New Formulations on Acceleration Energy in the Robot Dynamics

Negrean, Iuliu; Duca, Adina; Negrean, Calin; Kacso, Kalman

doi:10.1007/978-90-481-3522-6_28

Cited by 9 publications

(45 citation statements)

References 3 publications

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“….. X(t) represents the (6 × 1) column vector of the absolute linear and angular velocities and accelerations whose components are the absolute linear and angular velocities and accelerations from the last joint (n) of the kinematic chain. If the mechanical systems (e.g., serial robots) used in different applications are characterized by fast motions [3], the occurrence of the higher-order accelerations is observed. Therefore, in the case of the mechanical structures of serial robots, the advanced kinematics equations corresponding to forward and inverse modeling are:…”

Section: Matrix Exponentials In Advanced Kinematicsmentioning

confidence: 99%

“…Mechanical systems characterized by ultra-fast movements also include serial structures of robots. According to Eager, Pendrill and Visser [1,2] and to the authors' previous research [3,4], the fast movements occur when the linear acceleration is according to the following condition: a ≥ 2 · g, where g is the acceleration gravity. As a result, the fast movements of mechanical systems are characterized by a time variation law for the acceleration, which can be plotted in the form of a higher-order parabola.…”

Section: Introductionmentioning

confidence: 96%

“…The main purpose of this paper was not to conduct an exclusive kinematic study on higher-order accelerations. According to [3,4], the higher-order accelerations become central functions in the expressions of the so-called higher-order acceleration energies. Appell determined the expression for the first order acceleration energy in the case of material particles, and for discrete material particle systems [17,18].…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

A New Approach in Analytical Dynamics of Mechanical Systems

2020

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This paper presents a new approach to the advanced dynamics of mechanical systems. It is known that in the movements corresponding to some mechanical systems (e.g., robots), accelerations of higher order are developed. Higher-order accelerations are an integral part of higher-order acceleration energies. Unlike other research papers devoted to these advanced notions, the main purpose of the paper is to present, in a matrix form, the defining expressions for the acceleration energies of a higher order. Following the differential principle in generalized form (a generalization of the Lagrange–D’Alembert principle), the equations of the dynamics of fast-moving systems include, instead of kinetic energies, the acceleration energies of higher-order. To establish the equations which characterize both the energies of accelerations and the advanced dynamics, the following input parameters are considered: matrix exponentials and higher-order differential matrices. An application of a 5 d.o.f robot structure is presented in the final part of the paper. This is used to illustrate the validity of the presented mathematical formulations.

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Section: Matrix Exponentials In Advanced Kinematicsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 96%

Section: Introductionmentioning

confidence: 99%

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A New Approach in Analytical Dynamics of Mechanical Systems

2020

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“…According to [1]- [4], the moving differential equations for any mechanical system can be established by means of the differential and integral principles considered as fundamental equations in the study of the dynamics of mechanical systems with links, on the basis of which is expressed the generalized driving force, as: In the expression (1), the term i i Q F is substituted by relation (2), based on acceleration energy, which is used to determine the differential equations of motion for any type of mechanical robot structure. In (2), the term ; ; ; 1 i A k k k E q q q k i represents the acceleration energy of each kinetic link belonging to mechanical structure, expressed [1], [6] as:…”

Section: The Serial 2 Tr Structurementioning

confidence: 99%

“…To determine the dynamic equations of mobile structure PatrolBot are used the same fundamental notions of advanced mechanics-acceleration energy, which is integrated in the following expressions, specific to nonholonomic mechanical systems [1], [5], [6], [7]:…”

Section: A Dynamics Equations Of Patrolbotmentioning

confidence: 99%

Dynamic modeling of the hybrid robots structures

Negrean

Schonstein

Szoke

et al. 2012

Proceedings of 2012 IEEE International Conference on Automation, Quality and Testing, Robotics

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In the last time, the hybrid robot structures known an important development, presently they are being implemented in the most of human activities. In the paper, for a hybrid robot structure, entitled Rm4r2TR, consisting by a mobile robot and a serial structure, on the basis of the dynamics equations, developed using new concepts in advanced mechanics, as acceleration energy, will be determined the moving differential equations. The mathematical model will be developed in keeping the restrictions imposed by the mechanical structure of the two robots, and the process where the structures are implemented.

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Synthesis on the Acceleration Energies in the Advanced Mechanics of the Multibody Systems

Negrean

Crișan

2019

Symmetry

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The present paper’s objective is to highlight some new developments of the main author in the field of advanced dynamics of systems and higher order dynamic equations. These equations have been developed on the basis of the matrix exponentials which prove to have undeniable advantages in the matrix study of any complex mechanical system. The present paper proposes some new approaches, based on differential principles from analytical mechanics, by using some important dynamics notions, regarding the acceleration energies of the first, second and third order. This study extended the equations of the higher order, which provide the possibility of applying the initial motion conditions in the positions, velocities and accelerations of the first and second order. In order to determine the time variation laws for the generalized variables, the driving forces and acceleration energies of the higher order are applied by the time polynomial functions of the fifth order. According to inverse kinematics also named control kinematics of the robots, the applications of polynomial functions lead to the kinematic control functions of mechanical motions, especially the transitory motions. They influence the dynamic behavior of multibody systems, in which robot structures are included.

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New Formulations on Acceleration Energy in the Robot Dynamics

Cited by 9 publications

References 3 publications

A New Approach in Analytical Dynamics of Mechanical Systems

A New Approach in Analytical Dynamics of Mechanical Systems

Dynamic modeling of the hybrid robots structures

Synthesis on the Acceleration Energies in the Advanced Mechanics of the Multibody Systems

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