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Bibliographies thématiques / D'Alembert model

Littérature scientifique sur le sujet « D'Alembert model »

Auteur : Grafiati

Publié le 14 mars 2023

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Articles de revues sur le sujet "D'Alembert model"

1

Bozhkova, L. V., G. I. Noritsina, V. G. Ryabov et T. V. Akulshina. « Mathematical model of dynamics of highly nonlinear guided mechanical system ». Izvestiya MGTU MAMI 7, n^o 3-1 (10 février 2013) : 30–39. http://dx.doi.org/10.17816/2074-0530-67976.

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The authors developed a mathematical model of the dynamics of highly nonlinear guided mechanical system on the example of an industrial robot of the “SKILAM” type taking into account dry friction in the kinematic pairs of the robot arms and the dynamic characteristics of the motors. The solution is based on the principles of d'Alembert and D'Alembert-Lagrange. At the same time an apparatus of homogeneous coordinate transformation matrices was used.

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Biasco, Luca, et Luigi Chierchia. « Exponential stability for the resonant D'Alembert model of celestial mechanics ». Discrete & ; Continuous Dynamical Systems - A 12, n^o 4 (2005) : 569–94. http://dx.doi.org/10.3934/dcds.2005.12.569.

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Chen, Chao, Mei Han et Yanhui Han. « A Numerical Model for Railroad Freight Car-to-Car End Impact ». Discrete Dynamics in Nature and Society 2012 (2012) : 1–11. http://dx.doi.org/10.1155/2012/927592.

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A numerical model based on Lagrange-D'Alembert principle is proposed for car-to-car end impact in this paper. In the numerical model, the friction forces are treated by using local linearization model when solving the differential equations. A computer program has been developed for the numerical model based on Runge-Kutta fourth-order method. The results are compared with the Multibody Dynamics/Kinematics software SIMPACK results and they are close. The ladings' relative displacement to struck car and the relative displacement between two ladings get larger as impact speed increases. There is no displacement between two ladings when the contact surfaces have the same friction coefficient.

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Song, Chao Sheng, Qi Ming Huang, Jie Xu et Zhan Gao. « The Mechanism Analysis of Horizontal Vibrated Conveyor with Inclination ». Applied Mechanics and Materials 215-216 (novembre 2012) : 1093–97. http://dx.doi.org/10.4028/www.scientific.net/amm.215-216.1093.

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Considering the transition effect of static friction to dynamic friction, a two degree-of- freedoms vibration model of a new type of horizontal vibrated conveyor with inclination which can be used for continuous charging of electric arc furnace is formulated using d'Alembert principle. Based on the proposed vibration model, a program is wrote and the transmit mechanism is investigated. Computational results reveal numerous interesting conveying characteristics which can be used to forecast and control the vibration of the scrap and the conveyor.

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Lv, Mei Yu, Jin Quan Li, Bing Lei Duan et Rong Fu. « The Dynamics Analysis on a Type Palletizing Robot ». Applied Mechanics and Materials 157-158 (février 2012) : 982–86. http://dx.doi.org/10.4028/www.scientific.net/amm.157-158.982.

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For a palletizing robot, based on analysis of structural and force,taking the theory of D'Alembert to transform the instantaneous inertial force system into a static system and the Kineto-static mathematical model for the robots is established through the method of Kineto-static. At last, via solving the Kineto-static mathematical model by use of the Matlab，the model is verified by calculating and analysing an example. This model is applicable to dynamic analysis on the robots with similar configuration and the results based on the parameter variation is also applicable to this kind of robot’s design, checking, and kinetic control.

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Ding, Zhi, Guo Bao Ge, Xin Jiang Wei et Tao Zhang. « Numerical Analysis of Foundation Soil Displacement to Adjacent Buildings Caused by Running Subway ». Advanced Materials Research 446-449 (janvier 2012) : 2139–42. http://dx.doi.org/10.4028/www.scientific.net/amr.446-449.2139.

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The tunnel - subgrade - adjacent buildings interaction model was established by ANSYS to simulate the soil displacement by Running Subway to adjacent buildings. According to D'Alembert principle, we got the dynamic load produced by train acceleration. Multi-point load was applied to simulate the movement of train. Based on ANSYS simulation results, the surrounding soil displacement of the tunnel was analyzed when in different train speed. On the other hand, the soil displacement in different depths is analyzed when in the same train speed.

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Chung, J. H., et S. A. Velinsky. « Modeling and control of a mobile manipulator ». Robotica 16, n^o 6 (novembre 1998) : 607–13. http://dx.doi.org/10.1017/s0263574798000873.

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This paper concerns the modeling and control of a mobile manipulator which consists of a robotic arm mounted upon a mobile platform. The equations of motion are derived using the Lagrange-d'Alembert formulation for the nonholonomic model of the mobile manipulator. The dynamic model which considers slip of the platform's tires is developed using the Newton-Euler method and incorporates Dugoff's tire friction model. Then, the tracking problem is investigated by using a well known nonlinear control method for the nonholonomic model. The adverse effect of the wheel slip on the tracking of commanded motion is discussed in the simulation. For the dynamic model, a variable structure control approach is employed to minimize the harmful effect of the wheel slip on the tracking performance. The simulation results demonstrate the effectiveness of the proposed control algorithm.

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Liu, Xiaokun, Guanglie Yang, Chaoming Mo, Minglang Tan, Dongqing Gu, Bin Song et Shufan Wu. « Dynamic Analysis of the influence of the Rotor Centroid Offset of Gyrowheel ». Journal of Physics : Conference Series 2209, n^o 1 (1 février 2022) : 012025. http://dx.doi.org/10.1088/1742-6596/2209/1/012025.

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Abstract Gyrowheel is a new electromechanical servo device which can realize the integration of spacecraft attitude control and attitude measurement. Due to the existence of machining and assembly errors, there must be a deviation between the rotor centroid of the gyrowheel and the support center, that is, the centroid offset. Firstly, to solve this problem, the dynamic modeling of rotor center of mass offset is carried out from the perspective of vector mechanics by using D'Alembert principle. Secondly, the established dynamic model is simplified, and the influence of rotor center of mass offset on the micro vibration of gyrowheel is analyzed. Finally, the correctness of this method is verified by simulation.

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Chen, Chun-Ta, et Te-Tan Liao. « Optimal Path Programming of the Stewart Platform Manipulator Using the Boltzmann–Hamel–d'Alembert Dynamics Formulation Model ». Advanced Robotics 22, n^o 6-7 (janvier 2008) : 705–30. http://dx.doi.org/10.1163/156855308x305281.

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Bhatt, Maulik, Amit K. Sanyal et Srikant Sukumar. « Asymptotically stable optimal multi-rate rigid body attitude estimation based on lagrange-d'alembert principle ». Journal of Geometric Mechanics 15, n^o 1 (2023) : 73–97. http://dx.doi.org/10.3934/jgm.2023004.

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<abstract><p>The rigid body attitude estimation problem is treated using the discrete-time Lagrange-d'Alembert principle. Three different possibilities are considered for the multi-rate relation between angular velocity measurements and direction vector measurements for attitude: 1) integer relation between sampling rates, 2) time-varying sampling rates, 3) non-integer relation between sampling rates. In all cases, it is assumed that angular velocity measurements are sampled at a higher rate compared to the inertial vectors. The attitude determination problem from two or more vector measurements in the body-fixed frame is formulated as Wahba's problem. At instants when direction vector measurements are absent, a discrete-time model for attitude kinematics is used to propagate past measurements. A discrete-time Lagrangian is constructed as the difference between a kinetic energy-like term that is quadratic in the angular velocity estimation error and an artificial potential energy-like term obtained from Wahba's cost function. An additional dissipation term is introduced and the discrete-time Lagrange-d'Alembert principle is applied to the Lagrangian with this dissipation to obtain an optimal filtering scheme. A discrete-time Lyapunov analysis is carried out to show that the optimal filtering scheme is asymptotically stable in the absence of measurement noise and the domain of convergence is almost global. For a realistic evaluation of the scheme, numerical experiments are conducted with inputs corrupted by bounded measurement noise. These numerical simulations exhibit convergence of the estimated states to a bounded neighborhood of the actual states.</p></abstract>

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