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The reducing of energy consumption for transportation and manipulation of industrial objects is a topical issue. The objects of manipulation are gripped with the use of industrial robot and transported from one position to another. In gripping devices, the lifting force is created on the basis of the aerodynamic effect of lifting appearing due to the use of compressed air. The efficiency of functioning...
An effective way for the testing of a large number of systems is using single and multi-axis shaking tables. Among the possible applications, the civil engineering field stands out for the testing of structures, or part of them, to high natural dynamic forces. However, due to nonlinearities and structured and unstructured uncertainties of the hydraulic systems, the acceleration signal of these systems...
The identification procedure specially designed for an n-link inverted pendulum on a cart is presented. By the Lagrangian mechanics, the mathematical model of the n-link inverted pendulum is established initially. To fully model the system, the standard dynamic parameters which are some algebraic functions of geometric, inertial, and friction parameters are introduced. Because the dynamic model of...
Railways traction networks have been subjected to intensive research in recent decades as the train networks as well as the electric traction system have becoming more and more complex and demanding. Modelling and simulating is always an important step for planning and operating the system. While the study of electric power flow is a key part in such process, it still needs a proper train simulator...
High-altitude gliding unmanned underwater vehicles (HAGUUVs) are released in high attitude and works in water after a short glide in the air. According to the High-altitude Gliding UUV airborne emission requirements, the folding mechanism of wings of the HAGUUV is desighed. On the basis of mechanics analysis of the organization, the dynamics modeling of organization's unfolding process is given by...
A brief analysis on the operating characteristic of separable starting process between driving motor and load operation is made. Firstly, the existing problem of coordinating the jerk level and transmitted torque at the clutch lock-up time is illustrated. To further improve the torque capacity, pedal throttle is adjusted while clutch is engaging. And contrasts are made between the variable-idle speed...
Accuracy, stability and reliability are required for modern mechanical system where joint clearance is one of the key factors that affect the characteristics. In terms of the characteristics of the panel's low speed and reciprocating oscillation, the joint model with clearance is established. Then, through embedding the joint model into the ideal mechanism, the dynamical model of deployable panels...
Obtaining a dynamic model for the parallel mechanism is always regarded as a challenging process due to high complexity of the dynamic equations especially in presence of friction. In this paper the process of black-box identification of friction and rigid-body dynamics of an overconstrained 3-DOF decouple mechanism is addressed. Since the under study mechanism is an overconstrained parallel mechanism,...
The smooth impact drive mechanism (SIDM) is driven by the asymmetry drive signal and the motions of "stick" and "slip" are produced at the driving part of friction rod. The motions can influent the slider displacement. The motions are helpful to analysis qualitatively and quantitatively the slider displacement including forward, backward and valid step. The SIDM motion process...
This paper investigates three-dimensional dynamic model of underactuated spherical wheel mobile robot (Ballbot) in the presence of input coupling and friction. The way of how such a robot moves is considered and an approach is proposed for accurate trajectory generation for linear and circular paths. Due to the high reliability of the approach, no position feedback is used and it is simulated open-loop...
This article discusses the questions of constructing an algorithm for solving differential equations that describe the dynamics of motion of a mobile two-mass mechanical system moving separately from the surface. The presented jumping mini-robot model consists of an external and an internal body, the variation of the angular velocity of which allows us to control the motion.
This paper deals with the problem of trajectory generation in the joint space, several mathematical functions are used as motion profile. The choice of the motion profile is very important because it affects the performance of the robot. Several factors involved in this choice, but the most important is the smoothness of movement and therefore the continuity of the torque. To see the effect of each...
Humanoid robots propel themselves and perform tasks by interacting with their environment through contact forces. Typically, nonuniqueness of these forces is dealt with by distributing them evenly between the contacts. In the present paper, we introduce strict prioritization in contact force distribution, to reflect situations when an application of certain contact forces should be avoided as much...
According to the parametric uncertainties, high performance requirements and a variety of nonlinear disturbances in the position tracking servo system, the compound controller composed of feed forward and feedback parts is proposed in this paper. In this feedback pathway, three closed loops are designed to obtain satisfactorily dynamic responses and restrain corresponding system disturbances such...
A typical feature of city tram transportation is increasing its effectivity. The main effort of public transportation companies is seeking savings for decreasing the energy intensity of mass transit. During operative measurement of power consumption in the tram cars it was found that on the whole the tram energy consumption have well-known influences such as tram occupancy, use of heating etc., and...
The paper introduces a novel platooning model for vehicles subject to nonlinear drag. A linear parametric controller, taking into account both the actual position and the relative displacement with respect to neighbors, is applied to each vehicle and, then, its effects are investigated via a semi-analytical approach based on partial differential equations. When the control law on the interactions...
Humanoids locomote by making and breaking contacts with their environment. Thus, a crucial question for them is to anticipate whether a contact will hold or break under effort. For rigid surface contacts, existing methods usually consider several point-contact forces, which has some drawbacks due to the underlying redundancy. We derive a criterion, the Contact Wrench Cone (CWC), which is equivalent...
Identification of system parameters of a small DC motor is a complex and challenging task. This research proposes a disturbance observer (DOB) based novel Change of Inertia Observer (CIOB) to estimate the moment of inertia of a DC motor. Moment of inertia of a small DC motor is estimated using CIOB based velocity test and reaction torque observer (RTOB) based inverse motion acceleration test, and...
This paper proposes a motion-reproduction method for a multi degree-of-freedom system. For extraction and reproduction of haptic information, motion-copying system was previously proposed. However motion-copying system has a drawback; it is difficult to reproduce the saved motion when the environmental configuration in the motion-loading phase is different from that in the motion-saving phase. There...
In this paper1, the process of obtaining a model of the laboratory Anti-Lock Brake System (ABS) is presented. In the identification process the grey-box method and data fitting technique are used. The model parameters estimation procedure is split into three steps. First, the individual wheel parameters are identified. Next, a slip friction curve between car wheel and the wheel simulating relative...
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