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This paper presents an integrated kinematics and dynamic modeling of the swing, hoist, and crowd movements of an electric mining shovel driven by regenerative vector-controlled ac drives through ropes and gear reducers. The shovel is modeled as a 4-DOF articulated mechanical system with three rotating joints and one prismatic joint. Using the developed models, a typical truck loading cycle of digging,...
Paper presents an integrated kinematics and dynamic modeling of the swing, hoist and crowd movements of an electric mining shovel driven by regenerative vector controlled ac drives through ropes and gear reducers. The shovel is modeled as a 4-dof articulated mechanical system with three rotating joints and one prismatic joint. Using the developed models a typical truck loading cycle of digging, swinging,...
In this paper, statics model of an underactuated wire-driven flexible robotic arm is introduced. The robotic arm is composed of a serpentine backbone and a set of controlling wires. It has decoupled bending rigidity and axial rigidity, which enables the robot large axial payload capacity. Statics model of the robotic arm is developed using the Newton-Euler method. Combined with the kinematics model,...
It is generally accepted that locomotion in animals is based on a trade-off between energy consumption and stability. However, this trade-off is the result of the interaction between complex mechanical and control systems. To gain insight into that issue, a step-by-step approach is needed. In this study, as a first step to investigate three dimensional quadrupedal walking, we aim at establishing a...
A study on the dynamic loading in the lumbosacral joint during level walking was carried out. A simplified biomechanical model based on four single muscle equivalents and five free body segments; namely the foot, shank, thigh, pelvis and HAT (head, arms and trunk) was developed. In this model, the forces and moments acting on the lumbar spine come from body-segment mass, movements of the trunk and...
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