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PERFORMANCE analysis OF PLANAR CABLE-BASED PARALLEL MANIPULATORS

引用

10th asme biennial conference on engineering systems design and analysis

作者： Zanotto, Damiano Rosati, Giulio Rossi, Aldo Univ Padua Dept Innovat Mech & Management DIMEG I-35100 Padua Italy

ISBN: (纸本)9780791849170

In the last two decades, many research works have been published on cable-based systems, reflecting the considerable interest of the scientific community in this area. Cables are used both in serial structures, to remotely actuate rigid links, and in parallel structures, to directly control the motion of a mobile platform or end-effector the latter subclass is particularly appealing, thanks to ease of design, high payload-to-weight ratio, potentially high dynamic performances and wide workspace. Such devices have also been effectively employed in haptics, since the use of light-weight elements allows to develop structures with low mechanical impedance. Unilateral actuation represents a major issue in the study of cable-based devices, often forcing to adopt specially formulated design tools. this paper presents a set of performance indices, some of which are introduced here for the first time, that can be used for the optimization of the design and for the analysis of cable-based devices. To prove the effectiveness of these tools, a comparison of the kinematic and dynamic performances of three different designs of planar cable-based parallel manipulators is presented.

关键词： Manipulators Kinematics Cables Optimization End effectors design Mechanical impedance Haptics Weight (Mass)

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SOME MODELS AND MEthODS TO NURTURE GENERAL MANAGEMENT SKILLS IN engineering STUDENTS LIVING IN LARGE RESIDENTIAL COMMUNITIES

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10th asme biennial conference on engineering systems design and analysis

作者： Panthalookaran, Varghese Binu, R. Rajagiri Sch Engn & Technol Kochi Kerala India

ISBN: (纸本)9780791849163

To be successful in one's profession, an engineer operating in the contemporary globalized world needs to be adequately equipped with suitable management skills. they include talent to plan, implement and manage engineering projects in diverse and pluralistic teams, ability to communicate at different levels, perseverance in the face of failures and crisis, creativeness to improvise innovative solutions, maintenance of physical and mental health, ability to invent and implement eco-friendly engineering solutions, and smartness to work within stipulated time-frames, etc. Large residential student communities prepare suitable context for engineering students to nurture their general management skills, if carefully planned. In the current paper, we present some innovative models and appropriate methods to convert large residential student communities into an arena where students can train themselves in general management skills. It also presents some results of two years of implementation of such methods in a men's hostel, which accommodates youngsters between 17-19 years of age in their first year of undergraduate engineering study.

关键词： engineering students Maintenance Engineers Teams Trains Undergraduate students Failure Students

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OPTIMIZATION OF A BEAM-TYPE IPMC ACTUATOR USING INSECTS SWARM INTELLIGENCE MEthODS

OPTIMIZATION OF A BEAM-TYPE IPMC ACTUATOR USING INSECTS SWAR...

引用

10th asme biennial conference on engineering systems design and analysis

作者： Abachizadeh, Mahdi Yousefi-Koma, Aghil Shariatpanahi, Masoud Univ Tehran Sch Mech Engn Tehran Iran

ISBN: (纸本)9780791849156

In this paper, employing developed models of Ionic polymer metal composites, a cantilever beam made of Nafion is optimized for maximum tip deflection as well as maximum blocking (tip) force using the Min-Max method in a multi-objective discipline. Regarding the optimization procedure, saturation level of hydration, length and thickness of the beam, and applied voltage are considered as design variables. the robust and novel methods of continuous ant colony optimization (ACO(R)) and artificial bee colony (ABC), both inspired from collective behavior of ant and bee swarms, are here employed to guarantee finding near-optimal solutions in a continuous nonlinear constrained optimization schedule. Results obtained from several independent runs clearly demonstrate fast convergence with nearly identical results for both methods, conservatively claimed as global optima. In addition, it is shown that the multi-objective approach has ended in a reasonable reduction of tip deflection for a remarkable increase in blocking force.

关键词： Optimization engineering disciplines Actuators Cantilever beams Deflection Polymers design Metallic composites

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design AND EXPERIMENTAL VALIDATION OF A HARDWARE-IN-thE-LOOP SIMULATOR FOR MECHANISMS WIth LINK FLEXIBILITY

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10th asme biennial conference on engineering systems design and analysis

作者： Boscariol, Paolo Gasparetto, Alessandro Zanotto, Vanni Univ Udine Dept Elect Managerial & Mech Engn I-33100 Udine Italy

ISBN: (纸本)9780791849170

the aim of this paper is to demonstrate the capabilities and potential of a Hardware-In-the-Loop (HIL) simulator for the tuning of closed-loop control strategies used in flexible-links mechanisms. HIL is an increasingly popular methodology used in reducing the design and validation time of complex systems. this approach makes use of a software-programmed hardware prototype of the device under test, which is able to interact with other hardware devices and real-world signals. In this paper a validation of the proposed simulator, named FLiMHILS (Flexible Link Mechanisms HIL Simulator), will be obtained by comparing the dynamic behavior of a real single-link mechanism with the corresponding response of the simulator subject to the same stimuli and controller parameters. the experimental results show how the tuning parameters obtained with the HIL simulator can be successfully used to control the real mechanism. the real-time capable model which constitutes the core of the HIL simulator is a highly accurate FEM-based nonlinear model capable of describing with consistency the dynamics of different planar mechanisms with flexible links.

关键词： Computer software Hardware Complex systems Dynamics (Mechanics) Signals design Finite element model Control equipment engineering prototypes Finite element methods

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EFFECT OF MACRO GEOMETRY ON thE PERFORMANCE CHARACTERISTICS OF RECIPROCATING SEALS

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10th asme biennial conference on engineering systems design and analysis

作者： Gul, Cihat Temiz, Vedat Istanbul Tech Univ Dept Mech Engn TR-80626 Istanbul Turkey

ISBN: (纸本)9780791849156

Since reciprocating motion is commonly encountered in many industrial applications like hydraulic cylinders, performance characteristics of reciprocating seals is important for design of such systems. In this paper some reciprocating seals having different macro geometry have been investigated experimentally An experimental setup has been developed to perform as a hydraulic cylinder Experiments have been carried out with different types of hydraulic seals which are made of NBR. through the experiments, variation of the friction force applied to the hard chrome coated piston rod by seals, have been measured under various oil pressures in the main cylinder In the second step of experiments, the amount of leakage from the seal in one out-stroke of the piston rod has been determined for various oil pressures. the effect of oil viscosity to the performance characteristic of reciprocating seals has also been studied As a result of systematical experiments, the variations of friction force and leakage amount with oil pressure for various types of reciprocating seals have been obtained.

关键词： Cylinders Viscosity Performance characterization Nitrile rubber Pressure Leakage Hydraulic cylinders design Pistons Reciprocating motion Geometry Friction

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A COMPUTATIONAL INVESTIGATION ON SEAT BELT USE FOR PREGNANT DRIVERS IN AIRBAG EQUIPPED AUTOMOBILES

引用

10th asme biennial conference on engineering systems design and analysis

作者： Acar, B. Serpil Esat, Volkan Loughborough Univ Technol Dept Comp Sci Res Sch Informat Loughborough LE11 3TU Leics England

ISBN: (纸本)9780791849170

Pregnant women are a vulnerable and sensitive group in road traffic accidents, prone to sustaining varying levels of injury following an automobile crash accident. the objective of this research is to investigate various frontal impacts that pregnant women may undergo through simulations with a computational model of the pregnant driver;'Expecting'. Injuries when the seat belt is properly used in an airbag equipped automobile are compared with the cases where the seat belt is not worn by the pregnant driver Displacements and strains occurring in the uterus are presented as well as injury criteria such as HIC, 3ms maximum and maximum VC in order to demonstrate the injury levels. the responses of the pregnant driver model in varying accident conditions particularly to demonstrate the injuries that they may be exposed to when the seat belt is not worn in airbag equipped automobiles emphasise that the air bags are supplementary restraint systems, and not meant to replace seat belts.

关键词： Simulation Seat belts Accidents Traffic accidents Automobiles Traffic engineering simulation Restraint systems Airbags Wounds Seat belt usage

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DYNAMIC STABILITY OF A SPINNING TIMOSHENKO BEAM SUBJECTED TO A MOVING MASS-SPRING-DAMPER UNIT

引用

10th asme biennial conference on engineering systems design and analysis

作者： Young, T. H. Chen, M. S. Natl Taiwan Univ Sci & Technol Taipei Taiwan

ISBN: (纸本)9780791849163

this paper investigates the dynamic stability of a finite Timoshenko beam spinning along its longitudinal axis and subjected to a moving mass-spring-damper (MSD) unit traveling in the axial direction. the mass of the moving MSD unit makes contact with the beam all the time during traveling. Due to the moving MSD unit, the beam is acted upon by a periodic, parametric excitation. In this work, the equations of motion of the beam are first discretized by the Galerkin method. the discretized equations of motion are then partially uncoupled by the modal analysis procedure suitable for gyroscopic systems. Finally the method of multiple scales is used to obtain the stability boundaries of the beam. Numerical results show that if the displacement of the MSD unit is equal to only one of the two transverse displacements of the beam, very large unstable regions may appear at main resonances.

关键词： Resonance Displacement Excitation Modal analysis Spin (Aerodynamics) Spinning (Textile) Dampers Springs Equations of motion Stability Galerkin method Dynamic stability

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Historical progression of mathematizing vibro-acoustic problems

引用

asme 2010 10th biennial conference on engineering systems design and analysis (ESDA2010)

作者： Öǧüç, Mete Mechanical Engineering Department Yeditepe University 34755 Kadiköy Istanbul Turkey

ISBN: (纸本)9780791849163

Some of celebrated geometers whom are acknowledged as to be the pioneers of scientific revolution have worked on acoustics and modeling of vibration of structures. they made great contributions on both the physical understanding and the mathematical modeling of these phenomena. the historical stream of physical understanding of sound propagation, foundations of the mathematical background of vibration mechanics and the instruments that reinforced the conceived theory of acoustics led to the advanced concept of modern vibro-acoustic engineering. A historical investigation is made on the early engineering approaches on vibro-acoustic engineering problems to comprehend the evolution of acoustic engineering and its place in modern era. Copyright © 2010 by asme.

关键词： Acoustic wave propagation

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VEHICLE YAW MOTION CONTROL USING TAKAGI-SUGENO MODELING AND QUADRATIC BOUNDEDNESS VIA DYNAMIC OUTPUT FEEDBACK

引用

10th asme biennial conference on engineering systems design and analysis

作者： Mammar, Said Nouveliere, Lydie Minoiu-Enache, Nicoleta Glaser, Sebastien Lusetti, Benoit Gruyer, Dominique IBISC FRE CNRS 3190 F-91020 Evry France

ISBN: (纸本)9780791849170

this paper presents the design and the simulation test of a Takagi-Sugeno (TS) fuzzy output feedback for yaw motion control. An integrated steering and differential braking controller based on invariant sets, quadratic boundedness theory and a common Lyapunov function has been developed. the TS fuzzy model is able to handle elegantly the nonlinear behavior the vehicle lateral dynamics. the computation of the control law has been achieved using Linear and Bilinear Matrix Inequalities (LMI-BMI) methods. Simulation test shows the controlled car is able to achieve the ISO3888-2 transient maneuver. Some design parameters can be adjusted to handle the tradeoff between safety constraints and comfort specifications.

关键词： Simulation Takagi–Sugeno fuzzy models Vehicles Dynamics (Mechanics) Modeling Computation design Transients (Dynamics) Control equipment Tradeoffs Safety Feedback Yaw Braking

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Stiffness analysis of a Spatial Parallel Mechanism with flexible moving platform

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10th asme biennial conference on engineering systems design and analysis

作者： Rezael, Amir Akbarzadeh, Alireza Enferadi, Javad Ferdowsi Univ Mashhad Mashhad Iran

ISBN: (纸本)9780791849170

In this paper, stiffness analysis of a 3-DOF spatial, 3-PSP type, parallel manipulator is investigated. Most previous stiffness analysis studies of parallel manipulators are performed using lumped model as well as assuming a rigid moving platform. In this paper, unlike traditional stiffness analysis, the moving platform is assumed to be flexible. Additionally, a continuous method is used for obtaining mathematical model of the manipulator stiffness matrix. this method is based on strain energy and Castigliano's theorem [1]. For this purpose, first we solve inverse kinematics problem then We must find relationship between the applied external torques on the moving platform and the resultant joints forces. Next, strain energy moving platform is calculated. Strain energy of this element is calculated using force analysis and inverse kinematics problem. Finally, a FEM model is generated and used to simulate the physical structure. Simulation results are compared with the analytical model.

关键词： stiffness analysis parallel robot inverse kinematics finite element method

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