The effect of preload force on damping in tendon-driven manipulator

Purpose The purpose of this paper is to study the preload range of tendon-driven manipulator and the relationship between preload and damping. The flexible joint manipulator (FJM) with joint flexibility is safer than traditional rigid manipulators. A FJM having an elastic tendon is called an elastic tendon-driven manipulator (ETDM) and has the advantages of being driven by a cable and having a more flexible joint. However, the elastic tendon introduces greater residual vibration, which makes the control of the manipulator more difficult. Accurate dynamic modeling is effective in solving this problem. Design/methodology/approach The present paper derives the relationship between the preload of the ETDM and the friction moment through the analysis of the forces of cables and pulleys. A dynamic model dominated by Coulomb damping is established. Findings The linear relationship between a decrease in the damping moment of the system and an increase in the ETDM preload is verified by mechanics analysis and experiment, and a curve of the relationship is obtained. This study provides a reference for the selection of ETDM preload. Originality/value The method to identify ETDM damping by vibration attenuation experiments is proposed, which is helpful to obtain a more accurate dynamic model of the system and to achieve accurate control and residual vibration suppression of ETDM.

Influence of the Drag Force on the Average Absorbed Power of Heaving Wave Energy Converters Using Smoothed Particle Hydrodynamics

In this paper, we investigated how the added mass, the hydrodynamic damping and the drag coefficient of a Wave Energy Converter (WEC) can be calculated using DualSPHysics. DualSPHysics is a software application that applies the Smoothed Particle Hydrodynamics (SPH) method, a Lagrangian meshless method used in a growing range of applications within the field of Computational Fluid Dynamics (CFD). Furthermore, the effect of the drag force on the WEC’s motion and average absorbed power is analyzed. Particularly under controlled conditions and in the resonance region, the drag force becomes significant and can greatly reduce the average absorbed power of a heaving point absorber. Once the drag coefficient has been determined, it is used in a modified equation of motion in the frequency domain, taking into account the effect of the drag force. Three different methods were compared for the calculation of the average absorbed power: linear potential flow theory, linear potential flow theory modified to take the drag force into account and DualSPHysics. This comparison showed the considerable effect of the drag force in the resonance region. Calculations of the drag coefficient were carried out for three point absorber WECs: one spherical WEC and two cylindrical WECs. Simulations in regular waves were performed for one cylindrical WEC with two different power take-off (PTO) systems: a linear damping and a Coulomb damping PTO system. The Coulomb damping PTO system was added in the numerical coupling between DualSPHysics and Project Chrono. Furthermore, we considered the optimal PTO system damping coefficient taking the effect of the drag force into account.

Optimal Design of Maxwell-Viscous Coulomb Air Damper With a Modified Fixed Point Theory

Air damper dynamic vibration absorber (DVA) is modeled using Maxwell transformed element and coulomb element. This damper serves to minimize vibration at resonant and operation of constant speed machine. Its stiffness and damping factor are transformed from Maxwell to Voigt arrangement. Meanwhile, viscous equivalent Coulomb damping is expressed by absolute relative motion. System transmissibility contours are plotted by min–max approach. Its optimal parameters are determined using this approach. Contour operation minimization is obtained from minimum system transmissibility. Moreover, exact solution of fixed points and optimal natural frequency ratio are obtained by a modified fixed point theory. Optimal design curve is derived by Coulomb damping derivative and maximum condition. Operational vibration level is minimized by 7% at the operation minimization using minimum condition. On the experimental side, test platform of the air damper is constructed using linear slide block system. Computational model of the air damper is established by its physical details and experimental data. Linear relationship is obtained between viscous and Coulomb damping angles. Modified fixed points are validated by frequency response function resonant peaks. Experimental vibration level is minimized by 5%, which being close to the minimization result. The model is validated within 5% accuracy by its optimal experimental curve.

Assessment of Latching Control for the Hemispheric Heaving Buoy Type Point Absorber With and Without Nonlinear Froude-Krylov Force Acting on the Buoy

In this study, a latching control strategy was utilized to increase the efficiency of a heaving buoy-type point absorber with a hydraulic Power take-off (PTO) system. For this purpose, the hydrodynamic performance of a floating buoy was analyzed based on the potential flow theory and Cummins equation. Nonlinear Froude-Krylov (FK) force according to instantaneous wetted surface of a buoy was calculated by a theoretical solution. The effect of the latching control on a point absorber was evaluated by considering PTO performance with hydrodynamic coefficients including nonlinear FK force. The hydraulic PTO system was modeled as an approximate coulomb damping force.

Subsea Jumpers Vibration Assessment

Subsea rigid jumpers which are used to connect flowlines and risers to other subsea structures are inherently susceptible to vibration because they must be flexible enough to accommodate translation of the flowline, installation tolerances and settlement of pipeline end terminations (PLETs.) In locations where there are bottom currents, the jumpers can be subjected to vortex induced vibrations. When internal flow rates are high, they are susceptible to flow induced vibration, and they may also be excited by slugging. In some cases, the design constraints force the designs to be 3 dimensional and employ strategies to enhance damping. This paper describes a methodology for assessing subsea jumpers for vibration induced fatigue. The method employs a combination of transient dynamic, harmonic and modal finite element analysis with the VIV tool SHEAR7. The methodology is able to show generally improved VIV fatigue lives compared to more traditional methods based on DNV-RP-F105 because of the ability to define current loading over the jumper length and to assess the effects of strakes and coulomb damping. Further, the methodology is also capable of assessing the effect of tuned vibration dampers which are sometimes used to suppress FIV.

The effect of Duffing-type non-linearities and Coulomb damping on the response of an energy harvester to random excitations

Linear energy harvesters can only produce useful amounts of power when excited close to their natural frequency. Due to the uncertain nature of ambient vibrations, it has been hypothesised that such devices will perform poorly in real-world applications. To improve performance, it has been suggested that the introduction of non-linearities into such devices may extend the bandwidth over which they perform effectively. In this study, a magnetic levitation device with non-linearities similar to the Duffing oscillator is considered. The governing equations of the device are formed in which the effects of friction are considered. Analytical solutions are used to explore the effect that friction can have on the system when it is under harmonic excitations. Following this, a numerical model is formed. A differential evolution algorithm is used alongside experimental data to identify the relevant parameters of the device. The model is then validated using experimental data. Monte Carlo simulations are then used to analyse the effect of coulomb damping and Duffing-type non-linearities when the device is subjected to broadband white noise and coloured noise excitations.