Papers by Keyword: Dynamic Modeling

Abstract: In this work the nanodispersed elastomer copolymer particle-modified polyamide 6 (PA 6) is investigated. Micromechanical modelling is proposed to predict the mechanical behaviour of this material up to failure. A three-dimensional self-consistent embedded unit cell model is chosen which has been well applied for simulating the elastoplasticdeformation of this PA 6-composite [1,. This model will be here modified with the consideration of debonding between the elastomer particles and the PA 6-matrix. The predictions are in very good agreement with the experimental results. In terms of crash behavior, e.g. in the automotive industry the material behaviour under dynamic loading is also of particular interest. Impact strength is one of the most important parameters for describing this material behaviour. A full three-dimensional dynamic simulation of V-notched Charpy impact test is performed in ABAQUS/Explicit. The calculated impact strength coincides plausibly well with the experimental determination.

Abstract: In this paper, a Virtual CNC system of Human machine interface Modeling described the structure of the real CNC system operator panel, virtual modeling and parser function of CNC panel using Delphi language programming logic as an advanced dynamic modeling concepts and techniques to carry out the virtual CNC system Human machine interface dynamic modeling in the trend to advance the overall level of the domestic NC simulation software industry.

Abstract: In order to increase the reliability and efficiency of the dynamic analysis of complex robot systems, the corresponding vector bond graph procedure is proposed. Based on the kinematic constraint condition, the vector bond graph procedure for modeling robot systems with cylindrical joint is described. For the difficulties brought by differential causality in the system automatic modeling and simulation, the effective decoupling method is proposed. As a result, the unified modeling and simulation for robot systems are realized, its validity is illustrated by the spatial robot system with five degrees of freedom.

Abstract: To set up the virtual prototype of a gear train system in the dynamic analysis software ADAMS, the torsional vibration model of a gear pair was transformed into an equivalent transmission model in which a multi-body model was established in ADAMS and its meshing force solution model was established in Simulink. The time-varying mesh stiffness, gear clearance, meshing errors and other non-linear factors can be included in the gear meshing feedback model, more importantly, the influence of gear speed fluctuation on the time-varying mesh stiffness was taken into consideration. The simulation results contrastively prove the feasibility of co-simulation for obtaining the dynamic characteristics of gear meshing process.

Abstract: Many surgical operations such as Total knee arthroplasty (TKA) and Total hip arthroplasty (THA) as well as bone fracture reposition require bone cutting manipulations. We have been developing a two degree of freedom robotized bone cutting hand-hold device. It is intended to execute cutting operation in order to avoid problems as accuracy errors, overheating and to obtain smooth bone surface. Surgeons have to orientate and hold the cutting robot, maintaining the contact with the bone during the operation all the time while the device executes manipulation automatically. Dynamical model based on graph theory and the orthogonally principle is derived for considered electromechanical system. Design of the mechanical part of bone cutting robotized device is provided

Abstract: One of the challenges today is to build software frameworks for the embedded software in mechatronic systems. This paper presents the SmartModels approach which facilitates the design of a framework to create and generate easy development of software product lines solutions. One of its main strength lies in the ease with which a designer can handle the dynamic aspects of a model by dealing with variability and flexibility of user requirements. We illustrate our approach by modeling the embedded software requirements for developing anti-lock braking systems (ABS).

Abstract: The kinematic and dynamic behaviors of lifting mechanism for a forging manipulator are investigated. The forward kinematic equations are established. Then, based on the modular approach combined with equivalent dynamic ideal, the dynamic equations are deduced. Moreover, all the equations have been verified by the simulation on a virtual prototype with the ADAMS software and the experiments on a forging manipulator. The results show that the calculated values are well in agreement with the real measurements. Finally, both kinematic and dynamic models are analyzed, and it is found that the force produced by the kinetic energy has very weak effect on the results in comparison with the gravity. The results provide the foundation of gripper’s position control in automatic open-die forging process.

Abstract: Energy consumption is one of the important evaluating indicators for walking robots. In this paper, the kinematics modeling of quadruped robot with trot gait was analyzed firstly. And then the dynamics modeling was analyzed, which considering periodic contact force between foots and ground during walking, and considering the elastic elements. Finally, the total energy consumption of walking robot during whole gait cycle was derived based on the dynamic model. The specific resistance was proposed to evaluate energy efficiency of quadruped robot with trot gait, and the relationship between specific resistance and gait parameters was presented, which will be used to analyze the energy efficiency and influencing factors, and then determine the reasonable gait parameters.

Abstract: The cutting system of the longitudinal roadheader is simplified to get the physical model. And the dynamic model is obtained on the basis of that. Then the simulating model is established by using Matlab/Simulink. Furthermore, the relative technical variants are analyzed and determined. Computer analysis is performed by setting some parameters which conform to the actual working conditions.

Abstract: The author of the present paper proposes a constructive version, selected on the grounds of dynamic and organological equations, which enables an optimum design and operation of the (MO Sil) orientation module that possesses two degrees of freedom, to which the prehension device is attached, in the mechanical structure of the TRR-type serial modular industrial robot. This paper aims at highlighting the dynamic modelling of the mechanical structure of the TRR-type robot by using Lagrangian formalism, with aspects regarding the MO Sil module’s organological construction as well as with the 3D modelling of the orientation module in the mechanical structure of the robotic arm. Another important issue that this paper deals with is the mathematical-organological algorithm used for the selection of the servomotors actuating the orientation movable system in the mechanical structure of the robot.