Dynamic simulation and disturbance torque analyzing of motional cable harness based on Kirchhoff rod model

Wang, Chunsheng; Ru-xin, Ning; Liu, Jianhua; Zhao, Tao

doi:10.3901/cjme.2012.02.346

Cited by 10 publications

(5 citation statements)

References 10 publications

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“…In [27], although constraints were imposed at both ends, only the influence of the disturbance torque of a single cable on a stabilized platform was studied. However, there are more complex constraints on cables used in the manufacture of robots purposed for outer space missions; furthermore, the robotic joint is influenced by the mechanical characteristics of multiple cables.…”

Section: -Dof Observation Robot Joint: Slow Rotation Phenomenonmentioning

confidence: 99%

Nonlinear mechanics of flexible cables in space robotic arms subject to complex physical environment

et al. 2018

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A nonlinear model of a special cable in space robotic arms is developed in space environment. The mechanic effects of control cables in powerful robots can often be neglected. However, in complex space multi-physics environments, involving ultra-low temperature, radiation, and other extreme conditions of outer space, the externally mounted cables (protected by shielding layers) can induce strong nonlinear interference to robot arms; and this can induce further small-range slow rotations or oscillations of the flexible joint of robots at a specific posture, which consequently affect the precision and operation performance of end effectors. Effective mathematical models on nonlinear mechanics of strong cables under multi-physics environments and their effects on weak robots have not been well developed yet. Complex key factors, such as low gravity, nonlinear friction, and unexpected curved surface constraints, have not been extensively investigated either. In this study, considering all these key factors, a Kirchhoff nonlinear mechanical model of cables in

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Section: -Dof Observation Robot Joint: Slow Rotation Phenomenonmentioning

confidence: 99%

Nonlinear mechanics of flexible cables in space robotic arms subject to complex physical environment

et al. 2018

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“…For the theory used to solve the simulation, Wang et al [8] built the kinetic equations based on the Kirchhoff rod theory [9], and is solved the model numerically by the differential quadrature method. Spillmann et al [10] considered the speed and angular velocity of the rope, and used the semi-implicit Euler method with respect to time to update the speed and position, then completed the dynamic simulation of the rope.…”

Section: Introductionmentioning

confidence: 99%

A Simulation Method for Assembly Process of Branch Cables Based on the Minimal Energy Principle

Yang

Liu

2022

J. Phys.: Conf. Ser.

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To solve the simulation problem of branch cables in virtual assembly process, a cable simulation method based on the minimal energy principle is proposed. Firstly, to describe the postures and deformationss of the branch cables, a discrete Cosserat rod model is established. Next, according to the description of the minimal energy principle, each system is in the most stable state when its energy takes the minimum, so the postures of the cables could be solved by calculating the extremum of energy optimization model. After that, on the circumstance of ignoring low-speed movement of the cables, the energy could be obtained by the summation of the tensile, bending and torsional deformations potential energy. Then, the Levenberg-Marquardt algorithm is applied to solve the energy optimization model, and the postures of cables is calculated through Hermite interpolation. Finally, the verification example was established to simulate the deformations of the branch cables, which verifying the high calculating speed of algorithm and the authenticity of simulation.

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“…Recent focus on the practical application of soft body simulation rather than pure simulation has directed attention toward cable simulation modeling which is characterized by two research ideas. On the one hand, the cable Cosserat model used Euler parameters to describe equations that discretize nonlinear equations, and the cable configuration was obtained from a series of nonlinear equations (Wang and Ning, 2012; Zayer, 2012; Spillmann and Harders, 2010). On the other hand, the analytical solution of specific constraints can be obtained by a unified method.…”

Section: Introductionmentioning

confidence: 99%

Physical deformation configuration of a spatial clamped cable based on Kirchhoff rods

Xiong

Wang

et al. 2017

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Purpose In this study, a modeling method for a clamped deformable cable simulation based on Kirchhoff theory is proposed. This methodology can be used to describe the physical deformation configuration of any constrained flexible cable in a computer-aided design/manufacturing system. The modeling method, solution algorithm, simulation and experimental results are presented to prove the feasibility of the proposed methodology. The paper aims to discuss these issues. Design/methodology/approach First, Kirchhoff equations for deformable cables are proposed based on the nonlinear mechanics of thin elastic rods, and the general solution of the equations described by the Euler angles is given in the arc coordinate system. The parametric form solution of the Kirchhoff equations, which is easy to use, is then obtained in a cylindrical coordinate form based on Saint Venant’s theory. Finally, mathematical expressions that reflect the clamped cable configuration are given, and the deformable process is simulated based on an open source geometry kernel and is then tested by a 3D laser scanning technology. Findings The method presented in this paper can be adapted to any boundary condition for constrained cables as long as the external force and torque are known. The experimental results indicate that both the model and algorithm are efficient and accurate. Research limitations/implications A more comprehensive study must be executed for the physical simulation of more complicated constrained cables, such as the helical spring and asymmetric constraint. The influence of the material properties of the cable on the calculation efficiency must be considered in future analysis. Originality/value The semi-analytical algorithm of the cable simulation in cylindrical coordinates is a novel topic and is more accurate and efficient than the common numerical solution.

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Dynamic simulation and disturbance torque analyzing of motional cable harness based on Kirchhoff rod model

Cited by 10 publications

References 10 publications

Nonlinear mechanics of flexible cables in space robotic arms subject to complex physical environment

Nonlinear mechanics of flexible cables in space robotic arms subject to complex physical environment

A Simulation Method for Assembly Process of Branch Cables Based on the Minimal Energy Principle

Physical deformation configuration of a spatial clamped cable based on Kirchhoff rods

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