel-type magnetic wheels, as well as between forward and backward motion.

Z-Manoeuvring of a Liquified Natural Gas Carrier with Podded Propulsion System

2014 ◽  
Vol 66 (2) ◽  
Author(s):  
Jaswar Jaswar ◽  
N. Loh ◽  
Adhy Prayitno
Keyword(s):  
Mathematical Model ◽  
Natural Gas ◽  
Propulsion System ◽  
Simulation Program ◽  
Important Concern ◽  
Evaluation Stage ◽  
Simulation Results

The application of pod propulsion has become an important concern in designing a new LNG carrier due to the high maneuverability characteristic. However, podded propulsion LNG carrier is a new concept which is still in the evaluation stage. Practically, the maneuverability of podded propulsion LNG carrier is an uncertainty. Hence, it is essential to assess the ship’s maneuvering characteristics. Z-Manoeuvre assessment is one of the recommended tests for maneuverability prediction. This paper discusses on Z-Manoeuvre characteristic of the podded propulsion LNG carrier. A mathematical model for podded propulsion LNG carrier was presented and a simulation program was developed for the Z-Manoeuvre assessment. Finally, simulations were carried out on both conventional propulsion and podded propulsion LNG carriers. The simulation results show that podded propulsion LNG carrier has a better Z-Manoeuvre characteristic.

Simulation on Driving Performance of the Vehicle Based on Modeling Tire

2011 ◽  
Vol 66-68 ◽  
pp. 373-377
Author(s):  
Yue Ying Zhu ◽  
Gui Fan Zhao ◽  
You Shan Wang ◽  
Li Liang Yin
Keyword(s):  
Finite Element Method ◽  
Finite Element ◽  
Dynamic Simulation ◽  
Driving Performance ◽  
New Method ◽  
The Finite Element Method ◽  
Performance Simulation ◽  
Radial Tire ◽  
Simulation Results ◽  
Dynamics Models

The finite element method was used to establish model of radial tire and analysis the characteristics of tire in driving state to improve the accuracy of simulation on driving performance of off-road vehicle. The dynamics models of the vehicle and its subsystem are designed to provide an off-line dynamic simulation for vehicle driving performance. Simulation and analysis for the vehicle selected previously are made, and the simulation results are compared and analyzed in detail to prove the effectiveness of the new method.

scholarly journals Design, analysis and experiment of finger soft actuator with nested structure for rehabilitation training

2020 ◽  
Vol 12 (11) ◽  
pp. 168781402097153
Author(s):  
Ning Meng ◽  
Wang Kun ◽  
Li Mingxin ◽  
Yu Ke ◽  
Wu Zhi
Keyword(s):  
Inner Core ◽  
Structural Parameters ◽  
Structure Design ◽  
Core Structure ◽  
Rehabilitation Robot ◽  
Hand Rehabilitation ◽  
Soft Actuator ◽  
Nested Structure ◽  
Simulation Results ◽  
Gripping Force

Compared with the rigid hand rehabilitation robot, the soft hand rehabilitation robot has the advantages of good flexibility, which is of great significance to its research. In order to make the soft hand rehabilitation robot have the advantages of high stiffness and simple manufacturing process, a nested structure is proposed for finger soft actuator in this paper. The nested structure consists of outer restraint structure and inner core structure. The inner core structure can realize deformation under the action of air pressure. The outer restraint structure can improve bending efficiency by restraining deformation in non-functional direction of inner core structure. On this basis, the processing technology of nested structure is designed, and the effect of structural parameters on performance is analyzed. In order to illustrate the advantages of nested structure, the performance of nested structure and fiber-constrained structure is compared by simulation, which includes bending angle, gripping force and expansion amount (by measuring the deformation of the cross section). The simulation results show the advantages of the nested structure. A prototype of the soft hand rehabilitation robot is developed with nested structure as finger soft actuator, and the experimental results prove the feasibility of design. The results of this study provide a reference for the structure design of soft hand rehabilitation robot.

Modeling and Simulation for Trajectory of TV-Guided Projectile

2015 ◽  
Vol 713-715 ◽  
pp. 278-282
Author(s):  
Ming Hou ◽  
Qiang Han ◽  
Han Chang Wang ◽  
Si Min Bi
Keyword(s):  
Rigid Body ◽  
Modeling And Simulation ◽  
Tilt Angle ◽  
Theoretical Basis ◽  
Attack Angle ◽  
Experimental Results ◽  
Simulation Program ◽  
Trajectory Model ◽  
Simulation Results

Through the analysis of the role of the force and moment on TV-guided projectile, the rigid body trajectory model of the projectile is established, and the simulation program of trajectory is developed based on MATLAB. The simulation results are basically consistent with the experimental results, so the trajectory model can reflect the characteristics of the TV-guided projectile. The characteristics of trajectory, velocity, trajectory tilt angle and attack angle are analyzed by simulations that can provide theoretical basis for improving correction precision.

Simulation Model of Manipulator for Model Based Design

2014 ◽  
Vol 611 ◽  
pp. 175-182 ◽  
Author(s):  
Ľubica Miková ◽  
Michal Kelemen ◽  
Ivan Virgala ◽  
Maroš Michna
Keyword(s):  
Mathematical Model ◽  
Mathematical Models ◽  
Simulation Model ◽  
Mechanical System ◽  
Simulation Program ◽  
Lagrange Equations ◽  
Matlab Simulink ◽  
Working Model ◽  
The Subject ◽  
Simulation Results

The subject of creation of simulation and mathematical models is nowadays more and more current and its application is in almost every aspect of life. The article deals with compiling a mathematical model of a pivoting arm using Lagrange equations of the second kind. Subsequently, the model will be created in the simulation program Matlab/Simulink. The simulation model will as well be assembled in the program Adams. The results of these simulations will be compared in the conclusion. This article presents a procedure for resolving a mechanical system from the beginning, from creation of a mathematical model through creation of a simulation model up to evaluation of the simulation results. This paper presents a procedure for resolving mechanical system from the beginning. Thus, it is done by creating a mathematical model through the creation of a simulation model to evaluate the results of the simulation. According to these simulations will produce a working model of the manipulator, which could be used for teaching purposes.

Power System Subsynchronous Oscillations Electromagnetic and Electromechanical Transient Hybrid Real-Time Simulation Based on RTDS

2012 ◽  
Vol 433-440 ◽  
pp. 2850-2855
Author(s):  
Lei Shi ◽  
Xiang Ning Xiao
Keyword(s):  
Power Plant ◽  
Power Systems ◽  
Power System ◽  
Real Time ◽  
Hybrid Simulation ◽  
Simulation Program ◽  
Simulation Technology ◽  
Real Time Simulation ◽  
Time Simulation ◽  
Simulation Results

In this paper, power system electromagnetic and electromechanical transient hybrid real-time simulation technology is expounded in details, which has advantages of the electromagnetic transient simulation program and electromechanical ones. The more details needed to analyze the dynamic characteristics of power systems are provided by this hybrid simulation technology, and the scale of power system simulated is not limited in the hybrid simulation program. The hybrid simulation program is applied to analyze the power system subsynchronous oscillation problem occurred in a power plant with 4 turbine generators located in the northwestern China. According to the simulation results, it is clear that the stability of generators is threatened by the subsynchronous oscillations caused by capacitor series compensation in the transmission line connecting the power plant and the load center system. In meantime, the effectiveness of the countermeasure is validated simultaneously by the hybrid simulation results.

Research on Simulation System of Aero-Generator

2012 ◽  
Vol 187 ◽  
pp. 8-14
Author(s):  
Xiao Jie Zang ◽  
Jian Song
Keyword(s):  
Simulation Model ◽  
Simulation System ◽  
Simulation Program ◽  
Actual Working ◽  
Test Platform ◽  
Working Principle ◽  
Computer Controlled ◽  
Simulation Results ◽  
Set Up

This paper presents a kind of simulation program of aero-generator, that inverter adopts a computer-controlled manner to simulate actual working features of aero-generator, based on test platform status of aero-generator. And design of the structure of simulation system , analyze the working principle of aero-generator, and then set up simulation model of three-stage brushless aero-generator under SIMULINK. Finally ,simulation results show the accuracy of this program.

scholarly journals Electrical equivalent circuit for modelling permanent magnet synchronous motors

2021 ◽  
Vol 72 (3) ◽  
pp. 176-183
Author(s):  
Esra Kandemir Beser
Keyword(s):  
Permanent Magnet ◽  
Equivalent Circuit ◽  
Circuit Simulation ◽  
Electrical Circuit ◽  
Simulation Program ◽  
Mechanical Parameters ◽  
Circuit Element ◽  
Electrical Equivalent Circuit ◽  
Mechanical Part ◽  
Simulation Results

Abstract In permanent magnet synchronous motor (PMSM) models, only the stator part is given as an electrical circuit and mechanical equations are used for modelling the mechanical part of the machine. In this study, electrical equivalents of mechanical equations are also obtained and mechanical parameters of a PMSM are expressed as an electrical circuit element. In this way, an exact electrical equivalent circuit is proposed in which both the stator and the mechanical part can be modelled as an electrical circuit for the PMSMs dynamic model. Although PMSM model includes mechanical parameters and variables, the complete model is expressed only in electrical elements and variables. The proposed PMSM circuit was simulated for different load torques in the circuit simulation program. Simulation results show that the proposed circuit operates like a PMSM. Simulation results were verified by another method in the form of solution of the differential equations that constitute the mathematical model of PMSM. Due to the proposed circuit that enables the conversion of mechanical parameters into electrical parameters, PMSM can be modelled and simulated as an electrical circuit with completely electrical elements in a circuit simulation program.

Theoretical Analysis and Verification of Plasticating Screw Characteristics for Injection Molding Machine

2013 ◽  
Vol 747 ◽  
pp. 729-732
Author(s):  
Akira Yasue ◽  
Kazuma Nakagawa ◽  
Katsuyuki Araki ◽  
Hideki Chiba
Keyword(s):  
Theoretical Analysis ◽  
Injection Molding ◽  
Rotation Speed ◽  
Melting Process ◽  
The Other ◽  
Simulation Program ◽  
Compression Zone ◽  
Molding Machine ◽  
Infrared Thermograph ◽  
Simulation Results

We have developed a plasticating simulation program for injection molding machines based on Chungs melting model. We compared the simulation results with the results of experiments which employed a visualization cylinder. The visualization cylinder has sight glass windows through which we can observe the melting phenomena in the cylinder. We established the temperature of resin in the cylinder by using infrared thermograph. The temperature of resin obtained by the simulation was close to experimental one. On the other hand, the solid-bed ratio deviated from the experiment results especially in the compression zone when the screw rotation speed was low. This suggests that the calculation of heat in the melting process should be improved.

Energy Optimization of Brushed DC Motor in Electric Power-Assisted Steering

2014 ◽  
Vol 70 (3) ◽  
Author(s):  
Kumeresan A. Danapalasingam
Keyword(s):  
Electric Power ◽  
Electric Vehicles ◽  
Pid Control ◽  
Energy Optimization ◽  
Electrical Energy ◽  
Dc Motor ◽  
Control Paradigm ◽  
Column Type ◽  
Regulation Method ◽  
Simulation Results

Electric power-assisted steering (EPS) is a control system where an electric motor is used to provide assistance in vehicle steering. In this work controllers are designed for a column-type EPS equipped with a brushed DC motor to enable energy optimization. Using a mathematical model of EPS a controller is developed based on nonlinear adaptive regulation method to generate driver torque. PID control is then applied to produce assistance torque in accordance to desired energy saving. Simulation results using Matlab show the trade-off between driver’s comfort and energy consumption. The control paradigm introduced here fits appropriately in electric vehicles (EVs) where electrical energy is scarce.  

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