Kinematics and dynamics of planar multibody systems with fully Cartesian coordinates and a generic rigid body

Roupa, Ivo; Gonçalves, Sérgio; Silva, Miguel Tavares da

doi:10.1016/j.mechmachtheory.2022.105134

Cited by 16 publications

(5 citation statements)

References 73 publications

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“…In the formula, X G 、 Y G 、 Z G are Gravitational acceleration components, and their values can be positive or negative [10][11] . If they are positive, the direction of Gravitational acceleration is equal to the positive direction of , , X Y Z axes, and if they are negative, the direction is opposite    、、 The value range of is   90 , 90     .…”

Section: Inclination Detection During Transmission Line Tower Constru...mentioning

confidence: 99%

Tilt detection method for transmission line tower construction based on quadratic point cloud matching

2024

Ninth International Symposium on Sensors, Mechatronics, and Automation System (ISSMAS 2023)

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To address the problem of poor accuracy of transmission line tower construction tilt detection, a transmission line tower construction tilt detection method based on secondary point cloud matching is proposed. The point cloud data of the pole tower is obtained through the aerial survey of UAV, and the secondary point cloud matching method is designed. Firstly, the extended Gaussian image clustering algorithm is introduced to complete the coarse matching of the point cloud, and the improved iterative nearest method is used to carry out the fine matching of the point cloud, and the change amount of the pole tower tilt is calculated through the secondary point cloud matching results, and whether the pole tower has tilt problems is judged according to the change amount of tilt. The experimental results show that the point cloud matching accuracy of the method is better, the point cloud matching time is shorter, and the tilt of transmission line towers can be accurately detected.

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Section: Inclination Detection During Transmission Line Tower Constru...mentioning

confidence: 99%

Tilt detection method for transmission line tower construction based on quadratic point cloud matching

2024

Ninth International Symposium on Sensors, Mechatronics, and Automation System (ISSMAS 2023)

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“…Without considering clearance, in a multi-body system, the relationship between the components of the mechanism can be described by n Cartesian coordinate systems, then m independent kinematic constraints Φ can be written [22] :…”

Section: Anufacturing Tolerancesmentioning

confidence: 99%

A method for predicting non-uniform wear of flapping driving mechanism joint considering uncertainty

Wang,

Jiang,

Jiang

et al. 2024

Preprint

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The driving mechanism of the flapping wing aircraft is a critical component which affects the aircraft performance directly. However, in practical flights, the joint of the mechanism was found with non-uniform wear, in some cases leading to the failure of the mechanism. As an essential connection component, the joint has a crucial effect on the transmitting loads and the motion rules, but the clearance of the joint is unavoidable, it will affect the performance of the mechanism. At the same time, the contact collision force triggers non-uniform wear, accelerates the functional degradation of the mechanism, and impacts the safety of the mechanism. Therefore, a method for predicting non-uniform wear of joint considering multi-source random variables is proposed in this paper, and the flapping driving mechanism is taken as an example for joint wear prediction, and the validity of the method is verified by comparing with the practical experimental joint wear. In addition, the wear reliability and sensitivity of the flapping driving mechanism considering uncertainty are also investigated, and it provides guidance for the lifetime prediction and optimization design of the flapping driving mechanism.

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“…The double 4-bar mechanism sketched in Fig. 1 is a rigid multibody benchmark proposed by IFToMM's Technical Committee for Multibody Dynamics 3 [14] (https: //www.iftomm-multibody.org/) and analyzed for example in [16]. It consists of 5 independent slender bodies, of 1 m length, all with a uniformly distributed mass of 1 kg, for a total of 15 degrees of freedom (n = 15), and 7 hinges, corresponding to 14 constraints (m = 14 < n).…”

Section: Double Four-bar Mechanismmentioning

confidence: 99%

Projection Continuation for Minimal Coordinate Set Formulation and Singularity Detection of Redundantly Constrained System Dynamics

Masarati

Quro

Zanoni

2023

Preprint

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The formulation of (possibly redundantly) constrained system dynamics using coordinate projection onto a subspace locally tangent to the constraint manifold is revisited using the QR factorization of the constraint Jacobian matrix, using column pivoting to identify a suitable subspace, possibly detect any singular configurations that may arise, and extract it. The evolution of the QR factorization is integrated along with that of the constraint Jacobian matrix as the solution evolves, generalizing to redundant constraints a recently proposed true continuation algorithm that tracks the evolution of the subspace of independent coordinates. The resulting subspace does not visibly affect the quality of the solution, as it is merely a recombination of that resulting from the blind application of the QR factorization, but avoids the artificial algorithmic irregularities or discontinuities in the generalized velocities that could otherwise result from arbitrary reparameterizations of the coordinate set, and identifies and discriminates any further possible motions that arise at singular configurations. The characteristics of the proposed subspace evolution approach are exemplified by solving simple problems with incremental levels of redundancy and singularity orders.

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Kinematics and dynamics of planar multibody systems with fully Cartesian coordinates and a generic rigid body

Cited by 16 publications

References 73 publications

Tilt detection method for transmission line tower construction based on quadratic point cloud matching

Tilt detection method for transmission line tower construction based on quadratic point cloud matching

A method for predicting non-uniform wear of flapping driving mechanism joint considering uncertainty

Projection Continuation for Minimal Coordinate Set Formulation and Singularity Detection of Redundantly Constrained System Dynamics

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