Volume 5: Dynamics, Vibration, and Control最新文献

{"title":"A Mapping Approach to Achieve Torque Control for Parallel-Actuated Robotic Systems","authors":"Stephen B. Welch, Christian D. Runyon, Benjamin Beiter, Connor W. Herron, Bhaben Kalita, A. Leonessa","doi":"10.1115/imece2022-95893","DOIUrl":"https://doi.org/10.1115/imece2022-95893","url":null,"abstract":"\u0000 In this work, we present an approach for realizing the torque control for a parallel-actuated robotic system by mapping the motion of a linear series elastic actuator (LSEA) to its driven robot joint. In most standard robotic modeling and control strategies, a robot is assumed to be actuated by torques applied directly at each joint and constructed as an open kinematic chain. However, the use of non-direct-drive actuators can violate these assumptions, causing additional challenges for the modelling and control of the robot. On our humanoid robot we use standard high level controllers to command desired joint positions and torques in order to generate desired behaviors. However, the humanoid robot is actually actuated by LSEAs, which are defined by actuator length and force. Overcoming this difference requires a method of mapping the motion and effort of an LSEA onto the corresponding joint of a robot. Our mapping approach allows for the conversion of generic desired joint position and torque trajectories consistent with standard controllers into actuator length and force trajectories that can be implemented on an LSEA-actuated robot. We present a two-stage methodology to achieve low-level torque control on our humanoid robot: a validation of the force-torque mapping in simulation, and a force controller implementation for tracking these resulting torque trajectories on a sample simulation of a single robot joint.","PeriodicalId":302047,"journal":{"name":"Volume 5: Dynamics, Vibration, and Control","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-10-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116647650","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}

{"title":"New Design for Implementation of 2-Degree-of-Freedom Planar Parallel Robot for Use in Creating an Infinite 3D Printer","authors":"Miguel De La Melena, Shawn Duan","doi":"10.1115/imece2022-88317","DOIUrl":"https://doi.org/10.1115/imece2022-88317","url":null,"abstract":"\u0000 3D printing is a rapidly growing and evolving field filled with a diverse array of printers capable of printing an equally as diverse amount of material. A new type of material extrusion 3D printer was recently developed and features the capabilities of printing infinitely long objects due to design decision of angling the XY plane and incorporating a rotating bed. The innovative design for the infinite 3D printer features a 2-DoF planar parallel manipulator (PPM) that will control the hot-end motion in the XY plane. This innovative design will greatly reduce the mass of moving parts in comparison to other infinite 3D printers. This reduction of weight will reduce inertia and allow for this new printer to achieve higher accelerations. In addition to the development of the new 3D printer, this paper presents a kinematic and dynamic model of the angled PPM, a finite element analysis of the critical components of the PPM, and an optimization approach to determine arm length of the PPM. The dynamic model simulation was developed in MATLAB and the results were compared with field data collected to verify the model. A meta-heuristic optimization was performed to optimize arm length of the connectors while maximizing the dynamic performance of the PPM with consideration of the usable workspace. The results of these examinations yield a validated mechanism that will be suitable for the development of a new type of infinite 3D printer.","PeriodicalId":302047,"journal":{"name":"Volume 5: Dynamics, Vibration, and Control","volume":"81 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-10-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116684029","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}

{"title":"Solar Tracking Using Four-Bar Mechanisms","authors":"Saul Munoz, Hong Zhou","doi":"10.1115/imece2022-94131","DOIUrl":"https://doi.org/10.1115/imece2022-94131","url":null,"abstract":"\u0000 Solar tracking adjusts the orientation of solar panels and makes them face Sun to increase power generation. The Earth has two movements with respect to Sun: the daily axial rotation and the yearly orbital revolution. There are two degrees of freedom in the relative motion between Earth and Sun. For solar tracking, Earth is commonly considered to be stationary while Sun takes relative motion with respect to Earth. Sun travels from east to west during daytime and also moves north and south due to Earth’s tilt. However, Sun’s daily north-south move is much smaller than its east-west move. Although the existing solar trackers with two degrees of freedom increase solar power generation from solar panels significantly, they also consume considerable power by driving solar trackers. Single-axis (or one degree of freedom) solar trackers can catch Sun’s daily east-west movement effectively. Sun’s small north-south movement can be covered for them by monthly or seasonal manual adjustment of their orientations. This research is focused on single-axis solar trackers that have one degree of freedom. Four-bar mechanisms (or linkages) consist of four links that are connected by revolute or prismatic kinematic joints in a closed loop. They are the simplest mechanisms with one degree of freedom. Four-bar mechanisms have been widely used in various mechanical devices for different applications. Properly designed four-bar mechanisms can generate the output motion to meet the solar tracking requirements. However, single-axis solar trackers that are based on four-bar mechanisms also face challenges such as limited solar tracking motion range, high actuation power consumption, lacking self-locking function. This research is aimed at circumventing the challenges on solar trackers that are constructed of four-bar mechanisms. In this research, 4R and 3R1P four-bar mechanisms are designed for generating solar tracking output motion. Their kinematic and dynamic performances are analyzed and simulated. The results from this research will provide guidelines for developing and promoting single-axis solar trackers using four-bar mechanisms.","PeriodicalId":302047,"journal":{"name":"Volume 5: Dynamics, Vibration, and Control","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-10-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127115300","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}

{"title":"In-House Built Robust and Adaptable System Architecture for Virtual Reality Haptic Interface","authors":"Anne He, Connor W. Herron, Bhaben Kalita, A. Leonessa","doi":"10.1115/imece2022-95054","DOIUrl":"https://doi.org/10.1115/imece2022-95054","url":null,"abstract":"\u0000 This work presents an in-house built, expandable and flexible system architecture for controlling the robotic motion and supply power to a full-body scale virtual reality (VR) haptic interface named, ForceBot. This VR haptic interface maps the human pilot motion into a virtual avatar, and applies force feedback that results in a high-fidelity sensory of live interaction. ForceBot applies haptic feedback on hands through a pair of pneumatically actuated wearable VR haptic gloves which creates an artificial sense of touch in user’s hands. The robotic arms and the gantry systems are connected to the user’s arms and feet by mounting on a base frame alongside the human pilot. The measured forces are used to synchronize the robot’s motion with the human by allowing a transparent experience during movement and governing desired interaction forces. The whole system architecture consists of mainly three sections: a central computer, a VR computer, and robotic sub-systems. Further, the in-house developed motor control unit ensures the motor behaviour with safety and efficiency for distributing the large amount of electrical power required for the gait simulator to provide support and generate rapid motion. Overall, this system framework can be helpful for the designers and researchers to further study the control and interaction between the robotic motion and the human pilot under VR environments.","PeriodicalId":302047,"journal":{"name":"Volume 5: Dynamics, Vibration, and Control","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-10-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125913263","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}

{"title":"Variable Kinematic Shell Finite Elements for Dynamic Analyses of Rotating Structures","authors":"M. Filippi, R. Azzara, E. Carrera","doi":"10.1115/imece2022-94418","DOIUrl":"https://doi.org/10.1115/imece2022-94418","url":null,"abstract":"\u0000 This paper makes use of low- and high-fidelity finite plate and shell elements for vibrational analyses of various rotating structures. The two-dimensional models, developed with the Carrera Unified Formulation (CUF), are obtained by adopting two different kinematics expansions, namely the Lagrange-like (LE) and Taylor-like (TE) polynomials. The possibility of selecting different kinematic expansions enables various configurations such as composite, reinforced and sandwich structures to be considered. The equations of motion of rotors with arbitrarily shaped cross-sections are derived with respect to a co-rotating reference system. All contributions induced by the rotational speed (the Coriolis force, the spin-softening and the stress-stiffening terms) for both spinning and blade-like configurations are included in the equations of motion. Furthermore, the linearized and geometrically nonlinear approaches are presented to compute the speed-induced stiffening effect. Numerical simulations are performed on a swept-tip blade and a shallow shell to validate the formulation. Comparisons with solutions available in the literature demonstrated the accuracy of the approach.","PeriodicalId":302047,"journal":{"name":"Volume 5: Dynamics, Vibration, and Control","volume":"43 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-10-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117250185","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}

{"title":"Estimation of Road Slope Based on IMU Error Compensation and GPS Based Multi-Sensor Fusion","authors":"Zeyu Xu, Haijiang Liu, Zheng Xing","doi":"10.1115/imece2022-95345","DOIUrl":"https://doi.org/10.1115/imece2022-95345","url":null,"abstract":"\u0000 In the road test of vehicle performance evaluation, real-time and accurate estimation of road slope is essential for objective evaluation. Using slope meter directly can bring many problems such as large randomness and errors in road test. Using complex road slope estimation algorithm often brings redundant sensors and reduces detection efficiency.\u0000 Aiming at the above problems, this paper proposes a road slope estimation model based on IMU error calibration and multi-sensor signal fusion. First, the vehicle-road dynamics and kinematics models are established. Then, the error sources of IMU are analyzed, and the calibration and compensation methods are proposed. The acceleration signal of IMU is compensated by inertia through the vehicle velocity signal obtained by multi-sensors, and the projection of gravity acceleration vector in the vehicle coordinate is decoupled. Finally, the model fuses the decoupled result with IMU angular velocity value through Kalman filter algorithm, and outputs the estimated slope of the road.\u0000 The road test results show that the model can effectively compensate the IMU installation error and accurately estimate the road slope. And the slope estimation error is less than 0.5%, which can meet the needs of the road test of vehicle performance evaluation.","PeriodicalId":302047,"journal":{"name":"Volume 5: Dynamics, Vibration, and Control","volume":"64 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-10-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128760152","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}

{"title":"Joint Control With Passive Damping for a Planar Two-Link Tendon-Driven Flexible Manipulator","authors":"Emeka K. Ezeanya, A. Barhorst","doi":"10.1115/imece2022-95636","DOIUrl":"https://doi.org/10.1115/imece2022-95636","url":null,"abstract":"\u0000 Flexibility and compliance are intrinsic qualities of continuum (soft) robots which make them desirable and extend their applicability beyond the level readily obtainable in the traditional rigid link robots. Thus, continuum robots can be used in manipulation, exploration, inspection, and surveillance tasks, in minimally invasive surgery (MIS) applications, and robotic rehabilitation devices. Unfortunately, the desirable qualities of these robotic systems lead to nonlinearities and complex deformations which must be clearly understood to develop a good model. At present, various modeling methods exist. However, this research employs a uniquely different approach based on the Hybrid Parameter Multiple Body Systems (HPMBS) methodology for the dynamic modeling and control of a two-link tendon-driven flexible manipulator. Owing to the benefits offered by this modeling approach, a high accurate, low order model for the complex deformations of the flexible manipulator system will be developed. Model simulations demonstrating joint position control with passive damping will be presented, whereby the manipulator can be accurately moved to various joint positions, with vibrations completely suppressed. As a result, the accurate, low order model could facilitate real time dynamic simulations and controls as may be required for various soft robotic applications.","PeriodicalId":302047,"journal":{"name":"Volume 5: Dynamics, Vibration, and Control","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-10-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130318623","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}

{"title":"Performance Characteristics of PMDC Motor of Small-Scale Experimental Ocean Current Turbine","authors":"S. Rouhi, N. Xiros, E. Aktosun, James H. VanZwieten, C. Sultan, J. Ioup, S. Sadeqi","doi":"10.1115/imece2022-95774","DOIUrl":"https://doi.org/10.1115/imece2022-95774","url":null,"abstract":"\u0000 A comprehensive numerical model was developed to address the performance of a permanent magnet direct current (PMDC) motor which is employed as a small-scale three-bladed horizontal axis ocean current turbine. This numerical model development is presented along with a comparison to experimental data to quantify the motor performance. The proposed experimental design is discussed in detail. Due to the nature of the ocean current turbine, it is required to run it first by applying input power, subsequently to be governed by hydrokinetic energy. Thus, a detailed performance of the PMDC motor is essential when it runs as a motor and generator. Based on our preliminary work, the angular speed of the small-scale turbine is less than 500 rpm. Thus, a combination of the PMDC motor and a planetary gearhead is used to fulfill this low-speed requirement. The gearhead is driven in reverse when operating as a generator which leads to poor efficiency. This efficiency is experimentally derived to be 47.8% at maximum speed of 479.4 rpm at 12V.","PeriodicalId":302047,"journal":{"name":"Volume 5: Dynamics, Vibration, and Control","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-10-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130559684","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}

{"title":"Experimental Characterization of the Nonlinear Boundary Conditions Applied by Two Different Designs of Spacer Grids on PWR Fuel Rods","authors":"Giovanni Ferrari, Brian Painter, Giulio Franchini, K. Karazis, M. Amabili","doi":"10.1115/imece2022-96787","DOIUrl":"https://doi.org/10.1115/imece2022-96787","url":null,"abstract":"\u0000 Spacer grids in Pressurized Water Reactors (PWRs) hold fuel rods in place by means of springs and rigid stops during the operation of the reactor core; in addition, they are used to improve the mixing of the coolant, improving heat transfer. The constraint exerted by spacer grids influences the amplitude of the vibrations reached by fuel rods under the action of the turbulent coolant flow; in turn, these vibrations may result in Grid-To-Rod Fretting (GTRF), the main cause of failure for nuclear fuel rods. As a result, considerable effort is dedicated to the design of spacer grids.\u0000 In this perspective, the boundary condition exerted by two prototypical spacer grids on fuel rods was characterized experimentally. First, a traditional spacer grid, employing both compliant and stiffer elements (springs and dimples) to retain fuel rods was tested; afterwards, an innovative spacer grid, employing springs only, was tested. The rotational constraint on the bending of fuel rods was measured imposing angular displacements varying sinusoidally in time to rigid tubes inserted in the spacer grids. The spacer grids were immersed in water and the direction of the excitation was varied with respect to the spacer grids. The displacements were measured by means of Laser Doppler Vibrometers (LDV), while the resulting alternating compressive forces were measured through a load cell installed on the electrodynamic exciter that applied the time-varying displacements. Force-displacement loops revealed in both cases a hysteretic behavior described well by nonlinear hysteretic models such as Caughey’s bilinear model. The behavior of either spacer grid is not affected by the frequency of the sinusoidal excitation, but it is affected strongly by the amplitude of the latter. In particular, the hysteresis area increases substantially with the amplitude of displacement for both spacer grids, while the terminal stiffness decreases for spacer grid 1.\u0000 Such nonlinear conditions may be related to the strongly softening behavior shown by the large-amplitude vibrations of fuel rods supported by spacer grids, which happen at lower resonant frequencies and with larger damping values for increasing vibration amplitudes. The inclusion of hysteretic boundary conditions improves substantially the simulation of the forced vibrations of fuel rods supported by spacer grids. The vibrations of fuel rods supported by dimple-less spacer grids result much more damped than those if fuel rods supported by traditional spacer grids. Additional damping acts in the sense of safety and may be related to a larger hysteretic dissipation at the boundary conditions when dimple-less spacer grids are used.","PeriodicalId":302047,"journal":{"name":"Volume 5: Dynamics, Vibration, and Control","volume":"180 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-10-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124515030","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}

{"title":"Toward the Design of a Kangaroo-Inspired Robot","authors":"Garrick Beaster, B. Jawad, Vernon Fernandez, H. Vejdani","doi":"10.1115/imece2022-95793","DOIUrl":"https://doi.org/10.1115/imece2022-95793","url":null,"abstract":"\u0000 In this paper we report on the design and fabrication of a Kangaroo-inspired running robot. The goal was to develop a robotic platform to understand the effects of the leg dynamics on the stability of running gaits. Specifically, we studied the effect of the leg posture and compliance on the self-stability characteristic of spring mass running gait. In our design, we tuned the leg compliance and leg resting posture and studied their effect on the stability performance of the system. The design of this platform was carried out based on the well-known Spring Loaded Inverted Pendulum (SLIP) as a first stage reduced order model. After that, we modeled the segmented leg with a rotational spring at the knee and studied the effect of the spring stiffness and resting posture of the leg on the self-stability of the system. Then, to be able to manage the whole energy level of the system and in order to transition to different energy levels, we expanded the model to a hip-actuated system in which the body can apply hip torque during the stance phase. For the flight phase swing leg control policy, we followed the simple constant angle of attack strategy in which the system lands with a constant leg orientation. The results showed that if the leg posture and compliance were chosen properly, the self stability of the system improves and a simple hip torque controller can manage the energy transitioning in a robust way with high convergence rate.","PeriodicalId":302047,"journal":{"name":"Volume 5: Dynamics, Vibration, and Control","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-10-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133612567","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}