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

{"title":"Identification of Mechanical Fault of Induction Motor by Combining Lyapunov Exponent and Random Forest Algorithm","authors":"Yan Liu, Jincheng Geng, Yuchen Li, Yiming He","doi":"10.1115/imece2022-94758","DOIUrl":"https://doi.org/10.1115/imece2022-94758","url":null,"abstract":"\u0000 In this paper, a scheme by combining Lyapunov exponent and random forest algorithm for mechanical fault identification of induction motor is proposed. During the implementation of the scheme, the severity of pedestal looseness is identified. First, operating states of motors are simulated in an experimental platform. Vibration signals are measured and the evolution of signal waveform are revealed. Subsequently, for vibration signals of different input frequencies or different number of pedestal loose bolts, Lyapunov exponential spectrums are calculated by BBA algorithm. Features extracted from Lyapunov exponential spectrums, such as largest Lyapunov exponent and Kolmogorov entropy, are utilized to demonstrate the chaotic characteristics of signals. At last, extracted features are fed into random forest model for the fault classification. The feasibility of this scheme is validated by accuracy of fault recognition greater than 90%. Several groups of experimental results indicate that proposed scheme has high effectiveness and generalization performance.","PeriodicalId":302047,"journal":{"name":"Volume 5: Dynamics, Vibration, and Control","volume":"9 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":"132069149","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":"On the Efficacy of Non-Holonomic Canonical Momentum Analysis of Constrained Multi-Body Mechanical Systems – Application in Ground Vehicle Double Wishbone Suspension Dynamics","authors":"Oluwaseyi J. Olorunfemi, A. Barhorst","doi":"10.1115/imece2022-95181","DOIUrl":"https://doi.org/10.1115/imece2022-95181","url":null,"abstract":"\u0000 In this research, we aim to ascertain the practicability of generalized momentum canonical equations for non-holonomic rigid body systems by applying it to the modeling and simulation of a Double Wishbone suspension system dynamics. The model of the Double Wishbone suspension system of a passenger car’s front drive is assumed to be planar, with four degrees of freedom. Equations of motion derived from the model are solved using Wolfram Mathematica’s NDsolve Algorithm while dynamic simulations are made from modeling a real-life scenario and verification of the model. Simulated real life scenario had the model excited in one of the four DOFs — the roll rate of the model. Therefore simulation results, graphical plots of the total energy, constraint loop and generalized parameters of the DWB suspension system, predicted the response of vehicle dynamics in this event for a period. The method provides accurate results and we can infer that the set of equations of motion formulated from the projective momentum method can accurately simulate the inherent nonlinear vehicle suspension dynamics behavior. Therefore, the generalized momentum canonical equation for constrained systems has the capability to be used for vehicle dynamics analysis and prediction that are necessary for understanding the complexities involved in ground vehicle ride and handling.","PeriodicalId":302047,"journal":{"name":"Volume 5: Dynamics, Vibration, and Control","volume":"84 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":"128687565","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":"Development of a Bio-Inspired Hopping Leg for Lunar Exploration Rover","authors":"M. Nguyen, Elizabeth Salai, Andrew Smith, A. Barth, Janet Dong, Ou Ma","doi":"10.1115/imece2022-95975","DOIUrl":"https://doi.org/10.1115/imece2022-95975","url":null,"abstract":"\u0000 The goal of this project is to develop and build a jumping robotic leg to be mounted in a rover for lunar terrain exploration. As we may know that most rovers are using wheels for locomotion, the purpose of replacing the wheels with a jumping robotic leg in this project is to enhance the ability of rovers to travel further distances in a shorter time. The improved speed and distance will make lunar missions more efficient on resources and time. The leg design also helps prevent a rover from getting stuck on the exploration due to geographic obstacles such as mountains, canyons, and other miscellaneous terrains. While this idea is not new, this project attempted to create a unique design using the biomechanics of a kangaroo leg to improve jump capabilities such as height and speed. It is expected that a kangaroo-inspired rover model offers a faster speed and better locomotive capacity in the low gravitational environment and allows the rover to navigate the rough lunar terrain more efficiently in comparison to a wheeled rover.\u0000 Three student teams have been working on this project in different academic years. This year’s team focuses on improving jumping height through energy conservation and reduction of weight. The new three-link leg spring mechanism model is designed, built, and tested. The hop is generated by an actuation system that includes three springs and a pull cable. In the design phase, a CAD model was created, and the jumping leg’s static analysis and dynamic simulation were conducted. The jumping heights were calculated and compared with theoretical calculation and simulation. The conservation of energy law was applied to solve the jump height for the theoretical calculation. In the dynamic simulation, the jump height was measured and recorded by adjusting several leg parameters. The jump heights from the calculation and dynamic simulation were compared. The optimum design of the leg, therefore, was determined to achieve the best jumping height.\u0000 This paper will discuss the process of this year’s senior team to develop this bio-inspired hopping rover for lunar exploration. The leg prototype was built and made of ABS plastic, and it stands 50 cm high with a weight of 1.56 kg. A testing rig was also developed to measure the leg’s jumping height. This bio-inspired rover could pave the way for improved mobility in unknown, rugged terrains and low gravity environments by overcoming the limitations of the wheeled rovers altogether. This model could lead to the pioneering of using the flexibility of locomotion and miniaturization for lunar exploration.","PeriodicalId":302047,"journal":{"name":"Volume 5: Dynamics, Vibration, and Control","volume":"17 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":"133272755","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":"Development of a Novel 3-Universal-Spherical-Revolote Soft Parallel Robot","authors":"Cecil Abidoye, Devin Grace, Andrea Contreras-Esquen, Aden Edwards, T. Ashuri, A. Tekes, Amir Ali Amiri Moghadam","doi":"10.1115/imece2022-95235","DOIUrl":"https://doi.org/10.1115/imece2022-95235","url":null,"abstract":"\u0000 Soft parallel robots are among the latest advancements in the field of soft robotics with wide range of applications. Most of the existing soft robotic systems comprise from serial soft arms which can provide high degrees of freedom (DOF), but suffer from low stiffness, and limited payload due to their soft structure. To address these issues recently researchers have introduced soft parallel robots. Similar to their rigid counterparts, soft parallel robot will have higher blocking force, stiffness, and accuracy. We have previously introduced two, and three DOF soft parallel robots and in the current work we will introduce a novel six DOF robot named 3-universal-spherical-revolute (3USR) soft parallel robot. This robotic system is consisted of three closed-loop kinematic chains. Each chain includes a soft active arm with two DOF which is connected to a compliant passive link through soft joints. This configuration provides six DOF for the soft robot (x, y, z, roll, pitch, yaw). The prototype of the robot is 3D printed using NINJA flex, thermoplastic polyurethane (TPU), and polylactic acid (PLA). Each soft active arm consists of a two DOF tendon driven soft actuator which is 3D printed using NINJA flex and are actuated using two servo motors. Two types of soft joints are used namely soft spherical and revolute joints. The shape and size of the soft joints are optimized so that the robot will achieve six DOF. MATLAB Simscape model is used to simulate the dynamical response of the mechanism for various inputs.","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":"125747443","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":"Design of Low-Level Hardware for a Multi-Layered Control Architecture","authors":"Madeline Kogelis, Zachary J. Fuge, Connor W. Herron, Bhaben Kalita, A. Leonessa","doi":"10.1115/imece2022-94614","DOIUrl":"https://doi.org/10.1115/imece2022-94614","url":null,"abstract":"\u0000 In this work, the low-level (LL) hardware for sensor collection, motor input, and networking with a high-level (HL) controller is presented for robot systems which utilize linear series elastic actuators (LSEAs) for joint actuation. In multi-joint robotic systems, LL controllers rely on sensor readings to control each joint and communicate the obtained information to the HL controller. This research outlines the hardware design of two printed circuit boards (PCBs), as well as the use of an EasyCAT PRO board for communication. An in-house sensor interface shield is designed as an extension of the TM4C123GXL TIVA microcontroller launchpad and another in-house shield connects to the AZBDC12A8 analog servo drive, or rather, the motor controller. These PCBs allow for sensor integration with circuits that route, filter, or manipulate data obtained from the sensors. The goal of the sensor interface shield is to interface between sensors and the microcontroller. The sensor board takes readings from a force sensor, absolute encoder, quadrature encoder, as well as adjusting the pulse-width modulation (PWM) signal that is sent to the motors. The main purpose of the motor shield is to supply power, route the PWM input, and filter the current output of the motor. The final designs for both the shields are built in the PCB design software Eagle. Overall, these boards will allow for better sensor integration for LL controllers which interface with LSEA driven multi-joint robotic systems.","PeriodicalId":302047,"journal":{"name":"Volume 5: Dynamics, Vibration, and Control","volume":"211 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":"121970306","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":"Development of a Haptic Glove for the Index and Middle Fingers of the Right Hand With Force Feedback","authors":"Jhon A. Caballero Moreno, S. Roa Prada","doi":"10.1115/imece2022-96206","DOIUrl":"https://doi.org/10.1115/imece2022-96206","url":null,"abstract":"\u0000 Due to the growth in the amount and types of information that surrounds us, it is important to explore other areas and ideas and ways to interact with information. Haptic systems with their tactile, kinesthetic and motor capabilities, together with the associated cognitive processes, present a bidirectional channel of information to our brain. This channel provides a way to interact with the information with which a large number of applications can be generated. Haptics covers many disciplines; Therefore, a wide variety of applications is generated that includes those areas of human needs such as products, manufacturing, education, health, among others. For teleoperation and virtual reality applications, force feedback is important for the user, since due to this it can improve the interaction between the user’s real environment and the virtual environment.\u0000 For this reason, the human hand is capable of obtaining information while executing complex tasks. This has a variety of functions among the most important are the sensory and motor functions. That is why there is an interest in creating a haptic device for the hand.\u0000 Haptic research and technology have created and evaluated different prototypes with their characteristics and capabilities for the use of virtual environments, some of which are currently marketed. In this way, different applications of this technology have been made in areas such as: graphical interface, medicine, games, engineering, telerobotics, simulators and medical rehabilitators. Focusing on the haptic interface for the upper limbs with force feedback, the process of integrating exoskeletons and haptic interface is a great advance to be able to transmit force to the joints of the hand.\u0000 Traditional methods for the rehabilitation of patients with motor disabilities in the upper limbs are slow, costly and in many cases ineffective, considerably reducing their quality of life. Therefore, it seeks to develop a low-cost haptic force feedback technology with its three main elements: a haptic device, a computer where a virtual environment (interface) is generated, and a human operator that closes the loop, which complements the recovery of these patients and thus achieve better results. Previous studies that integrate 3D printing technologies, virtual reality (VR), microcontrollers and actuation through tensors demonstrate the successful development of different prototypes with similar characteristics, although most of them are expensive. For the development of the prototype, the V methodology was used, performing instrumentation, interface-prototype connection and force feedback tests. The integration of these subsystems after the tests, result in a final prototype of the haptic glove for two fingers (index and middle) of the right hand, managing to generate feedback forces on the user based on the information provided by the interface, complying with the characteristics of being a functional and low-cost glove.","PeriodicalId":302047,"journal":{"name":"Volume 5: Dynamics, Vibration, and Control","volume":"35 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":"128905553","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":"A Comprehensive Assessment of Gearbox Tooth Faults Based on Dynamic Modelling and Machine Learning","authors":"Vikash Kumar, Subrata Mukherjee, Sanjeev Kumar, S. Sarangi","doi":"10.1115/imece2022-95672","DOIUrl":"https://doi.org/10.1115/imece2022-95672","url":null,"abstract":"\u0000 This paper presents a dynamic model-based gearbox fault diagnosis using machine learning. A single-stage spur gear using an eight-degrees-of-freedom (DOF) dynamic model is developed and investigated with four gear tooth conditions, i.e., healthy tooth, 20 % tooth crack, 40 % tooth crack, and 60 % tooth crack. In the developed model, an analytically improved time-varying mesh stiffness (IAM-TVMS) model, which considers the effects of structural coupling of loaded tooth, nonlinear Hertzian contact stiffness, precise transition curve, and misalignment between base and root circle, and an improved tooth crack model, are incorporated to get a reliable system dynamic response. To make the simulated response more realistic, different levels of negative white Gaussian noise (−2dB to −10dB SNR) are added to the simulated signal. The simulated noisy signals are then segmented, and a total of 12 statistical indicators are calculated on each segmented signal to develop the feature matrix. Four different machine learning algorithms are used to classify the faults from the extracted feature matrix, and their performances are compared and discussed. The results show that the KNN classifier outperformed them all, with a classification accuracy of 90.5 %. The finding shows that the proposed method works well in the presence of intense noise and may help in identifying the faults in the system in quick time without expending too much on experimental test setup.","PeriodicalId":302047,"journal":{"name":"Volume 5: Dynamics, Vibration, and Control","volume":"21 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":"122541101","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":"Multi-Tiered Safety for Dynamic Autonomous Warehouse Robots","authors":"Ethan Rabb, Isaac Hagberg, A. Murphy, Steven Butts, Skander Guizani, J. Rogers, Joseph L. Heyman, Steven Crews","doi":"10.1115/imece2022-95985","DOIUrl":"https://doi.org/10.1115/imece2022-95985","url":null,"abstract":"\u0000 The purpose of this project is to safely integrate robots and humans into industrial processes. The most prevalent current solution to the problem of safe integration of robots and humans is to place the robots in cages to separate the workspaces of humans and robots. The cages prevent humans from entering the robot’s workspace and prevent any contact between the two entities. However, cages present an inefficiency in the industrial process as they require additional space and do not allow a seamless integration of robots and humans. This paper proposes a multi-tiered safety system that combines vision and torque feedback safety measures that can stop robot movement. The vision safety system proposed detects foreign movement in the camera frame and stops the robot’s motion. The torque system proposed detects unexpected torques in the robot’s motors and stops the robot’s motion. The results show that both safety systems can effectively stop robot motion if an unsafe condition is detected. For the industrial process of interest, the multi-tiered safety system is expected to lay the foundation for future integration of humans and robots on the industrial process. Contributions to the academic community for this paper are a multi-tiered safety system for robots in industrial processes, a machine learning circle detection algorithm, and a novel end-of-arm-tooling (EOAT) for the industrial process of interest.","PeriodicalId":302047,"journal":{"name":"Volume 5: Dynamics, Vibration, and Control","volume":"7 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":"123305365","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":"Attaining Nonlinear Hardening Stiffness in Piezoelectric Vibration Applications Using Passive Nonlinear P-N Junction Capacitance","authors":"Muhammed Ali Taşkıran, M. Özer","doi":"10.1115/imece2022-94594","DOIUrl":"https://doi.org/10.1115/imece2022-94594","url":null,"abstract":"\u0000 Piezoelectric vibration isolation and energy harvesting applications has been studied extensively. Nonlinear approaches may provide better performance over a broader frequency range. Nonlinearity can be introduced in the mechanical domain or electrical domain actively or passively. Since electrical components can be in smaller scales compared to mechanical counterparts, nonlinearity in the electrical domain can be more practical and convenient. Moreover, passive structures require no energy supply and controller therefore they are simpler and more reliable than active ones.\u0000 In this paper, a novel way to attain passive hardening stiffness was presented for piezoelectric vibration isolation or energy harvesting. Nonlinearity was suggested to be attained with use of nonlinear capacitance of P-N junction in electrical domain and its capacitance model is introduced. A piezoelectric patch operating in d33 mode is considered and modelled as a single degree of freedom (SDOF) linear stiffness element without internal damping. force vs. displacement curves obtained by the models and finite element method (FEM) showed that hardening stiffness can be achieved. Frequency domain analysis is conducted for hardening stiffness and effect of piezoelectric coupling coefficient on resonance frequencies investigated. It is explored that resonances of nonlinear frequency response curves are bounded by open and short circuit resonance frequencies. Lastly, whether theoretically analyzed hardening capacitor is realizable or not is discussed.","PeriodicalId":302047,"journal":{"name":"Volume 5: Dynamics, Vibration, and Control","volume":"34 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":"123438771","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 Evaluation of a Helicopter Main Rotor Hydraulic Control System Using Rotor Equivalent Dynamic Parameters","authors":"Hasan Ali Düzağaç, H. Caliskan, R. Balkan","doi":"10.1115/imece2022-94779","DOIUrl":"https://doi.org/10.1115/imece2022-94779","url":null,"abstract":"\u0000 Hydraulic control systems are commonly used in helicopter main rotor control applications because of the agility of the system and operational capability under heavy loads. It is significant to obtain better performance from hydraulic control system to ease the helicopter control under heavy loads. In this study, a complete helicopter main rotor hydraulic control system is modeled by using MATLAB/Simulink® to simulate system responses. Kinematic model of helicopter input is obtained. Hydraulic interface of a Flight Control Actuator is obtained. Pitch (α) and Roll (β) angle of stationary swashplate is obtained. Finally, 3 degrees of freedom rotor equivalent model is obtained. To enhance the overall dynamic performance of the system, a PI controller is developed and implemented to the system by an additional actuator. Furthermore, feedback system is modified to have a more stable controller by adding a feedback actuator, to give position of equivalent rotor mass as feedback to Flight Control Actuator. It is concluded that adding a PI controller is highly beneficial in terms of extending the controllable frequency range. Furthermore, modified feedback system is found to be extremely beneficial by decreasing amplitude and improving overall dynamic characteristics.","PeriodicalId":302047,"journal":{"name":"Volume 5: Dynamics, Vibration, and Control","volume":"62 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":"115728084","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}