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design of trajectories with physical constraints for very lightweight single link flexible arms

Design of trajectories with physical constraints for very li...

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8th biennial conference on engineering systems design and analysis

作者： Ramos, Francisco Feliu, Vicente Payo, Ismael Univ Castilla La Mancha Dept Elect Elect & Control Engn Sch Ind Engn E-13071 Ciudad Real Spain

ISBN: (纸本)9780791842508

this communication deals with feedforward control of light, flexible robotic arms. In particular we develop a new, objective method to design a family of trajectories that can be used as modified inputs which cancel the tip vibrations during the robot manoeuvres. this method takes into account the constraints encountered in real actuators (motors), such as a maximum motor torque, and those due to the mechanical limits of the link, such as the maximum deflection before reaching the elastic limit of the link. Parameters of the internal control of the actuators are also derived from the design process, gaining the fastest performance without saturating the motor. Lastly, we show some experimental results which clearly demonstrate the benefits of the new trajectories by comparing them to a linear one.

关键词： Robotic arms

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Failure analysis of mechanical systems based on function-cum-structure approach

Failure analysis of mechanical systems based on function-cum...

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8th biennial conference on engineering systems design and analysis

作者： Wani, M. F. Natl Inst Technol NIT Srinagar Dept Engn Mech Srinagar 190006 Jammu & Kashmir India

ISBN: (纸本)9780791842485

this paper suggest failure analysis of mechanical systems using function cum structure approach. Operational parameters of system function are identified and their relationships are developed. the predicates, which comprise the components of the system and their properties as their attributes, i.e., type of connectivity (fixed or sliding contact) and functions (transmit torque, and transmit force etc.) represent the facts. the facts are modelled in terms of functional-cum-structure graph. By analysing interaction of a failure function i.e., function of a failed component in the graph with other functions, the failure cause-function is identified. the problem can either be solved by removing the cause-functions or by modifying the failure function. A critical function is also identified from function set on the basis of importance of a function. Appropriate parameters for in-situ design provision for condition monitoring of the system are also identified. the steps of the methodology are included and are illustrated by means of an example.

关键词： Mechanical engineering

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the state of the art on scheduling of FMS: A comprehensive survey

The state of the art on scheduling of FMS: A comprehensive s...

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8th biennial asme conference on engineering systems design and analysis, esda2006

作者： Kumar, Vijay M. Murthy, A.N.N. Chandrashekhara, K. Dept. of Mechanical Engineering JSS Academy of Technical Education Bangalore-560060 India Dept. of Mechanical Engg. Sri Jayachamarajendra College of Engineering Mysore- 570006 India

ISBN: (纸本)0791837793

Flexible manufacturing systems (FMS) have already proved their great success in a large number of manufacturing industries. Realizing the importance of FMS in increasing productivity, quality, the high investment and the potential of FMS as a strategic competitive tool makes it attractive to engage in research in this area. Scheduling of flexible manufacturing systems (FMSs) has been one of the most attractive areas for both researches and practitioners. A considerable body of literature has accumulated in this area since the late 1970s when the first batches of papers were published. A number of approaches here been adopted to schedule FMS. the FMS scheduling problem has been tackled by various traditional optimization techniques and non-traditional approaches. the traditional method can give an optimal solution to small-scale problem;they are often inefficient when applied to larger-scale problem. the non-traditional approaches such as genetic algorithm generate optimal schedule to large-scale problems. Articles emphasizing many methodological perspectives are critically reviewed. the review is done from multiple viewpoints covering different approaches like simulation, artificial intelligence and genetic algorithm. Comments on the publications and suggestions for research and development are given. A comprehensive bibliography is also presented in the paper. Copyright © 2006 by asme.

关键词： Flexible manufacturing systems

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design and experimental investigation of a diffusion absorption refrigeration system

Design and experimental investigation of a diffusion absorpt...

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8th biennial asme conference on engineering systems design and analysis, esda2006

作者： Shiming, Xu Jian, Liang Yijian, He Ruxu, Du Dalian University of Technology Liaoning 116024 China Chinese University of Hong Kong Shatin N. T. Hong Kong

ISBN: (纸本)0791837793

this paper presents the design and experimental analysis of a compact Diffusion Absorption Air Cooler (DAAC) system, in which the Diffusion Absorption Refrigeration (DAR) technology is utilized. the system uses a bubble pump to replace the mechanical pump, uses three-component working fluid (NH 3+H2O+He), and operates under the same system pressure level. Hence, it is quiet, long lasting and environmental friendly. To investigate the practicality of using the DAAC system for regional air conditioning, the thermodynamic model is derived to guide the system design first, and then a DAAC experimental prototype is built for validation. Since the bubble pump is the kernel component, a series of experiments are conducted to investigate the bubble pump performance. From the experimental results under various operation conditions, it is found that the bubble pump dominates the system performance and should be designed carefully to match the designed cooling capacity and operation condition. the experimental results also show that the DAAC can work smoothly under various ambient temperatures when the input power of bubble pump is over 200W. Copyright © 2006 by asme.

关键词： Product development

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analysis of a virtual prototype first-stage rotor blade using integrated computer-based design tools

Analysis of a virtual prototype first-stage rotor blade usin...

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8th biennial conference on engineering systems design and analysis

作者： Arnal, Michel Precht, Christian Sprunk, thomas Danninger, Tobias Stokes, John Wood Group Heavy Industrial Turbines AG ANSYS Germany Germany

ISBN: (纸本)9780791842515

the present paper outlines a practical methodology for improved virtual prototyping, using as an example, the recently re-engineered, internally-cooled 1(st) stage blade of a 40 MW industrial gas turbine. Using the full 3-D CAD model of the blade, a CID simulation that includes the hot gas flow around the blade, conjugate heat transfer from the fluid to the solid at the blade surface, heat conduction through the solid, and the coolant flow in the plenum is performed. the pressure losses through and heat transfer to the cooling channels inside the airfoil are captured with a I-D code and the I-D results are linked to the three-dimensional CFD analysis. the resultant three-dimensional temperature distribution through the blade provides the required thermal loading for the subsequent structural finite element analysis. the results of this analysis include the thermo-mechanical stress distribution, which is the basis for blade life assessment.

关键词： Rotors

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design of noncircular gears to minimise shaft accelerations

Design of noncircular gears to minimise shaft accelerations

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8th biennial asme conference on engineering systems design and analysis, esda2006

作者： Vanegas Useche, Libardo V. Abdel Wahab, Magd M. Parker, Graham A. Universidad Tecnológica de Pereira Facultad de Ingeniería Mecánica La Julita Pereira Colombia Guildford Surrey GU2 7XH United Kingdom

ISBN: (纸本)0791837793

this paper presents a novel pair of noncircular gear profiles for minimising shaft accelerations of the driven gear. the proposed profiles are developed based on an "exponential" function that is valid for a portion of gear rotation, and this function is extended to the remaining parts of the rotation of both gears. the exact shapes of the centrodes of the toothed bodies, which depend on a "smoothness" parameter, b, constitute a trade-off between the maximum shaft acceleration and the smoothness of the centrodes, so as to control the maximum tooth dynamic forces and stresses. A comparison between the derived noncircular gears and a gear pair that provides a sinusoidal variation of the angular velocity is presented. Results indicate that, for two-lobule gears, the maximum and minimum values of the polar radii, the velocity at the contact point, and the gear ratio are the same for both profiles. In contrast, there are significant differences in the angular acceleration of the driven gear, the tangential acceleration at the contact point, and the pressure angle, especially in the first one. It is concluded that the derived pair not only can provide low shaft accelerations, but also low tangential accelerations and small pressure angles. Copyright © 2006 by asme.

关键词： Gears

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design optimization of diffuser type valveless micropumps

Design optimization of diffuser type valveless micropumps

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8th biennial conference on engineering systems design and analysis

作者： Saidi, M. H. Mehrabian, Amin Sharif Univ Technol Sch Mech Engn Ctr Excellence Energy Convers Tehran Iran

ISBN: (纸本)9780791842492

Valveless piezoelectric micropumps are in wide practical use due to their ability to conduct particles with absence of interior moving mechanical parts. In this paper, using finite element method, an extended numerical study on fluid flow through micropump chamber and diffuser valves is conducted to find out the optimum working conditions of micropump. In order to obtain maximum generality of the reported results, an analytical study along with a dimensional analysis is presented primarily, to investigate the main dimensionless groups of parameters affecting the micropump net flux. Consequently, the parameters appeared in the main dimensionless groups have been changed in order to understand how the pump rectification efficiency, defining as the ratio of micropump net flux to sum of the absolute values of fluxes of inlet and outlet valves, and optimum diffuser angle depend on these parameters. At last, a set of characteristic curves are constructed which show these dependencies. the optimum working condition of micropump can be clearly found out through the use of these general characteristic curves.

关键词： Electromagnetic pumps

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Stochastic reliability based design criteria for linear structure subject to random vibrations

Stochastic reliability based design criteria for linear stru...

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8th biennial conference on engineering systems design and analysis

作者： Marano, G. C. Trentadue, F. Chiaia, B. Politecn Bari DIASS Bari Italy

ISBN: (纸本)9780791842508

Random vibration is a common state in many real structural problems concerning dynamic environment loads, as base excitation induced by rotating machinery or wind loads. In this work a full stochastic approach for optimal design of linear structures subject to random dynamic loads is presented. By adopting a covariance approach a reliability based optimum criterion is developed, where both objective function (OF) and constraints are defined in a stochastic way. this criterion can be applied both for stationary and for non stationary vibration conditions. Constraints impose a limit to failure probability, here associated with the first threshold crossing of a structural displacement, while the inertial acceleration variance or the elastic force variance are minimized in order to control vibration effects. Two applications are developed for simple structural vibration control problems to evaluate the efficiency of the proposed criterion. the first regards a vibration absorber modelled by a SDoF, while the second is a tuned mass damper represented by a TDoF. Both cases are subject to filtered white noise.

关键词： Structural analysis

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Task specified control of a compliant parallel arm mechanism

Task specified control of a compliant parallel arm mechanism

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8th biennial asme conference on engineering systems design and analysis, esda2006

作者： Tekeş, Ayşe Sönmez, Ümit Güvenç, Bilin Aksun Istanbul Technical University Department of Mechanical Engineering Gumussuyu 34400 Istanbul Turkey Istanbul Technical University Mechanical Engineering Department MEKAR Labs. Gümüşsuyu Istanbul Turkey

ISBN: (纸本)0791837793

Small deflecting flexible parallel arm mechanisms are common in instrument design and often used for precision measurements. Large deflecting parallel arm mechanisms are found usage in MEMS as a suspension of comb drives. In this study control of a compliant parallel arm mechanism for specific tasks are investigated. Compliant parallel arm mechanism consists of two large deflecting initially straight cantilever beams and a rigid coupler and actuated by a magnetic force drive. the kinematic synthesis of mechanism has been studied using mathematically exact nonlinear Elastica theory. Mechanism dynamic response is obtained under time varying magnetic force input. Nonlinear equation of motion is solved numerically using Runge-Kutta methods. Simulation results have been obtained by including translational inertia of rigid coupler and damping forces. Load deflection characteristic of flexible beams are represented by polynomial curve fits obtained from nonlinear inextensible exact beam theory are used as the nonlinear lumped system stiffness. Compliant parallel arm mechanism might be used for different purposes either in macro scale or micro scale depending on specified task. It might be used as an indexing mechanism or a dwell mechanism if the rigid coupler could be positioned at specified points at specified times. Conventional controllers such as PID controllers are designed to achieve position control for specific trajectory. Trajectory simulation results for the compliant parallel arm mechanism are presented using linear and nonlinear spring stiffness. Copyright © 2006 by asme.

关键词： Robotic arms

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Calibration of the tight seal of the discharge mechanism doors on a rail wagon using adjustable members

Calibration of the tight seal of the discharge mechanism doo...

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8th biennial asme conference on engineering systems design and analysis

作者： Mendoza, Jesus A. Otero, Luis L. Natl Polytech Univ UNEXPO Dept Mech Engn Ctr Design & Mfg CEDYMEC Puerto Ordaz Venezuela

ISBN: (纸本)9780791842508

Among other types of wagons, CVG Ferrominera Orinoco (FMO) uses 350 hopper type wagons for ore transportation. Each of these wagons has a mechanical linkage system, made up of nine mobile elements plus a frame to open and close two rotary doors located at the bottom of the wagons. this paper presents development of a mathematical model to find out how the calibrating lengths of the operating mechanism's four adjustable members allow variations of the angular position of the doors from its fully closed position. the mathematical model is obtained from the total differentials of the kinematics constraints equations and is used to find the relative influence coefficients of each adjustable member on the kinematic accuracy of the doors motion. the results show that the maximum error depends mainly upon the correct positioning of the primary element. It is also proved that two of the adjustable members in the original design do not play an important role in the tight closing.

关键词： hopper type wagons discharge doors positional control Adjustable members tight closing

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