Developing Electromechanical Model of Walking Dragline Traction Mechanism

Kuznetsov, N. K.; Iov, I A; Iov, A A

doi:10.21285/1814-3520-2017-11-53-66

Cited by 5 publications

(2 citation statements)

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“…В манипуляторах роботов при переходных режимах часто возникают резонансные механические колебания, приводящие к ошибкам позиционирования выходного звена и снижению производительности [1]. Для уменьшения ошибок позиционирования необходимо учитывать малые колебания манипуляторов при заторможенных приводах.…”

Section: Introductionunclassified

Computer simulation of a parallel structure manipulator for determining natural frequencies and oscillation modes

Tolstosheev

2023

Automation and Modeling in Design and Management

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The aim of the study is to develop and analyse computer models for determining the natural frequencies and oscillation modes of a planar parallel manipulator using the Universal Mechanism software package. The article is devoted to solving the problem of ensuring vibration resistance of robot manipulators. The novelty of the work lies in developing and analysing a computer model of a planar manipulator, in which solid bodies form joints with the number of freedom degrees in relative motion from 1 to 4; in determining the influence of the mass and link elasticity, as well as the type of kinematic pairs on natural frequencies and oscillation modes. As a result of the study, computer models of a planar manipulator with three degrees of freedom are developed. For these models natural frequencies and vibration modes are determined, the values of natural frequencies are compared with the known analytical solution, the influence of inertial and elastic properties of links, the number of excess links to natural frequencies and oscillation modes are established. The proposed computer model can be used to determine with sufficient accuracy the natural frequencies and oscillation modes of a planar parallel manipulator; a planar manipulator with weightless elastic rods and an elastic drive has six natural oscillation frequencies. Natural forms retain their shape for different values of the inertial and elastic parameters of the links. Oscillations of the platform on these forms in the horizontal and vertical planes are independent. The values of natural frequencies, at which the platform oscillates in the horizontal motion of the mechanism links, depend on the ratio of the drive stiffness coefficients and the bending stiffness of the rods. The values of natural frequencies, at which the platform oscillates in the vertical plane, depend on the bending and torsional stiffness of the rods and on the type of kinematic pairs in the mechanism scheme.

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Section: Introductionunclassified

Computer simulation of a parallel structure manipulator for determining natural frequencies and oscillation modes

Tolstosheev

2023

Automation and Modeling in Design and Management

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“…The dynamic analogy method was introduced by Harry F. Olson (1958), in which he described the analogies between the elements of mechanical (linear and rotating), acoustic and electrical systems and developed a method for analyzing the acoustic and mechanical systems by converting them to electrical analogues. This approach is widely used to solve different mechanical problems (Firestone, 1933; Firestone, 1938; Mason, 1942; Miles, 1943; Van Dyke, 1928; Olson, 1958; Möller and Glocker, 2007; Zherebko et al, 2013; Janschek, 2014; de Rinaldis and Scherpen, 2005; Khever, 2007; Kuznetsov and Le, 2013; Kuznetsov and Le, 2014; Kuznetsov et al, 2017; Hamill, 1993). Two types of analogues are considered: in the first approach, the mechanical forces are replaced by voltage, speed - by electrical current, and in the second approach, the forces are used as the analogues of the electrical current and the speed—as the analogue of voltage.…”

Section: Introductionmentioning

confidence: 99%

Development of an electrical analogue for modeling natural vibrations of a viscoelastic structure with piezoelectric element

Oshmarin

Sevodina

Iurlova

et al. 2021

Journal of Intelligent Material Systems and Structures

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This paper focuses on the development of an equivalent electrical model with lumped parameters capable of describing the natural vibrations of an electromechanical system comprising a viscoelastic structure with a piezoelectric element attached to its surface. The important advantage of the model is that it takes into account the energy losses associated with the viscoelastic properties of the material of the main structure. Two versions of the equivalent electric analogue of the initial electro-viscoelastic system in the form of electric circuits, the elements of which are described by the real or complex quantities, are considered. The approaches to the formulation of the problem of natural vibrations in the developed electric analogue are based on Kirchhoff’s laws for electric circuits and Ohm’s law for alternating current. Special attention is paid to the identification of model parameters. A procedure for determining the parameters for the equivalent electrical model is based on the results gained from the solution of a coupled problem of natural vibrations of the initial electromechanical system; problem formulation is also given here. The effectiveness and reliability of the developed equivalent electric models with lumped parameters for the determination of complex eigenfrequencies of the electromechanical system containing energy dissipation elements are demonstrated by analyzing the behavior of structures in the form of a rectangular plate and a semi-cylindrical shell.

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Synthesis of Controlling the Movement of Digging Mechanisms of Excavators on the Basis of Inverse Dynamic Problems

Kuznetsov

Iov²,

Iov³

2018

Proceedings of the 4th International Conference on Industrial Engineering

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Developing Electromechanical Model of Walking Dragline Traction Mechanism

Cited by 5 publications

References 0 publications

Computer simulation of a parallel structure manipulator for determining natural frequencies and oscillation modes

Computer simulation of a parallel structure manipulator for determining natural frequencies and oscillation modes

Development of an electrical analogue for modeling natural vibrations of a viscoelastic structure with piezoelectric element

Synthesis of Controlling the Movement of Digging Mechanisms of Excavators on the Basis of Inverse Dynamic Problems

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