The Study of Coupling Dynamics Modeling and Characteristic Analysis for Flexible Robots with Nonlinear and Frictional Joints

Zhang, Fuli; Yuan, Zhaohui

doi:10.1007/s13369-022-06581-3

Cited by 6 publications

(3 citation statements)

References 13 publications

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“…In recent decades, dynamic modeling of classical industrial manipulator robots has been the subject of unprecedented attention [1] because it is critical for mechanical design and is of paramount importance for controller simulation and implementation [2,3]. This area of study has not only focused on robotic arms but also on other types of robot morphologies, such as wheeled mobile robots [4], space robots [5], submarine robots [6], flexible robots [7], and parallel manipulator robots [8].…”

Section: Introductionmentioning

confidence: 99%

Automated Symbolic Processes for Dynamic Modeling of Redundant Manipulator Robots

Urrea,

Saa,

Kern

2024

Processes

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In this study, groundbreaking software has been developed to automate the generation of equations of motion for manipulator robots with varying configurations and degrees of freedom (DoF). The implementation of three algorithms rooted in the Lagrange–Euler (L-E) formulation is achieved through the utilization of .m files in MATLAB R2020a software.This results in the derivation of a symbolic dynamic model for industrial manipulator robots. To comprehend the unique features and advantages of the developed software, dynamic simulations are conducted for two 6- and 9-DoF redundant manipulator robots as well as for a 3-DoF non-redundant manipulator robot equipped with prismatic and rotational joints, which is used to simplify the dynamic equations of the redundant prototypes. Notably, for the 6-DoF manipulator robot, model predictive control (MPC) is employed using insights gained from the dynamic model. This enables optimal control by predicting the future evolution of state variables: specifically, the values of the robot’s joint variables. The software is executed to model the dynamics of different types of robots, and the CPU time for a MacBook Pro with a 3 GHz Dual-Core Intel Core i7 processor is less than a minute. Ultimately, the theoretical findings are validated through response graphs and performance indicators of the MPC, affirming the accurate functionality of the developed software. The significance of this work lies in the automation of motion equation generation for manipulator robots, paving the way for enhanced control strategies and facilitating advancements in the field of robotics.

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Section: Introductionmentioning

confidence: 99%

Automated Symbolic Processes for Dynamic Modeling of Redundant Manipulator Robots

Urrea,

Saa,

Kern

2024

Processes

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“…On the one hand, the existing mechanical-system-dynamics model focuses too much on the transmission characteristics of the system but neglects the analysis of the energy consumption characteristics of the system. For example, the vector mechanics method [18,19], represented by the Newton-Euler method, and the analytical mechanics method [20][21][22], represented by the Lagrange equation method, focus on describing the final force state of the rigid body. The Kane method [23,24], based on the Kane dynamic equation, tends to write the motion differential equation of the system better.…”

Section: Introductionmentioning

confidence: 99%

Energy Consumption Analysis of Helicopter Traction Device: A Modeling Method Considering Both Dynamic and Energy Consumption Characteristics of Mechanical Systems

et al. 2022

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Since modern times, the increase in shipborne equipment has brought tremendous pressure to the energy supply system. Establishing an accurate and reliable energy consumption model that reflects the dynamic characteristics of the system will provide an essential theoretical reference for energy efficiency optimization. This paper proposes a modeling method that considers both the dynamic characteristics and energy consumption characteristics of the system, based on the power bond-graph theory. Firstly, the transmission principle and energy transfer process of hydraulic and electric helicopter traction devices are analyzed. Then, the energy consumption is analyzed, and the state equation and energy equation of the system are established. Finally, the simulation tests are carried out. The results show that the proposed dynamic modeling method is reasonable and effective and can well reflect the dynamic characteristics and energy consumption characteristics of the system.

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“…Conductive and stretchable polymer conductors are emerging materials that have recently received great attention from the public. [1][2][3][4][5][6] Their excellent mechanical properties and electrical conductivity promise rich application prospects in the fields of flexible robots, 7,8 sensors, 9,10 bio-integrated electronic skins, and flexible electronic devices. [11][12][13][14] The materials are usually prepared by integrating inert polymer substrates with excellent mechanical properties and highly conductive fillers.…”

mentioning

confidence: 99%

The design of highly conductive and stretchable polymer conductors with low-load nanoparticles

et al. 2023

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The Study of Coupling Dynamics Modeling and Characteristic Analysis for Flexible Robots with Nonlinear and Frictional Joints

Cited by 6 publications

References 13 publications

Automated Symbolic Processes for Dynamic Modeling of Redundant Manipulator Robots

Automated Symbolic Processes for Dynamic Modeling of Redundant Manipulator Robots

Energy Consumption Analysis of Helicopter Traction Device: A Modeling Method Considering Both Dynamic and Energy Consumption Characteristics of Mechanical Systems

The design of highly conductive and stretchable polymer conductors with low-load nanoparticles

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