Volume 9: 18th International Conference on Multibody Systems, Nonlinear Dynamics, and Control (MSNDC)最新文献

Nonlinear Oscillations in Delayed Collocated Control of Pendulum on Trolley 小车上摆延迟配置控制中的非线性振荡

Volume 9: 18th International Conference on Multibody Systems, Nonlinear Dynamics, and Control (MSNDC) Pub Date : 2022-08-14 DOI: 10.1115/detc2022-89838

Bence Szaksz, G. Stépán

引用次数: 1

Bifurcation Analysis of a PD Controlled Motion Stage With a Nonlinear Friction Isolator 带有非线性摩擦隔离器的PD控制运动平台的分岔分析

Volume 9: 18th International Conference on Multibody Systems, Nonlinear Dynamics, and Control (MSNDC) Pub Date : 2022-08-14 DOI: 10.1115/detc2022-91125

Ehab E. Basta, S. K. Gupta, O. Barry

{"title":"Bifurcation Analysis of a PD Controlled Motion Stage With a Nonlinear Friction Isolator","authors":"Ehab E. Basta, S. K. Gupta, O. Barry","doi":"10.1115/detc2022-91125","DOIUrl":"https://doi.org/10.1115/detc2022-91125","url":null,"abstract":"\u0000 The utilization of mechanical-bearing-based precision motion stages (MBMS) is prevalent in the advanced manufacturing industries. However, the productivity of the MBMS is plagued by friction-induced vibrations, which can be controlled to a certain extent using a friction isolator. Earlier works investigating the dynamics of MBMS with a friction isolator considered a linear friction isolator, and the source of nonlinearity in the system was realized through the friction model only. In this work, we present the nonlinear analysis of the MBMS with a nonlinear friction isolator for the first time. We consider a two-degree-of-freedom spring-mass-damper system to model the servo-controlled motion stage with a nonlinear friction isolator. The characteristic of the dynamical friction in the system is captured using the Lu-Gre friction model. The system’s stability and nonlinear analysis are carried out using analytical methods. More specifically, the method of multiple scales is used to determine the nature of Hopf bifurcation on the stability lobe. The analytical results indicate the existence of subcritical and supercritical Hopf bifurcations in the system, which are later validated through numerical bifurcation. This observation implies that the nonlinearity in the system can be stabilizing or destabilizing in nature, depending on the choice of operating parameters.","PeriodicalId":193710,"journal":{"name":"Volume 9: 18th International Conference on Multibody Systems, Nonlinear Dynamics, and Control (MSNDC)","volume":"2014 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-08-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133960514","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Stability Analysis of a One Degree-of-Freedom Robot Model With Sampled Digital Acceleration Feedback Controller in Turning 带有采样数字加速度反馈控制器的一自由度机器人模型转弯稳定性分析

Volume 9: 18th International Conference on Multibody Systems, Nonlinear Dynamics, and Control (MSNDC) Pub Date : 2022-08-14 DOI: 10.1115/detc2022-90937

Andras Bartfai, A. Barrios, Z. Dombovari

{"title":"Stability Analysis of a One Degree-of-Freedom Robot Model With Sampled Digital Acceleration Feedback Controller in Turning","authors":"Andras Bartfai, A. Barrios, Z. Dombovari","doi":"10.1115/detc2022-90937","DOIUrl":"https://doi.org/10.1115/detc2022-90937","url":null,"abstract":"\u0000 This study investigates the stability of robots in machining. The goal is to improve the dynamic performance of robots using an additional acceleration signal fed back through the conventional built-in proportional-derivative controller provided by the manufacturer. The structure of the robot is modelled with a simple one degree-of-freedom lumped model. The control signals are fed back via a linear spring and damping. The time delays of feedback controllers are considered as zero-order holds, which results in sawtooth-like time-periodic time delays. The resulting equation of motion is an advanced delay differential equation. The semidiscretization method is shown for such systems with multiple sampled digital delays. First, we establish the stable regions in the plane of the sampling delay and the gain of the acceleration signal without machining. Then we show the possibility to improve stability in the simplest possible cutting case using the additional acceleration feedback controller compared to the cases without any controller or using only the proportional-derivative controller.","PeriodicalId":193710,"journal":{"name":"Volume 9: 18th International Conference on Multibody Systems, Nonlinear Dynamics, and Control (MSNDC)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-08-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117048701","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

A pnh-Adaptive Refinement Procedure for Numerical Optimal Control Problems 数值最优控制问题的pnn -自适应细化方法

Volume 9: 18th International Conference on Multibody Systems, Nonlinear Dynamics, and Control (MSNDC) Pub Date : 2022-08-14 DOI: 10.1115/detc2022-89376

L. Bartali, M. Gabiccini, M. Guiggiani

{"title":"A pnh-Adaptive Refinement Procedure for Numerical Optimal Control Problems","authors":"L. Bartali, M. Gabiccini, M. Guiggiani","doi":"10.1115/detc2022-89376","DOIUrl":"https://doi.org/10.1115/detc2022-89376","url":null,"abstract":"\u0000 This paper presents an automatic procedure to enhance the accuracy of the numerical solution of an optimal control problem (OCP) discretized via direct collocation at Gauss-Legendre points. First, a numerical solution is obtained by solving a nonlinear program (NLP). Then, the method evaluates its accuracy and adaptively changes both the degree of the approximating polynomial within each mesh interval and the number of mesh intervals until a prescribed accuracy is met. The number of mesh intervals is increased for all state vector components alike, in a classical fashion. Instead, improving on state-of-the-art procedures, the degrees of the polynomials approximating the different components of the state vector are allowed to assume, in each finite element, distinct values. This explains the pnh definition, where n is the state dimension. Instead, in the literature, the degree is always raised to the highest order for all the state components, with a clear waste of resources.\u0000 Numerical tests on three OCP problems highlight that, under the same maximum allowable error, by independently selecting the degree of the polynomial for each state, our method effectively picks lower degrees for some of the states, thus reducing the overall number of variables in the NLP. Accordingly, various advantages are brought about, the most remarkable being: (i) an increased computational efficiency for the final enhanced mesh with solution accuracy still within the specified tolerance, (ii) a reduced risk of being trapped by local minima due to the reduced NLP size.","PeriodicalId":193710,"journal":{"name":"Volume 9: 18th International Conference on Multibody Systems, Nonlinear Dynamics, and Control (MSNDC)","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-08-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121633618","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Nonlinear Energy Sink and Targeted Energy Transfer in Smart Structures 智能结构中的非线性能量汇与定向能量传递

Volume 9: 18th International Conference on Multibody Systems, Nonlinear Dynamics, and Control (MSNDC) Pub Date : 2022-08-14 DOI: 10.1115/detc2022-89608

Kevin Dekemele, P. Van Torre, M. Loccufier

{"title":"Nonlinear Energy Sink and Targeted Energy Transfer in Smart Structures","authors":"Kevin Dekemele, P. Van Torre, M. Loccufier","doi":"10.1115/detc2022-89608","DOIUrl":"https://doi.org/10.1115/detc2022-89608","url":null,"abstract":"\u0000 Nonlinear energy sinks (NESs) are strongly nonlinear mechanical oscillators that are weakly coupled to a mechanical primary system. Through targeted energy transfer (TET), vibration energy is irreversibly transferred from the primary system to the NES, making the NES an attractive passive vibration control device. Furthermore, because of the NES’ strong nonlinearity, the NES has a variable natural frequency, unlike linear vibration control devices. This enables a self-tuning property where the NES adapts to the primary system’s vibration frequency, making the NES a broadband vibration absorber. This self-tuning extends to multi-frequency vibrations through resonance capture cascade (RCC), where the NES tunes itself to the different frequencies in sequential order. Recently, some works have discussed the piezoelectric NES, a nonlinear electrical circuit that interfaces with a mechanical system through a piezoelectric transducer. This paper will show for the first time that by using an electromagnetic transducer instead of a piezoelectrical transducer, an electromagnetic NES is obtained. Furthermore, this work will show that dynamics of mechanical, piezoelectric and electromagnetic NESs can be generalized under a universal NES in a slow flow expression and that resonance capture cascade occurs for all the NES types. The performance of the NES configurations are compared and their physical components are discussed.","PeriodicalId":193710,"journal":{"name":"Volume 9: 18th International Conference on Multibody Systems, Nonlinear Dynamics, and Control (MSNDC)","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-08-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127385343","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

The Effect of the Balance Board Mass on the Stability, Equilibrium, and Robustness of the Human-Balance Board System 平衡板质量对人体平衡板系统稳定性、平衡性和鲁棒性的影响

Volume 9: 18th International Conference on Multibody Systems, Nonlinear Dynamics, and Control (MSNDC) Pub Date : 2022-08-14 DOI: 10.1115/detc2022-90628

Erik Chumacero, Jie Yang

{"title":"The Effect of the Balance Board Mass on the Stability, Equilibrium, and Robustness of the Human-Balance Board System","authors":"Erik Chumacero, Jie Yang","doi":"10.1115/detc2022-90628","DOIUrl":"https://doi.org/10.1115/detc2022-90628","url":null,"abstract":"\u0000 People with neuromuscular deficits may show balance issues that put them in a higher risk of fall as compared to healthy people. To reduce the risk of fall, balance-board (BB)-based rehabilitation intervention has been widely used. However, despite the extensive use of BB-based interventions, the mechanisms responsible for rehabilitation remain unclear. To better understand these mechanisms, several studies have used a system dynamics approach to investigate the effect of neuromuscular deficits (visual, vestibular, proprioceptive) and sensorimotor latencies on the stability and dynamical behavior of the human-BB system. Though, to the best knowledge of the authors, the effect of the BB mass on the stability and dynamics of the human-BB system has never been investigated. In the present study, bifurcation analyses, root finding techniques, and computational simulations are used to investigate the effect of the BB mass and BB time-delay on the stability, equilibrium, and robustness of the human-BB upright posture (UP) for cases where either proprioceptive or visual and vestibular deficits are considered. The results show that the BB mass and BB time-delay play a critical role on the UP stability, leaning postures, and robustness of the human-BB system. In fact, increasing BB mass reduces the range of neuromuscular gains that stabilize the system and shrinks the basin of attraction of the UP, which is related to the human-BB system’s robustness to posture disturbances. This effect is more evident in the case where visual and vestibular deficits are considered in simulation. This relationship may have implications on the design and development of BBs with tunable mass and tunable time-delay. The BB could be designed to tune time-delay and mass, so patients could be better challenged during BB-based intervention in a more patient-specific manner.","PeriodicalId":193710,"journal":{"name":"Volume 9: 18th International Conference on Multibody Systems, Nonlinear Dynamics, and Control (MSNDC)","volume":"2005 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-08-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128305704","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Comparison of the Hysteresis Response of Super-Coiled Polymer (SCP) Actuators 超卷曲聚合物(SCP)作动器的迟滞响应比较

Volume 9: 18th International Conference on Multibody Systems, Nonlinear Dynamics, and Control (MSNDC) Pub Date : 2022-08-14 DOI: 10.1115/detc2022-90107

J. H. Henry, J. Bridge

{"title":"Comparison of the Hysteresis Response of Super-Coiled Polymer (SCP) Actuators","authors":"J. H. Henry, J. Bridge","doi":"10.1115/detc2022-90107","DOIUrl":"https://doi.org/10.1115/detc2022-90107","url":null,"abstract":"\u0000 In recent years, Super-Coiled Polymer (SCP) actuators have been investigated as a potential high yield and minimal cost alternative to bulky, power hungry and expensive conventional actuators. A major challenge however, has been finding appropriate general and industry uses for these actuators due to their nonlinear hysteretic response. This paper seeks to compare the hysteretic response for SCP actuators based on different thread weights and sizes and thus suggest possible directions for their use.\u0000 The actuators were produced through coiling and heat treatment actuated via Arduino code and a microcontroller circuit. The hysteresis properties were obtained experimentally by supplying a controlled voltage to the system. The response was recorded via a camera and was then processed using MATLAB; the resulting displacement and strain were used to observe the hysteretic characteristics.\u0000 These characteristics were used as the basis for recommending different applications for these SCP actuators. The results show single ply supercoiled polymers may be used in sensitive low stress applications, the triple ply and greater number of plies used in high stress applications, and the double ply used in applications that are sensitive but also have moderate stress requirements.\u0000 It is recommended that this research into SCP actuators be furthered by developing hysteresis models for compensation, control and exploring their use in robotic systems and tactile mechanisms.","PeriodicalId":193710,"journal":{"name":"Volume 9: 18th International Conference on Multibody Systems, Nonlinear Dynamics, and Control (MSNDC)","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-08-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121114434","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Effect of the Impact Coefficient of Restitution on the Nonlinear Dynamics Phenomenon of Flat-Faced Follower With Polydyne Cam Mechanism With Clearance 恢复冲击系数对带间隙的多动凸轮平面从动件非线性动力学现象的影响

Volume 9: 18th International Conference on Multibody Systems, Nonlinear Dynamics, and Control (MSNDC) Pub Date : 2022-08-14 DOI: 10.1115/detc2022-89430

L. S. Yousuf

引用次数: 0

Flexible Multibody Model of a Complete Tiltrotor for Aeroservoelastic Analysis 全倾转旋翼机气动伺服弹性分析的柔性多体模型

Volume 9: 18th International Conference on Multibody Systems, Nonlinear Dynamics, and Control (MSNDC) Pub Date : 2022-08-14 DOI: 10.1115/detc2022-89734

A. Cocco, Alberto Savino, P. Masarati

引用次数: 0

Characterization of Nonlinear Kirigami Springs Through Transient Response 非线性基里伽米弹簧的瞬态响应表征

Volume 9: 18th International Conference on Multibody Systems, Nonlinear Dynamics, and Control (MSNDC) Pub Date : 2022-08-14 DOI: 10.1115/detc2022-93913

F. Danzi, Joshua Jenkins, H. Tao, J. Gibert

{"title":"Characterization of Nonlinear Kirigami Springs Through Transient Response","authors":"F. Danzi, Joshua Jenkins, H. Tao, J. Gibert","doi":"10.1115/detc2022-93913","DOIUrl":"https://doi.org/10.1115/detc2022-93913","url":null,"abstract":"\u0000 Kirigami is defined as the ancient Japanese art of cutting and folding paper to create three-dimensional structures, which is a subset of the larger term. Recent developments in kirigami-based structures have sparked interest in the engineering community for the development of mechanical metastructures with customized behavior such as negative Poisson’s ratio, out-of-plane buckling, and soft robot locomotion. In this manuscript, nonlinear springs based on kirigami are developed; the springs can be used to create customized nonlinear oscillators and vibration suppression systems. A Helmholtz-Duffing oscillator with nonlinear damping is created by attaching a mass to a smooth track with the kirigami springs attached to it.\u0000 Kirigami springs were made by strategically cutting plastic sheets in predetermined patterns and arranging them in a ring. Identification of the unknown system parameters is accomplished through the use of a two-step procedure. To determine the quasi-static behavior of the spring, it was first subjected to tensile testing. These parameters serve as the foundation for developing a strategy for determining the unknown energy loss parameters in a system. In the second step, the Method of Multiple Scales is used to develop an approximate solution for the transient response, which is then tested. This solution is coupled with an optimization routine that, by modifying the unknown model parameters, seeks to reduce the error between the experimental free oscillations and the developed analytical solution as closely as possible.","PeriodicalId":193710,"journal":{"name":"Volume 9: 18th International Conference on Multibody Systems, Nonlinear Dynamics, and Control (MSNDC)","volume":"152 5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-08-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114061901","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0