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Kalani, Hadi, i Alireza Akbarzadeh. "Parameter Optimization of a Snake Robot Using Taguchi Method". Applied Mechanics and Materials 110-116 (październik 2011): 4220–26. http://dx.doi.org/10.4028/www.scientific.net/amm.110-116.4220.
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In this paper, performance of a 16 link snake robot in serpentine locomotion is investigated. Key kinematics and dynamics parameters are identified. The aim of this paper is to minimize average power consumption per unit distance traveled. Dynamic and kinematics equations of snake robot are used to perform simulation and obtain results. Key kinematics parameters are identified. Taguchi method is utilized and orthogonal array table is constructed. ANOVA technique is used to analyze the statistical significance of kinematic and dynamic parameters. Taguchi method is used to determine optimum parameter settings effecting performance of snake robot. Finally, the snake robot is modeled in WEBOTS software and forward motion is obtained.
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Tang, Liang, Yi Zhang i Hua Deng. "Dynamic Modeling and Analysis of Underactuated Prosthetic Hand". Advanced Materials Research 655-657 (styczeń 2013): 400–407. http://dx.doi.org/10.4028/www.scientific.net/amr.655-657.400.
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Based on the kinematic equation of index finger, the trajectory space of fingertip is analyzed, and the structural parameters of underactuated prosthetic hand have been optimized by ADAMS, which compare the trajectory space with the index-finger. Using the modeling methods of Lagrange dynamics equation, the dynamic model is established for the three-joint underactuated prosthetic finger, whose kinematic and dynamic characteristics also are analyzed. Finally, by the construction of the virtual prototype and its introduction into ADAMS for the dynamics simulation, the correctness of kinematics and dynamics model is verified by the dynamics simulation of virtual prototype.
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Zhao, Jing-Shan, Xiao-Cheng Sun i Song-Tao Wei. "Kinematics and Dynamics Analysis of a 3UPS-UPU-S Parallel Mechanism". Machines 11, nr 8 (18.08.2023): 840. http://dx.doi.org/10.3390/machines11080840.
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In this paper, a two-rotational degrees of freedom parallel mechanism with five kinematic subchains (3UPS-UPU-S) (U, P, and S stand for universal joints, prismatic joints, and spherical joints) for an aerospace product is introduced, and its kinematic and dynamic characteristics are subsequently analyzed. The kinematic and dynamic analyses of this mechanism are carried out in screw coordinates. Firstly, the inverse kinematics is performed through the kinematic equations established by the velocity screws of each joint to obtain the position, posture, and velocity of each joint within the mechanism. Then, a dynamic modeling method with screw theory for multi-body systems is proposed. In this method, the momentum screws are established by the momentum and moment of momentum according to the fundamentals of screws. By using the kinematic parameters of joints, the dynamic analysis can be carried out through the dynamic equations formed by momentum screws and force screws. This method unifies the kinematic and dynamic analyses by expressing all parameters in screw form. The approach can be employed in the development of computational dynamics because of its simplified and straightforward analysis procedure and its high adaptability for different kinds of multi-body systems.
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Hwang, Yunn Lin, Thi Na Ta i Cao Sang Tran. "Dynamic Analysis and Control of Hydraulic Machine System and Industrial Robotic Manipulators". Applied Mechanics and Materials 883 (lipiec 2018): 1–7. http://dx.doi.org/10.4028/www.scientific.net/amm.883.1.
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Dynamic control on hydraulic machine system and kinematic control on industrial robotic manipulators are two studied topics in this research. The main objective of this study is to analyze dynamic, forward kinematic and inverse kinematic on a couple of mechanical systems and hydraulic mechanical systems in order to control these machines. The characteristics of hydraulic and manipulator robot parameters are firstly calculated by using dynamic theories. In the former topic, we perform an example on CNC machine tools which is designing a hydraulic controller to move a cutting tool along a circular path. Dynamics analysis, forward kinematics and inverse kinematics of industrial robotic are archived in the latter topic. Two experiments were also performed on RRR and RRRRRR manipulators by analyzing the inverse kinematic equations to make these robots follow the desired trajectories. This study takes innovations and achieves control improvement in different systems with optimization controller or trajectory planning.
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Yao, Di, Philipp Ulbricht, Stefan Tonutti, Kay Büttner i Prokop Günther. "A novel approach for experimental identification of vehicle dynamic parameters". Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering 234, nr 10-11 (21.04.2020): 2634–48. http://dx.doi.org/10.1177/0954407020908724.
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Pervasive applications of the vehicle simulation technology are a powerful motivation for the development of modern automobile industry. As basic parameters of road vehicle, vehicle dynamic parameters can significantly influence the ride comfort and dynamics of vehicle, and therefore have to be calculated accurately to obtain reliable vehicle simulation results. Aiming to develop a general solution, which is applicable to diverse test rigs with different mechanisms, a novel model-based parameter identification approach using optimized excitation trajectory is proposed in this paper to identify the vehicle dynamic parameters precisely and efficiently. The proposed approach is first verified against a virtual test rig using a universal mechanism. The simulation verification consists of four sections: (a) kinematic analysis, including the analysis of forward/inverse kinematic and singularity architecture; (b) dynamic modeling, in which three kinds of dynamic modeling method are used to derive the dynamic models for parameter identification; (c) trajectory optimization, which aims to search for the optimal trajectory to minimize the sensitivity of parameter identification to measurement noise; and (d) multibody simulation, by which vehicle dynamic parameters are identified based on the virtual test rig in the simulation environment. In addition to the simulation verification, the proposed parameter identification approach is applied to the real test rig (vehicle inertia measuring machine) in laboratory subsequently. Despite the mechanism difference between the virtual test rig and vehicle inertia measuring machine, this approach has shown an excellent portability. The experimental results indicate that the proposed parameter identification approach can effectively identify the vehicle dynamic parameters without a high requirement of movement accuracy.
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Kawasaki, Harushisa, i Toshimi Shimizu. "Symbolic Analysis of Robot Base Parameter Set Using Grobner-Basis". Journal of Robotics and Mechatronics 10, nr 6 (20.12.1998): 475–81. http://dx.doi.org/10.20965/jrm.1998.p0475.
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We analyzed base parameters for closed-loop robots using robot symbolic analysis based on the completion procedure in polynomial ideal theory. The robot dynamics regressor is represented as a matrix of multivariate polynomials and reduced to normal form based on Buchberger's algorithm by constructing reduced Grobner basis from kinematic constrained equations. The linear independence of the reduced regressor's column vectors is studied by Gauss-Jordan elimination. Original dynamic parameters are regrouped and some eliminated, depending on results. This omits the need to solve kinematic constrained equations explicitly, deriving all base parameters systematically in theory. An example is shown using robot symbolic analysis system: ROSAM 11.
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Monfaredi, Reza, S. Mehdi Rezaei i Ali Talebi. "A new observer-based adaptive controller for cooperative handling of an unknown object". Robotica 34, nr 7 (12.09.2014): 1437–63. http://dx.doi.org/10.1017/s0263574714002379.
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SUMMARYThis paper presents a new observer-based adaptive controller for handling an object withunknowngeometry, center of mass, and inertia using a cooperative robotic system. The cooperative robotic system comprises three Cartesian robots, where robots and the grasped object form a closed-loop kinematic chain. The unknown object is approximated by three virtual links of unknown lengths rigidly attached to one another at the object's center of mass (COM). Due to the unknown COM and unknown inertia of the object, the lengths and inertia of these virtual links are unknown, resulting in kinematic and dynamic uncertainties in the control system. A parameter estimator is proposed to estimate the object's COM to compensate for kinematic uncertainties of the system. Moreover, a new dynamic adaptation law is developed to cope with dynamic uncertainties of the object. The dynamic equations of the cooperative system are transformed from joint space into task space. These task space dynamics are transformed into object space by passively decomposing the dynamics into two decoupled systems, i.e.lockedandshapedsystems. An adaptive controller is developed for the locked system, and the shaped system is controlled by a composite controller based on a PD controller plus a stabilizing damping term. The stability of the proposed controllers is shown using the passivity concept and Lyapunov theorem. Simulation results show that the closed-loop position error asymptotically converges to zero. It is also shown that kinematic and dynamic adaptation parameters converge to real and bounded values respectively.
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Jordan, Christopher E. "Scale effects in the kinematics and dynamics of swimming leeches". Canadian Journal of Zoology 76, nr 10 (1.10.1998): 1869–77. http://dx.doi.org/10.1139/z98-131.
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Slender-bodied organisms swimming with whole-body undulations exhibit what appears to be a high degree of kinematic parameter conservation, which is independent of body size. However, organisms of very different sizes swim in fundamentally different physical realms, owing to the relative scaling of viscous and inertial fluid stresses as a function of size and speed. In light of the size-dependent fluid forces, the kinematic constancy suggests three hypotheses: (1) swimming organisms adopt a single "ideal" swimming mode requiring the modification of muscle forces or motor patterns through ontogeny, (2) swimming kinematics are determined predominantly by the passive mechanical interaction of the body and the fluid, resulting in a single swimming mode independent of absolute body size, or (3) while undulatory swimming kinematics may be similar between organisms, there are important size-dependent kinematic differences. In this study, I address this issue by examining the swimming kinematics and dynamics of the medicinal leech Hirudo medicinalis L. as a function of body size. Over a 5-fold increase in body length, the relative amplitude of body undulations during swimming did not change; however, swimming speed, propulsive wave speed, and propulsive wave frequency all decreased, while propulsive wave number increased slightly, strongly supporting hypothesis 2. To determine the source of the observed size-dependent swimming kinematics, I manipulated the dynamic viscosity of the organism's fluid environment to alter the constraints placed on swimming behavior by the physical surroundings. In the elevated-viscosity treatment, all kinematic parameters changed in the opposite direction to that predicted by hypothesis 2, rejecting both the idea that swimming kinematics are simply determined by passive mechanical interactions and that leeches have a target swimming mode under active control.
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Pisano, A. P., i Hong Tao Chen. "Coulomb Friction and Optimal Rocker Arm Ratio for High-Speed Cam Systems". Journal of Mechanisms, Transmissions, and Automation in Design 108, nr 3 (1.09.1986): 340–44. http://dx.doi.org/10.1115/1.3258737.
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The operating speed of a high-speed cam system can be maximized by the proper choice of both kinematic and dynamic parameters of a lumped model. Considering rocker arm ratio as an unconstrained kinematic parameter and Coulomb friction as an unconstrained dynamic parameter, it was found that the camshaft speed at which toss occurred was characterized by several local extrema, all of which were sensitive to the presence of Coulomb friction. For a particular cam system and two separate cam lift curves, design charts have been developed to aid in the choice of optimal rocker arm ratio for maximum operating speed in the presence of Coulomb friction.
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Jin, Guang, Shuai Ma i Zhenghui Li. "Dynamic Simulation Modeling of Industrial Robot Kinematics in Industry 4.0". Discrete Dynamics in Nature and Society 2022 (5.01.2022): 1–11. http://dx.doi.org/10.1155/2022/3217360.
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This paper studies the kinematic dynamic simulation modeling of industrial robots in the Industry 4.0 environment and guides the kinematic dynamic simulation modeling of industrial robots in the Industry 4.0 environment in the context of the research. To address the problem that each parameter error has different degrees of influence on the end position error, a method is proposed to calculate the influence weight of each parameter error on the end position error based on the MD-H error model. The error model is established based on the MD-H method and the principle of differential transformation, and then the function of uniform variation of six joint angles with time t is constructed to ensure that each linkage geometric parameter is involved in the motion causing error accumulation. Through the analysis of the robot marking process, the inverse solution is optimized for multiple solutions, and a unique engineering solution is obtained. Linear interpolation, parabolic interpolation, polynomial interpolation, and spline curve interpolation are performed on the results after multisolution optimization in the joint angle, and the pros and cons of various interpolation results are analyzed. The trajectory planning and simulation of industrial robots in the Industry 4.0 environment are carried out by using a special toolbox. The advantages and disadvantages of the two planning methods are compared, and the joint space trajectory planning method is selected to study the planning of its third and fifth polynomials. The kinetic characteristics of the robot were simulated and tested by experimental methods, and the reliability of the simulation results of the kinetic characteristics was verified. The kinematic solutions of industrial robots and the results of multisolution optimization are simulated. The methods, theories, and strategies studied in this paper are slightly modified to provide theoretical and practical support for another dynamic simulation modeling of industrial robot kinematics with various geometries.
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Peña Fernández, César A. "Control of Flexible Manipulator Robots Based on Dynamic Confined Space of Velocities: Dynamic Programming Approach". Journal of Robotics and Control (JRC) 3, nr 6 (4.12.2022): 743–53. http://dx.doi.org/10.18196/jrc.v3i6.16454.
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Linear Parameter Varying models-based Model Predictive Control (LPV-MPC) has stood out in manipulator robots because it presents well-rejection to dynamic uncertainties in flexible joints. However, it has become too weak when the MPC's optimization problem does not include kinematic constraints-based conditions. This paper uses dynamic confined space of velocities (DCSV) to include these conditions as a recursive polytopic constraint, guaranteeing optimal dependency on a simplex scheduling parameter. To this end, the local frame's velocities and torque/force preload of joints (related to violation of kinematic constraints) are associated with different time scale dynamics such that DCSV correlates them as a polytope. So, a classical LPV-MPC will be updated using a dynamic programming approach according to the DCSV-based polytope. As a result, one lemma about DCSV-based recursive polytope and a five-step procedure for two decoupled close-loop schemes with different time scales compose the LPV-MPC proposed method. Numerical validation shows that even for relevant flexibility situations, trajectory tracking performance is improved by tuning finite horizons and optimization problem constraints regarding DCSV's behavior.
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Ma, Yi Lai, Li Lin i Xian Wen Liu. "Kinematics and Dynamics Analysis of the Lifting System of a Welding and Tube-Transferring Car for Deepwater Pipe-Laying Vessels". Advanced Materials Research 199-200 (luty 2011): 32–40. http://dx.doi.org/10.4028/www.scientific.net/amr.199-200.32.
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The tube-transferring car is a key part of transportation system for deepwater pipe-laying vessels. This paper covers the design of a tube-transferring car for deep sea pipe-laying, especially its lifting mechanism. Kinematics and dynamics analysis of the lifting mechanism is conducted. During dynamic analysis and calculation, the single degree of freedom mechanical system dynamic analysis method is used. The results show that the rotation angle of the lifting system has a direct impact on the lifting speed and driving force. The support reaction force in each kinematic pair which is calculated by choosing the single degree of freedom dynamics provides a theoretical basis for the design of the lifting mechanism, which is finally reflected in the selection of horizontal drive of the feeding machine and the related parameter design．
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Tan, Yue Sheng. "Mathematical Model for the Effect of Dynamic Parameter Posed on Free Floating Space Manipulator’s Kinematic Accuracy". Advanced Materials Research 216 (marzec 2011): 254–60. http://dx.doi.org/10.4028/www.scientific.net/amr.216.254.
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Aiming at kinematic accuracy and its’ error sources of a free floating space robot, a mathematical kinematic error model based on the concept of virtual manipulator and screw theory is proposed in this paper for a free-floating space robot. Based on screw theory, structural parameters in the form of motion screw and their error expressions derived from various error sources are deduced. The effect of mass error, CM (Center of Mass) error and structural parameter error on the kinematic accuracy of the free-floating space manipulator is analyzed. A simulation is demonstrated for verifying the correctness of the kinematic error model and the effect of various error sources on the free-floating space robot. The error model and the result deriving from analyzing are vital for studying the kinematic accuracy of the space manipulator when it is under a free-floating mode, and for controlling and assigning various errors when a space robot is developed.
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Chen, Jian Neng, Jia Wei Wu, Jun Ye, Xiang Fu i Xiao Fu Fang. "Dynamic Modeling and Analysis of Seven-Bar Seedling Planting Mechanism of Transplanting Machine". Applied Mechanics and Materials 574 (lipiec 2014): 230–38. http://dx.doi.org/10.4028/www.scientific.net/amm.574.230.
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Seven-bar seedling planting mechanism is one kind of developed transplanting mechanism of vegetable seedling transplanting machines. Dynamic equations of the link rods were established and analysis program was compiled so as to analyze the dynamic characteristics of the mechanism; Meanwhile, simulation model of the mechanism was established and corresponding virtual dynamic test was conducted based on Adams. The consistency between calculation results based on kinematic theory model and simulation results achieved from Adams was proved through comparison, which verified the dynamics model was correct and reliable. It can be concluded that the dynamic model was the basis of dynamic parameter optimization model of seven-bar seedling planting mechanism, which facilitates the parameter optimization process of the kind of seedling planting mechanism with various specifications, and it also avoided the tedious process of repeated modeling based on Adams dynamics optimization. With the analysis results of the seven-bar seedlings planting mechanism based on the established kinematic model, it was found out that the force fluctuation at the chassis caused by the reciprocating motion of the mechanism was large, which could cause machine vibration and increase the labor intensity of operators.
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Shin, Jin-Ho, i Ju-Jang Lee. "Dynamic control with adaptive identification for free-flying space robots in joint space". Robotica 12, nr 6 (listopad 1994): 541–51. http://dx.doi.org/10.1017/s026357470001688x.
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SummaryIn this paper, a joint space dynamic control scheme with an adaptive identifier is proposed for free-flying space robots. The control in Cartesian space poses a measurement problem which is critical from a point of view of implementation. In order to overcome this problem, a joint space control is developed. An inverse kinematics algorithm is proposed so as to control free-flying space robots in joint space. Since the inverse kinematic solutions for space robots depend on the dynamic parameters as well as the kinematic.parameters, the accurate estimation of all the unknown parameters is essential to make joint space control possible. Therefore, an off-line adaptive parameter identification is performed for free-flying space robots. Simulation results are given to show the validity and the effectiveness of the presented adaptive identification and dynamic control scheme.
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Saprykina, N. A., A. V. Proskokov i A. A. Saprykin. "KINEMATIC AND DYNAMIC ANALYSIS OF A LINEAR DELTA ROBOT". Spravochnik. Inzhenernyi zhurnal, nr 278 (maj 2020): 27–32. http://dx.doi.org/10.14489/hb.2020.05.pp.027-032.
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Mechanisms with parallel kinematics are the subject of many theoretical and applied research problems. The article proposes a design of a linear 3D printer with Delta kinematics. A structural analysis of the mechanism is carried out, and a method for determining kinematic and dynamic characteristics that affect the spatial synthesis of parallel robots is given. This work will help engineers or researchers to choose the geometric parameters of the printer to perform the required tasks.
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Saprykina, N. A., A. V. Proskokov i A. A. Saprykin. "KINEMATIC AND DYNAMIC ANALYSIS OF A LINEAR DELTA ROBOT". Spravochnik. Inzhenernyi zhurnal, nr 278 (maj 2020): 27–32. http://dx.doi.org/10.14489/hb.2020.05.pp.027-032.
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Mechanisms with parallel kinematics are the subject of many theoretical and applied research problems. The article proposes a design of a linear 3D printer with Delta kinematics. A structural analysis of the mechanism is carried out, and a method for determining kinematic and dynamic characteristics that affect the spatial synthesis of parallel robots is given. This work will help engineers or researchers to choose the geometric parameters of the printer to perform the required tasks.
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di Biase, Lazzaro, Luigi Raiano, Maria Letizia Caminiti, Pasquale Maria Pecoraro i Vincenzo Di Lazzaro. "Parkinson’s Disease Wearable Gait Analysis: Kinematic and Dynamic Markers for Diagnosis". Sensors 22, nr 22 (13.11.2022): 8773. http://dx.doi.org/10.3390/s22228773.
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Introduction: Gait features differ between Parkinson’s disease (PD) and healthy subjects (HS). Kinematic alterations of gait include reduced gait speed, swing time, and stride length between PD patients and HS. Stride time and swing time variability are increased in PD patients with respect to HS. Additionally, dynamic parameters of asymmetry of gait are significantly different among the two groups. The aim of the present study is to evaluate which kind of gait analysis (dynamic or kinematic) is more informative to discriminate PD and HS gait features. Methods: In the present study, we analyzed gait dynamic and kinematic features of 108 PD patients and 88 HS from four cohorts of two datasets. Results: Kinematic features showed statistically significant differences among PD patients and HS for gait speed and time Up and Go test and for selected kinematic dispersion indices (standard deviation and interquartile range of swing, stance, and double support time). Dynamic features did not show any statistically significant difference between PD patients and HS. Discussion: Despite kinematics features like acceleration being directly proportional to dynamic features like ground reaction force, the results of this study showed the so-called force/rhythm dichotomy since kinematic features were more informative than dynamic ones.
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Capraro, Flavio, Francisco Guido Rossomando, Carlos Soria i Gustavo Scaglia. "Cascade Sliding Control for Trajectory Tracking of a Nonholonomic Mobile Robot with Adaptive Neural Compensator". Mathematical Problems in Engineering 2017 (2017): 1–13. http://dx.doi.org/10.1155/2017/8501098.
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A design of sliding mode controllers (SMC) with adaptive capacity is presented. This control technique is formed by two cascaded SMC controllers, one of them having an adaptive neural compensator (ANC); both are put on a WMR (wheeled mobile robot). The mobile robot is divided into a kinematics and a dynamics structure; the first SMC controller acts only on the kinematic structure and the SMC with neural adaptive compensator on the other one. The dynamic SMC was designed applying an inverse dynamic controller and using the model dynamics of the WMR. The adaptive neural compensation (ANC) was used in order to reduce the control error caused by the dynamics variations but it conveys a residual approximation error, so a sliding part was designed to cancel such error. This technique allows achieving the control objective despite parameter variations and external disturbances that take place in the dynamics; on the other hand, the ANC can adjust its neural parameters to reduce the dynamics variations of the WMR and thus improve the trajectory tracking control. Problems of convergence and stability are treated and design rules based on Lyapunov’s theorem are given.
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Ma, Lu-Han, Yong-Bo Zhong, Gong-Dong Wang i Nan Li. "The Kinematic and Dynamic Modeling and Numerical Calculation of Robots with Complex Mechanisms Based on Lie Group Theory". Mathematical Problems in Engineering 2021 (19.10.2021): 1–34. http://dx.doi.org/10.1155/2021/6014256.
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The kinematic and dynamic models of robots with complex mechanisms such as the closed-chain mechanism and the branch mechanism are often very complex and difficult to be calculated. Aiming at this issue, in this paper, the pose of the component in robots is represented by the Euclidean group and its subgroups with the proposed method. The component’s velocity is derived using the relationship between the Lie group and Lie algebra, and the acceleration and Jacobian matrix are then derived on this basis. The Lagrange equation is expressed by the obtained kinematic parameter expressions. Establishing the model with this method can obtain clear physical meaning and make the expressions uniform and easy to program, which is convenient for computer-aided calculation and parameterization. Calculating by the properties of the Lie group can reduce the calculation and model complexity, especially for calculating the velocity and acceleration, which reduces the calculation error and eases the calculation. Therefore, the proposed modeling and calculation method of kinematics and dynamics of robots is especially suitable for robots with complex mechanisms. As an example, the kinematic and dynamic model of the manipulator developed in our laboratory is established and a working process of it is numerically calculated. Then, the results of the numerical calculation are compared with the results of virtual prototype simulation in ADAMS to verify the correctness.
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Gülhan, Mehmet Mert, i Kemalettin Erbatur. "Kinematic arrangement optimization of a quadruped robot with genetic algorithms". Measurement and Control 51, nr 9-10 (23.08.2018): 406–16. http://dx.doi.org/10.1177/0020294018795640.
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Background: As research on quadruped robots grows, so does the variety of designs available. These designs are often inspired by nature and finalized around various technical, instrumentation-based constraints. However, no systematic methodology of kinematic parameter selection to reach performance specifications is reported so far. Kinematic design optimization with objective functions derived from performance metrics in dynamic tasks is an underexplored, yet promising area. Methods: This article proposes to use genetic algorithms to handle the designing process. Given the dynamic tasks of jumping and trotting, body and leg link dimensions are optimized. The performance of a design in genetic algorithm search iterations is evaluated via full-dynamics simulations of the task. Results: The article presents comparisons of design results optimized for jumping and trotting separately. Significant dimensional dissimilarities and associated performance differences are observed in this comparison. A combined performance measure for jumping and trotting tasks is studied too. It is discussed how significantly various structural lengths affect dynamic performances in these tasks. Results are compared to a relatively more conventional quadruped design too. Conclusions: The task-specific nature of this optimization process improves the performances dramatically. This is a significant advantage of the systematic kinematic parameter optimization over straight mimicking of nature in quadruped designs. The performance improvements obtained by the genetic algorithm optimization with dynamic performance indices indicate that the proposed approach can find application area in the design process of a variety of robots with dynamic tasks.
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He, Pei Zhuang, Hai Zhu, Zhi Peng Li i Hai Bin Wang. "Virtual Design and Kinematic Simulation for Picking System of Blueberry Picking Machine". Applied Mechanics and Materials 121-126 (październik 2011): 3647–51. http://dx.doi.org/10.4028/www.scientific.net/amm.121-126.3647.
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In order to determine the key parameters of blueberry picking machine, the three-dimensional solid modeling of Blueberry Picking System is researched based on the Pro/ Engineer of CAD software. The mechanical dynamic software MSC.ADAMS is used to carry out dynamic simulation for the model of Blueberry Picking System. The key parameters of the system are chosen through the force of the branches. The working parameters of the picking system were optimize by simulating the parameter in the limited range step by step, which provides technical evidence for the achievement of physical mechanism.
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Chen, Haoyao, Fengyu Quan, Linxu Fang i Shiwu Zhang. "Aerial Grasping with a Lightweight Manipulator Based on Multi-Objective Optimization and Visual Compensation". Sensors 19, nr 19 (30.09.2019): 4253. http://dx.doi.org/10.3390/s19194253.
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Autonomous grasping with an aerial manipulator in the applications of aerial transportation and manipulation is still a challenging problem because of the complex kinematics/dynamics and motion constraints of the coupled rotors-manipulator system. The paper develops a novel aerial manipulation system with a lightweight manipulator, an X8 coaxial octocopter and onboard visual tracking system. To implement autonomous grasping control, we develop a novel and efficient approach that includes trajectory planning, visual trajectory tracking and kinematic compensation. Trajectory planning for aerial grasping control is formulated as a multi-objective optimization problem, while motion constraints and collision avoidance are considered in the optimization. A genetic method is applied to obtain the optimal solution. A kinematic compensation-based visual trajectory tracking is introduced to address the coupled affection between the manipulator and octocopter, with the advantage of discarding the complex dynamic parameter calibration. Finally, several experiments are performed to verify the effectiveness of the proposed approach.
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Sarıgül, A. Saide, i Burcu Güneri. "Some geometric, kinematic, and dynamic considerations on Stewart-Gough platforms with singularity analysis". Robotica 32, nr 6 (13.12.2013): 953–66. http://dx.doi.org/10.1017/s0263574713001112.
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SUMMARYIn this study, some geometric, kinematic, and dynamic aspects of the design of a Stewart-Gough platform are examined. The focus of the analyses is on a particular Stewart-Gough platform that we have constructed. The analysis begins with workspace simulations for different moving platform orientations. The computations extend to a parametric study of some geometric and kinematic constraints: Joint angle, rotation angle, and limb length. Actuator force is another parameter considered; and the triple relationship between workspace, joint angle, and actuator force is discussed. Parametric analyses are culminated with a brief discussion of the real design parameters.
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Jia, Zhi Ning, Cai Zhe Hao, Jian Bo Sun i Xiang Yu Liu. "Kinematics and Dynamics Analysis of Piston-Connecting Rod Mechanism of Internal Combustion Engine". Applied Mechanics and Materials 470 (grudzień 2013): 539–42. http://dx.doi.org/10.4028/www.scientific.net/amm.470.539.
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The kinematic and dynamic performances of piston-connecting rod mechanism of internal combustion engine (ICE) were analyzed in detail. Taking standard slider-crank mechanism as study object, the kinematic and dynamic parameters (velocity, acceleration, angular acceleration etc.) of linkage were derived. Under no any simplification, the calculating method of each physical parameter was provided. Meanwhile, taking the factual force applied to connecting rod into account, the graphical method of vector equation was used to solve each load imposed on connecting rod. The research works were believed to be beneficial to subsequent finite element analysis (stress and train fields, fatigue of connecting rod) and size optimization design of connecting rod.
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Vial, Pau, i Vicenç Puig. "Kinematic/Dynamic SLAM for Autonomous Vehicles Using the Linear Parameter Varying Approach". Sensors 22, nr 21 (26.10.2022): 8211. http://dx.doi.org/10.3390/s22218211.
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Most existing algorithms in mobile robotics consider a kinematic robot model for the the Simultaneous Localization and Mapping (SLAM) problem. However, in the case of autonomous vehicles, because of the increase in the mass and velocities, a kinematic model is not enough to characterize some physical effects as, e.g., the slip angle. For this reason, when applying SLAM to autonomous vehicles, the model used should be augmented considering both kinematic and dynamic behaviours. The inclusion of dynamic behaviour implies that nonlinearities of the vehicle model are most important. For this reason, classical observation techniques based on the the linearization of the system model around the operation point, such as the well known Extended Kalman Filter (EKF), should be improved. Consequently, new techniques of advanced control must be introduced to more efficiently treat the nonlinearities of the involved models. The Linear Parameter Varying (LPV) technique allows working with nonlinear models, making a pseudolinear representation, and establishing systematic methodologies to design state estimation schemes applying several specifications. In recent years, it has been proved in many applications that this advanced technique is very useful in real applications, and it has been already implemented in a wide variety of application fields. In this article, we present a SLAM-based localization system for an autonomous vehicle considering the dynamic behaviour using LPV techniques. Comparison results are provided to show how our proposal outperforms classical observation techniques based on model linearization.
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Dierick, Frédéric, Fabien Buisseret, Loreda Filiputti i Nathalie Roussel. "Kinematics and Esthetics of Grand Battement After Static and Dynamic Hamstrings Stretching in Adolescents". Motor Control 25, nr 3 (1.07.2021): 403–22. http://dx.doi.org/10.1123/mc.2020-0101.
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The objective of this study was to explore the effects of static and dynamic hamstring muscles stretching on kinematics and esthetics of grand battement (high velocity kicks) in adolescent recreational dancers. Sixteen participants were assessed before and immediately after both stretching modalities. Kinematics of movement was measured by an optoelectronic system and esthetics was scored by a jury of professional dancers. Both stretching modalities led to significant kinematic differences compared with without stretching. Significant linear correlations between kinematic parameters and esthetic scores have been observed: improving dancers’ physical performances has noticeable impact on the perception of their movements.
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Jin, XueJun, Jinwoo Jung, Seong Ko, Eunpyo Choi, Jong-Oh Park i Chang-Sei Kim. "Geometric Parameter Calibration for a Cable-Driven Parallel Robot Based on a Single One-Dimensional Laser Distance Sensor Measurement and Experimental Modeling". Sensors 18, nr 7 (23.07.2018): 2392. http://dx.doi.org/10.3390/s18072392.
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A cable-driven parallel robot has benefits of wide workspace, high payload, and high dynamic response owing to its light cable actuator utilization. For wide workspace applications, in particular, the body frame becomes large to cover the wide workspace that causes robot kinematic errors resulting from geometric uncertainty. However, appropriate sensors as well as inexpensive and easy calibration methods to measure the actual robot kinematic parameters are not currently available. Hence, we present a calibration sensor device and an auto-calibration methodology for the over-constrained cable-driven parallel robots using one-dimension laser distance sensors attached to the robot end-effector, to overcome the robot geometric uncertainty and to implement precise robot control. A novel calibration workflow with five phases—preparation, modeling, measuring, identification, and adjustment—is proposed. The proposed calibration algorithms cover the cable-driven parallel robot kinematics, as well as uncertainty modeling such as cable elongation and pulley kinematics. We performed extensive simulations and experiments to verify the performance of the suggested method using the MINI cable robot. The experimental results show that the kinematic parameters can be identified correctly with 0.92 mm accuracy, and the robot position control accuracy is increased by 58%. Finally, we verified that the developed calibration sensor devices and the calibration methodology are applicable to the massive-size cable-driven parallel robot system.
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Biryukova, E. V., A. A. Frolov, I. V. Grinyagin, V. F. Korshunov, S. Yu Romanov i I. A. Smirnitskaya. "Biomechanical Analysis of Digital Movement in Injured Hand as Method for Functional Diagnosis". N.N. Priorov Journal of Traumatology and Orthopedics 17, nr 2 (15.06.2010): 70–77. http://dx.doi.org/10.17816/vto201017270-77.
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New method for functional diagnostics of motion activity of fingers based on registration of digital movements and their biomechanical analysis is suggested. Kinematical and dynamical parameters of digital movement accounted by biomechanical model adequately reflect the patterns of motion disorders and give the objective numerical evaluation. The method includes: a) registration of digital movement in both intact and injured hands using electromagnetic system of MiniBirds type; b) calculation of individual biomechanical parameters of fingers - length of phalanges, position and alignment; c) calculation of kinematic parameters of movement - time-base of joint angles, angular velocities and accelerations, range of motion of separate joints, degree of coordination of changes in various joints angles (kinematic synergy); d) evalua-tion of dynamic parameters of motion - time-base of total muscular forces moment in joints (dynamic synergy); e) evaluation of functional state based on analysis of kinematic and dynamic parameters of motion before, during and after treatment.
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Atoui, Hussam, Olivier Sename, Eugenio Alcala i Vicenc Puig. "Parameter Varying Approach For A Combined (Kinematic + Dynamic) Model Of Autonomous Vehicles". IFAC-PapersOnLine 53, nr 2 (2020): 15071–76. http://dx.doi.org/10.1016/j.ifacol.2020.12.2028.
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Rizzato, Alex, Erica Gobbi, Antonio Paoli i Giuseppe Marcolin. "Validity and reliability of an unstable board for dynamic balance assessment in young adults". PLOS ONE 18, nr 1 (6.01.2023): e0280057. http://dx.doi.org/10.1371/journal.pone.0280057.
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Scientific literature is giving greater importance to dynamic balance in fall prevention. Recently, the validity and reliability of the most employed functional tests for dynamic balance assessment has been investigated. Although these functional tests are practical and require minimal equipment, they are inherently subjective, as most do not use instrumented measurement data in the scoring process. Therefore, this study aimed to assess the validity and reliability of an instrumented unstable board for dynamic balance objective assessment in young adults through double-leg standing trials. A test-retest design was outlined with the unstable board positioned over a force platform to collect objective Center of Pressure (CoP) related and kinematic parameters. Fifteen young adults participated in two evaluation sessions (7-day apart) that comprised ten trials per two dynamic conditions (anterior-posterior and medio-lateral oscillations) aiming to maintain the board parallel to the ground. Pearson’s correlation coefficient (r) was employed to assess the validity of the kinematic parameters with those derived from the CoP. The test-retest reliability was investigated through Intraclass Correlation Coefficient (ICC), Standard Error of the measurement, Minimal Detectable Change, and Bland-Altman plots. Statistically significant correlations between the CoP and kinematic parameters were found, with r values ranging from 0.66 to 0.95. Good to excellent intrasession (0.89≤ICCs≤0.95) and intersession (0.66≤ICCs≤0.95) ICCs were found for the kinematics parameters. The Bland-Altman plots showed no significant systematic bias. The kinematics parameters derived from the unstable board resulted valid and reliable. The small size of the board makes it a suitable tool for the on-site dynamic balance assessment and a complement of computerized dynamic posturography.
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Volkova, V. Ye, i Ye O. Misiura. "ANALYTICAL INVESTIGATION OF OSCILLATIONS GUY WITH KINEMATIC PERTURBATION". Science and Transport Progress, nr 9 (25.12.2005): 159–62. http://dx.doi.org/10.15802/stp2005/19996.
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The article examines the questions of improving supervision and diagnostic techniques of facilities. Natural frequency of superstructure is selected as a primary diagnostic parameter. Modeling of dynamic behavior of a span superstructure has been based on the finite-element method.
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Ma, Shugen, i Mitsuru Watanabe. "Dynamic Control of Curve-Constrained Hyper-Redundant Manipulators". Journal of Robotics and Mechatronics 16, nr 1 (20.02.2004): 1–7. http://dx.doi.org/10.20965/jrm.2004.p0001.
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Hyper-redundant manipulators have high number of kinematic degrees of freedom, and possess unconventional features such as the ability to enter narrow spaces while avoiding obstacles. To control these hyper-redundant manipulators accurately, manipulator dynamics should be considered. This is, however, time-comsuming and makes implementation of real-time control difficult. In this paper, we propose a dynamic control scheme for hyper-redundant manipulators, which is based on analysis in defined posture space where three parameters were used to determine the manipulator posture. Manipulator dynamics are modeled on the parameterized form with the parameter of the posture space path. The posture space path-tracking feed-forward controller is then formulated on the basis of a parameterized dynamic equation. Computer simulation, in which a hyper-redundant manipulator traces the posture space path well by using the proposed feed-forward controller, proved that the hyper-redundant manipulator tracks the workspace path accurately.
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Li, Hong Jun, Wei Jiang, Yu Yan, An Zhang i Gan Zuo. "Operation Motion Planning and Principle Prototype Design of Four-Wheel-Driven Mobile Robot for High-Voltage Double-Split Transmission Lines". Mathematical Problems in Engineering 2020 (19.03.2020): 1–17. http://dx.doi.org/10.1155/2020/6195320.
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In response to the problems of high labor intensity, high risk, and poor reliability of artificial live working, a four-wheel-driven spacer bar replacement mobile operation robot has been designed and developed in this paper, and the corresponding kinematic and dynamics model have been established, based on the established double models, the kinematics and dynamics numerical analysis can be realized through INVENTOR and ADAMS, respectively, based on the established kinematics and dynamics models . The results show that the simulation value of the robot joint displacement, velocity, acceleration, and joint force can be able to meet the requirements of kinematic and dynamic constraints during the robot operation. The robot prototype can meet the requirement of dual-split robot working space and the operation joint force control, which not only extend the robot adaptability to the multisplit lines heterogeneous operation environment but also provide an important theoretical technical support for the exploit of the robot physical prototype. Through the robot kinematics and dynamics analysis, the robot mechanical structure parameters and electrical control parameters have been effectively optimized. The weight and cost of the robot have been reduced by 12% and 15% compared to the existed studies. Finally, the robot principle prototype mobile platform has been developed, and the correctness of robot kinematics and dynamics simulation analysis has been verified through the robot principle prototype mobile platform.
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Świder, Jerzy, i Adrian Zbilski. "The Interactive Driving Profile Generation System". Applied Mechanics and Materials 307 (luty 2013): 66–74. http://dx.doi.org/10.4028/www.scientific.net/amm.307.66.
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This paper presents the interactive driving profile generation system, which generates setpoint position’s signal, provided to the position and speed regulators. The system based on three equations, which create S-Function. The shape of each part of S-Function is calculated according to desired kinematic parameter values of a driven object. All the parts are connected together in such a way, that keep the parameters description of total movement’s time and total movement’s distance. The system works in interactive and real-time mode, which allows to set all kinematic parameters of movement in a fully dynamic way. The result of this work is an auxiliary block of Simulink software library.
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Di Lillo, Paolo, Gianluca Antonelli i Ciro Natale. "Effects of Dynamic Model Errors in Task-Priority Operational Space Control". Robotica 39, nr 9 (1.02.2021): 1642–53. http://dx.doi.org/10.1017/s0263574720001411.
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SUMMARYControl algorithms of many Degrees-of-Freedom (DOFs) systems based on Inverse Kinematics (IK) or Inverse Dynamics (ID) approaches are two well-known topics of research in robotics. The large number of DOFs allows the design of many concurrent tasks arranged in priorities, that can be solved either at kinematic or dynamic level. This paper investigates the effects of modeling errors in operational space control algorithms with respect to uncertainties affecting knowledge of the dynamic parameters. The effects on the null-space projections and the sources of steady-state errors are investigated. Numerical simulations with on-purpose injected errors are used to validate the thoughts.
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Khurtasenko, A. V., K. V. Chuev i L. A. Rybak. "Dynamic model of a robotic platform with 6 degrees of freedom". Journal of Physics: Conference Series 2176, nr 1 (1.06.2022): 012024. http://dx.doi.org/10.1088/1742-6596/2176/1/012024.
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Abstract The paper presents the study of kinematic and dynamic characteristics of the robotic mobility platform (RMP) to determine inertia-force parameters depending on the nature of the implemented motion path. The method is implemented on the basis of parameterized digital simulation models with parallel kinematics, which allow determining acceleration and force response in the joints of structural components at given geometric parameters of the platform design.
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Hall, Andrew, Thomas Uchida, Francis Loh, Chad Schmitke i John Mcphee. "Reduction of a Vehicle Multibody Dynamic Model Using Homotopy Optimization". Archive of Mechanical Engineering 60, nr 1 (1.03.2013): 23–35. http://dx.doi.org/10.2478/meceng-2013-0002.
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Despite the ever-increasing computational power of modern processors, the reduction of complex multibody dynamic models remains an important topic of investigation, particularly for design optimization, sensitivity analysis, parameter identification, and controller tuning tasks, which can require hundreds or thousands of simulations. In this work, we first develop a high-fidelity model of a production sports utility vehicle in Adams/Car. Single-link equivalent kinematic quarter-car (SLEKQ, pronounced “sleek”) models for the front and rear suspensions are then developed in MapleSim. To avoid the computational complexity associated with introducing bushings or kinematic loops, all suspension linkages are lumped into a single unsprung mass at each corner of the vehicle. The SLEKQ models are designed to replicate the kinematic behaviour of a full suspension model using lookup tables or polynomial functions, which are obtained from the high-fidelity Adams model in this work. The predictive capability of each SLEKQ model relies on the use of appropriate parameters for the nonlinear spring and damper, which include the stiffness and damping contributions of the bushings, and the unsprung mass. Homotopy optimization is used to identify the parameters that minimize the difference between the responses of the Adams and MapleSim models. Finally, the SLEKQ models are assembled to construct a reduced 10-degree-of-freedom model of the full vehicle, the dynamic performance of which is validated against that of the high-fidelity Adams model using four-post heave and pitch tests.
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Chen, Gang, Tingting Gao, Jiangshuai Huang i Qicai Zhou. "Robust Adaptive Stabilization of Nonholonomic Mobile Robots with Bounded Disturbances". Abstract and Applied Analysis 2014 (2014): 1–7. http://dx.doi.org/10.1155/2014/456975.
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The stabilization problem of nonholonomic mobile robots with unknown system parameters and environmental disturbances is investigated in this paper. Considering the dynamic model and the kinematic model of mobile robots, the transverse function approach is adopted to construct an additional control parameter, so that the closed-loop system is not underactuated. Then the adaptive backstepping method and the parameter projection technique are applied to design the controller to stabilize the system. At last, simulation results demonstrate the effectiveness of our proposed controller schemes.
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Zigta, B. "Mixed Convection on MHD Flow with Thermal Radiation, Chemical Reaction and Viscous Dissipation Embedded in a Porous Medium". International Journal of Applied Mechanics and Engineering 25, nr 1 (1.03.2020): 219–35. http://dx.doi.org/10.2478/ijame-2020-0014.
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AbstractIn this paper, a theoretical analysis has been made to study the effect of mixed convection MHD oscillatory Couette flow in a vertical parallel channel walls embedded in a porous medium in the presence of thermal radiation, chemical reaction and viscous dissipation. The channel walls are subjected to a constant suction velocity and free stream velocity is oscillating with time. The channel walls are embedded vertically in a porous medium. A magnetic field of uniform strength is applied normal to the vertical channel walls. The nonlinear and coupled partial differential equations are solved using multi parameter perturbation techniques. The effects of physical parameters, viz., the radiation absorption parameter, Prandtl number, Eckert number, dynamic viscosity, kinematic viscosity, permeability of porous medium, suction velocity, Schmidt number and chemical reaction parameter on flow variables viz., temperature, concentration and velocity profile have been studied. MATLAB code is used to analyze theoretical facts. The important results show that an increment in the radiation absorption parameter and permeability of porous medium results in an increment of the temperature profile. Moreover, an increment in the Prandtl number, Eckert number and dynamic viscosity results in a decrement of the temperature profile. An increment in suction velocity results in a decrement of the velocity profile. An increment in the Schmidt number, chemical reaction parameter and kinematic viscosity results in a decrement of the concentration profile.
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Corke, Peter I., i Brian Armstrong-Hélouvry. "A meta-study of PUMA 560 dynamics: A critical appraisal of literature data". Robotica 13, nr 3 (maj 1995): 253–58. http://dx.doi.org/10.1017/s0263574700017781.
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SummaryThe paper presents a meta-study of the kinematic, dynamic and electrical parameters for the PUMA 560 robot. Parameter values which have been reported in the literature are transformed into a single system of units and coordinates, and differences in the data and measurement techniques are discussed. New data have been gathered and are presented where the record was incomplete.
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The, Vu Van, i Tran Ba Tinh. "A new displacement bound technique for rigid plastic continua subjected to strong dynamic loading at large deflections". Vietnam Journal of Mechanics 9, nr 2 (30.06.1987): 24–28. http://dx.doi.org/10.15625/0866-7136/10346.
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A new displacement bound technique, which is based on concept of admissible fields has been developed for rigid Plastic continua subjected to strong dynamic loading at large deflections, the lower hound obtained (2.11) depends on kinematic ally admissible displacement ui and kinematic ally admissible velocity ui* which must be chosen so that the condition (2.14) may be satiafidc. Parameter T* would be determinated by maximizing the right hand side of (2.11).
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Gee, Norman, Gordon R. Freeman i A. V. Anantaraman. "Comment on "Thermodynamics of solvent mixtures. I. Density and viscosity of binary mixtures of N-methylpyrrolidinone – tetrahydrofuran and propylene carbonate – acetonitrile"". Canadian Journal of Chemistry 65, nr 2 (1.02.1987): 456–57. http://dx.doi.org/10.1139/v87-078.
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In the recent work of Anantaraman (Can. J. Chem. 64, 46 (1986)) the conversion from kinematic viscosity to dynamic viscosity was incorrect. We calculated correct values from the tabulated data. We also give corrected values of the ideal mixture viscosity, the Grunberg–Nissan deviation parameter, and the Hind interaction parameter.
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Sudakova, M. S., i M. L. Vladov. "Results experimantal study of acoustic properties of saturated sand in the temperature range –20 — +20 <SUP>ᵒ</sup>C". Moscow University Bulletin. Series 4. Geology, nr 2 (28.04.2020): 89–98. http://dx.doi.org/10.33623/0579-9406-2020-2-89-98.
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In this article we discuss the results of ultrasonic measurements using p and s waves on a sample of full water–saturated sand in the temperature range –20 ᵒC — + 20 ᵒC. The results are: dependence of kinematic and dynamic parameters of the ultrasonic signal on temperature and elastic waves attenuation parameter. We propose method to calculate the attenuation parameter of p and s waves at ultrasonic frequencies for a wide temperature range. The values of the attenuation parameter at negative and positive temperatures differ by 40–50 times for p waves and by 2 orders of magnitude for s waves. A smooth change in the attenuation parameter from –5 ᵒC (–10 C) to 0 ᵒC for p (s) waves was observed. The attenuation affecting the dynamic parameters reacts faster to the thawing of frozen ground than the waves velocity, which is most relevant in the case of plastic–frozen rocks and at temperatures close to 0.
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Li, Bing, Li Yang Xie, Yu Lan Wei, Ying Wu, Ming Yang Zhao i Shi Zhe Xu. "Reliability Analysis of Kinematic Accuracy of a Three Degree-of-Freedom Parallel Manipulator". Advanced Materials Research 118-120 (czerwiec 2010): 743–47. http://dx.doi.org/10.4028/www.scientific.net/amr.118-120.743.
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The reliability of kinematic trajectory of manipulators describes the ability that manipulators keep kinematic accurate. It is an important parameter to evaluate the performance of manipulators. The kinematic accuracy of manipulators can be improved when piezoelectricity material are used as a transducer to suppress the vibration of flexible manipulators. First, a 3 degree-of-freedom parallel manipulator system and its dynamic equations are introduced. The theory and experiment of a vibration suppression system are then presented. The calculation method of both error and reliability of kinematic trajectory of manipulator is further implemented. Finally, the reliability of kinematic accuracy are calculated and analyzed for the 3 degree-of-freedom parallel manipulator with or without vibration suppressing control. The results show that the reliability of kinematic accuracy is improved using vibration suppressing control.
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Talabă, Doru. "Mechanical models and the mobility of robots and mechanisms". Robotica 33, nr 1 (13.02.2014): 181–93. http://dx.doi.org/10.1017/s0263574714000149.
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SUMMARYMobility is a fundamental parameter of mechanisms expressing in a qualitative manner their kinematic and dynamic properties. The mobility formulae presented in literature take into consideration some of the structural entities, such as bodies, joints, constraints, closed loops, and space characteristics; however, the specific mechanical model that has traditionally been at the origin of the mobility criteria themselves is incompletely specified and, even then, only implicitly. In this paper, we propose a classification of the mobility criteria based on the known dynamic models. While all known mobility criteria have been associated with a specific dynamic model, some particular, less used dynamic models (like natural coordinates and multi-particle models) suggested new mobility criteria models. The associated mechanical model for each category of mobility criteria allows a qualitative assessment of the kinematic and dynamic sets of equations to be formulated in later stages of analysis. A simple multi-loop mechanism is taken as an example just to illustrate the mobility calculation and qualitative assessment of the kinematic and dynamic models in each case. Based on the proposed classification of the mobility formulae, an assessment is made with particular regard to their applicability to overconstrained mechanisms.
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Zhang, Xian, Tao Tao, Gedong Jiang, Xuesong Mei i Chuang Zou. "A Refined Dynamic Model of Harmonic Drive and Its Dynamic Response Analysis". Shock and Vibration 2020 (29.06.2020): 1–13. http://dx.doi.org/10.1155/2020/1841724.
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To highlight the key factors which influence the dynamic performance of the harmonic drive, a refined harmonic drive model considering nonlinear stiffness, kinematic error, and friction of the critical components is established. A dedicated experimental apparatus based on double motor twisting is constructed to measure the characteristics of harmonic drive, and the attribute parameters of the proposed model are identified. A series of experiments on the dynamic transmission error at different driving velocities are carried out to verify the proposed model. Based on the proposed model, the influence of different component stiffness on the velocity step response of the harmonic drive is analyzed. The results show that the influence of the component stiffness on the system dynamic response is more significant at high driving velocity, the increase of the stiffness of each component will decrease the dynamic transmission accuracy of harmonic drive, and the bearing radial stiffness is the most sensitive parameter to system’s dynamic response among all the stiffness factors.
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Lyuminarsky, I. E., S. E. Lyuminarsky i V. V. Balasanyan. "Mathematical Model of Dynamic-Kinematic Error of a Harmonic Drive". Proceedings of Higher Educational Institutions. Маchine Building, nr 4 (733) (kwiecień 2021): 48–54. http://dx.doi.org/10.18698/0536-1044-2021-4-48-54.
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Reducing the kinematic error when designing a high-precision drive with a harmonic gear train (HGT) is an urgent task. Currently, a large number of studies have been conducted to determine this parameter, but the effect of the wave generator rotation frequency on the kinematic error of the HGT has been considered insufficiently. A mathematical model is proposed for determining the frequency response of the HGT dynamic-kinematic error, taking into account the elastic interaction of its elements and the error of the cam mounting. The results of the calculated determination of the frequency response of a HGT with a cam wave generator are presented. The presence of several resonant frequencies that occur due to periodic changes in the relative position of the HGT elements and the vector of the cam mounting error is defined. It is proved that the two main resonant frequencies are caused by the rotation of the vector of the cam mounting error relative to the large axis of the wave generator and the balls of the flexible bearing.
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Yan, Qiang, Jianjun Zhang, Bin Li i Liang Zhou. "Kinematic Analysis and Dynamic Optimization Simulation of a Novel Unpowered Exoskeleton with Parallel Topology". Journal of Robotics 2019 (9.07.2019): 1–12. http://dx.doi.org/10.1155/2019/2953830.
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This paper studies the kinematic and dynamic analysis of a novel unpowered exoskeleton with topology. Firstly, the kinematics of the unpowered exoskeleton is analyzed by the derivation of the closed-loop position equation, and the forward position problems of the exoskeleton are obtained. Secondly, with the aim of doing some research in the dynamics, two of links for the exoskeleton are changed into flexible links. Some shapes concerning some parameters are acquired by simulation with fitting curve method. Thirdly, meanwhile, the dynamic model is built by using Lagrange method. Fourthly, the gait experiment is acquired with the aim of obtaining the law of the human joints. Fifthly, the dynamic model is verified by Adams software and the theoretical calculation. Meanwhile, an optimization is completed in the Adams software. The most reasonable spring stiffness is acquired. Finally, some conclusions are enumerated to show the properties of the mechanisms.
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Leboutet, Quentin, Julien Roux, Alexandre Janot, Julio Rogelio Guadarrama-Olvera i Gordon Cheng. "Inertial Parameter Identification in Robotics: A Survey". Applied Sciences 11, nr 9 (10.05.2021): 4303. http://dx.doi.org/10.3390/app11094303.
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This work aims at reviewing, analyzing and comparing a range of state-of-the-art approaches to inertial parameter identification in the context of robotics. We introduce “BIRDy (Benchmark for Identification of Robot Dynamics)”, an open-source Matlab toolbox, allowing a systematic and formal performance assessment of the considered identification algorithms on either simulated or real serial robot manipulators. Seventeen of the most widely used approaches found in the scientific literature are implemented and compared to each other, namely: the Inverse Dynamic Identification Model with Ordinary, Weighted, Iteratively Reweighted and Total Least-Squares (IDIM-OLS, -WLS, -IRLS, -TLS); the Instrumental Variables method (IDIM-IV), the Maximum Likelihood (ML) method; the Direct and Inverse Dynamic Identification Model approach (DIDIM); the Closed-Loop Output Error (CLOE) method; the Closed-Loop Input Error (CLIE) method; the Direct Dynamic Identification Model with Nonlinear Kalman Filtering (DDIM-NKF), the Adaline Neural Network (AdaNN), the Hopfield-Tank Recurrent Neural Network (HTRNN) and eventually a set of Physically Consistent (PC-) methods allowing the enforcement of parameter physicality using Semi-Definite Programming, namely the PC-IDIM-OLS, -WLS, -IRLS, PC-IDIM-IV, and PC-DIDIM. BIRDy is robot-agnostic and features a complete inertial parameter identification pipeline, from the generation of symbolic kinematic and dynamic models to the identification process itself. This includes functionalities for excitation trajectory computation as well as the collection and pre-processing of experiment data. In this work, the proposed methods are first evaluated in simulation, following a Monte Carlo scheme on models of the 6-DoF TX40 and RV2SQ industrial manipulators, before being tested on the real robot platforms. The robustness, precision, computational efficiency and context of application the different methods are investigated and discussed.