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检索条件"丛书名=Mechanisms and Machine Science"

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Design of a Driving Module for a Hybrid Locomotion Robot 5

引用

5th European Conference on Mechanism science (EUCOMES)

作者： Castillo, J. J. Cabrera, J. A. Jaimez, M. Vidal, F. Simon, A. Univ Malaga E-29071 Malaga Spain

ISBN: (纸本)9783319094106

One of the challenges in today's mobile robotics is the design of high mobility and maneuverability robots. In this work we present the design and construction of a new concept of a locomotion system for mobile robots. It consists of a hybrid leg-wheel module that can be attached to the main body of a robot in a similar way to a conventional wheel. The mechanical configuration of the driving module is described, emphasizing the characteristics which make it different from other hybrid locomotion systems. A dynamic model that simulates the movement of the module was developed to analyze its behavior and to test different control algorithms that were subsequently implemented on the real module. Finally, we have carried out a series of simple experiments that demonstrate the correct operation of the module on flat ground without obstacles.

关键词： Hybrid locomotion Robotics Mechanical design Dynamic model Control

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Study on Nonlinear Dynamics of RV Transmission System Used in Robot Joints 3rd

Study on Nonlinear Dynamics of RV Transmission System Used i...

引用

3rd IFToMM Symposium on Mechanism Design for Robotics (MEDER)

作者： Shan, Lijun He, Weidong Dalian Jiaotong Univ Sch Mech Engn Dalian 116028 Peoples R China

ISBN: (纸本)9783319181264;9783319181257

The nonlinear dynamic characteristics of RV transmission device was investigated according to dynamics theory, mass centralized method was used to establish the nonlinear dynamical model of RV transmission device, which was composed of inertial component, elastic element and damping element. The influence of the nonlinear factors as meshing stiffness varying with time (though the variation in the number of meshing teeth), backlash of gear pairs and errors were considered. Movement differential equations of system were derived, and these equations were changed to non-dimension, which were solved by Runge-Kutta method. Influences of excitation frequency and damping on system dynamic characteristics were analyzed. As the excitation frequency increased, the system would vibrate from single periodic motion to harmonic motion, chaotic motion. Along with the reduced damping, chaos vibration occurs gradually after a doubling periodic of bifurcation, as the system gradually gets into the chaotic state. The impact is also changed from coexistence of non-impact and the unilateral impact to coexistence of the non-impact, unilateral impact and bilateral impact.

关键词： RV planetary transmission Dynamics Nonlinear differential equation

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Wagon Multibody Model and Its Real-Time Application 5

引用

5th European Conference on Mechanism science (EUCOMES)

作者： Spiryagin, M. Ahmad, S. S. N. Cole, C. Sun, Y. Q. McSweeney, Tim Cent Queensland Univ Brisbane Qld Australia Cent Queensland Univ CRC Rail Innovat Brisbane Qld Australia

ISBN: (纸本)9783319094106

Experimental railway research focused on the laboratory study of rail vehicle dynamics allows avoiding expensive field tests and reduces the cost of the development of new vehicles as well as making it simpler to improve design characteristics for existing vehicles. An example of such research is the investigation of the dynamic behaviour of a wagon suspension performed with the full-scale rail vehicle test rig in the CRE High Lab at Central Queensland University. Commonly, at the design stage of a test rig, it is necessary to estimate the working behaviour of different subsystems such as electrical, hydraulic, etc. It is possible to do this in two ways, either by means of the on-line or real-time simulation processes. The first process is adequate but it does not take into account all the nuances of the system configuration and does not allow testing of the equipment used in subsystems. Therefore, the optimal method is the usage of the real-time simulation process, which is also called hardware-in the-loop simulation. One of the major requirements of such an approach is the accurate representation of the behaviour of subsystems in the real-time mode. A real-time wagon model was developed based on the Gensys multibody simulation software version running under the Realtime Linux kernel open source software compiled and distributed by Open Source Automation Development Lab. In this paper, the authors focus on their simulation and verification methodology. All results obtained are presented and limitations are discussed. The discussion on real-time simulation methodology should help with the development and verification of rail vehicle test rig design at the early stages, leading to the reduction of design errors and related equipment failures.

关键词： Wagon Test rig Multibody model Real-time simulation Methodology

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Wear Prediction of Ceramic-on-Ceramic Artificial Hip Joints 5

引用

5th European Conference on Mechanism science (EUCOMES)

作者： Askari, E. Flores, P. Dabirrahmani, D. Appleyard, R. Macquarie Univ Sydney NSW 2109 Australia Univ Minho Braga Portugal

ISBN: (纸本)9783319094106

Wear can influence the lifetime and performance of implants and has been found to be a key factor in primary failure of artificial hip joints. The present study aims to present a spatial multibody dynamic model to predict wear in ceramic- on-ceramic hip implants. The problem was formulated by developing a spatial multibody dynamic model of a hip prosthesis taking three-dimensional physiological loading and motion of the human body into account. Then, the Archard wear model was integrated into the dynamic calculation of the hip implant to predict wear. Additionally, geometries of the cup and head were updated throughout the simulation to generate a more realistic wear simulation. The results were validated against current literature. Finally it was illustrated that friction-induced vibration caused excessive wear of hip implant components.

关键词： Wear simulation Ceramic-on-ceramic hip joint Multibody systems

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Closed-Chain Principal Vector Linkages 5

引用

5th European Conference on Mechanism science (EUCOMES)

作者： van der Wijk, V. Univ Twente Fac Engn Technol Lab Mech Automat & Mech NL-7500 AE Enschede Netherlands

ISBN: (纸本)9783319094106

For high-speed robotics dynamic balance is an important property for low base vibrations and short cycle times. To consider dynamic balance in the beginning of the design process of a manipulator, mechanism solutions can be synthesized from principal vector linkages, which are fundamental kinematic architectures with inherent force balance. In this paper it is shown how a closed-chain principal vector linkage can be analyzed as an open-chain principal vector linkage by modeling one element in a closed chain with two real and two virtual equivalent masses. The results are validated with a dynamic simulation.

关键词： Dynamic balance Closed chain Principal vector linkage Equivalent masses

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Delamination Detection in a Laminated Composite Beam Based on Changes in Natural Frequencies 10

Delamination Detection in a Laminated Composite Beam Based o...

引用

10th International Conference on Vibration Engineering and Technology of machinery (VETOMAC)

作者： Khan, Kajal Maiti, Surjya K. Indian Inst Technol Dept Mech Engn Bombay 400076 Maharashtra India

ISBN: (纸本)9783319099170

This paper presents an analytical method for modelling delamination parallel to beam longitudinal axis that can help in solving both forward and inverse problems. For vibration analysis of a beam with internal delamination, it is divided into four segments. The forward problem of determination of frequencies due to a known delamination is solved analytically using the characteristics equation. Case studies are presented and the frequencies are compared with finite element frequencies which show a very good agreement between the two. To solve the inverse problem of locating damage from measured changes in natural frequencies, the characteristic equation is solved. In this paper a simple method to solve the inverse problem has been proposed. The method is fast and inexpensive and it has been validated using input frequency data generated by finite element method for both cantilever and simply supported beams. The predicted axial locations and sizes agree closely with the actual data. The maximum errors are 5 and 6 % in the prediction of location and size respectively for a known interface.

关键词： Structural health monitoring Detection of delamination Vibration of laminates with delamination Laminated composites

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Design of Cable-Driven Parallel Robots with Multiple Platforms and Endless Rotating Axes 2

引用

2nd International Conference on Interdisciplinary Applications in Kinematics

作者： Miermeister, Philipp Pott, Andreas Fraunhofer IPA D-70569 Stuttgart Germany

ISBN: (纸本)9783319107233;9783319107226

Cable-driven parallel robots allow high performance operation due to their minimal actuated system mass. In order to deal with more complex handling operations it is desirable to have an additional actuated serial kinematics on the platform. This usually comes along with the problem of extra weight and energy supply for the motors on the platform. In this paper we present a new approach to the problem by introducing a hybrid design with coupled platforms and cable-driven serial kinematics. Especially the concept of an endless rotatable axis will be highlighted.

关键词： Cable-driven parallel robots Kinematics Robot design Multiple platforms

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On the Requirements of Interpolating Polynomials for Path Motion Constraints 2

引用

2nd International Conference on Interdisciplinary Applications in Kinematics

作者： Ambrosio, Jorge Antunes, Pedro Pombo, Joao Univ Lisbon Inst Super Tecn IDMEC LAETA P-1699 Lisbon Portugal Inst Politecn Lisboa ISEL Lisbon Portugal

ISBN: (纸本)9783319107233;9783319107226

In the framework of multibody dynamics, the path motion constraint enforces that a body follows a predefined curve being its rotations with respect to the curve moving frame also prescribed. The kinematic constraint formulation requires the evaluation of the fourth derivative of the curve with respect to its arc length. Regardless of the fact that higher order polynomials lead to unwanted curve oscillations, at least a fifth order polynomials is required to formulate this constraint. From the point of view of geometric control lower order polynomials are preferred. This work shows that for multibody dynamic formulations with dependent coordinates the use of cubic polynomials is possible, being the dynamic response similar to that obtained with higher order polynomials. The stabilization of the equations of motion, always required to control the constraint violations during long analysis periods due to the inherent numerical errors of the integration process, is enough to correct the error introduced by using a lower order polynomial interpolation and thus forfeiting the analytical requirement for higher order polynomials.

关键词： Multibody dynamics Constraint violations Moving frames Constraint stabilization

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Educational and Research Kinematic Capabilities of GIM Software 1

引用

3rd Conference of the mechanisms Transmissions and Applications

作者： Macho, Erik Petuya, Victor Urizar, Monica Diez, Mikel Hernandez, Alfonso Univ Basque Country Bilbao Spain

ISBN: (数字)9783319170671

ISBN: (纸本)9783319170671;9783319170664

In this paper an educational and research software named GIM is presented. This software has been developed with the aim of approaching the difficulties students usually encounter when facing up to kinematic analysis of mechanisms. A deep understanding of the kinematic analysis is necessary to go a step further into design and synthesis of mechanisms. In order to support and complement the theoretical lectures, GIM software is used during the practical exercises, serving as an educational complementary tool reinforcing the knowledge acquired by the students.

关键词： Motion simulation Computational kinematics Mechanism synthesis General purpose software

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Vibration Localization of Rotationally Periodic Structures 10

Vibration Localization of Rotationally Periodic Structures

引用

10th International Conference on Vibration Engineering and Technology of machinery (VETOMAC)

作者： Chandrashaker, Arun Adhikari, Sondipon Swansea Univ Coll Engn Swansea SA2 8PP W Glam Wales

ISBN: (纸本)9783319099170

Structures with uniform periodic spacing and repeated geometry are found in complex engineering systems. Examples include turbine blades, ship hull, aircraft fuselage and oil pipelines with periodic supports. The vibration characteristics of these periodic structures are highly sensitive to its mass distribution, stiffness distribution and geometrical properties. Parametric uncertainties in structures which arise out of material defects, structural damage or variations in material properties can break the symmetry of periodic structures. These uncertainties can drastically change and localize the vibration modes. Identification of severe mode localization in the design process can help prevent failure due to high cycle fatigue in periodic structures such as turbine blades. A 2-DOF system is used to demonstrate the effect of parametric uncertainties on eigenvalue veering and mode localization phenomenon. The Finite Element Method (FEM) was developed to study the free vibrations of two linearly un-damped systems, namely, two cantilever beams coupled system and an idealized turbine blade. The effect of parametric uncertainties on eigenvalue veering and mode localization is demonstrated and a novel numerical method using the Modal Assurance Criterion (MAC) to quantify mode localization in complex systems is proposed.

关键词： Mode localization Eigenvalue veering Periodic structures Quantifying localization Modal assurance criterion Parametric uncertainty

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