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A methodology for the design of a models set of light-weight robots components

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The paper gives an overview of precise mathematical modeling of light-weight robots components. Derived set of components contains dynamic models obtained with finite element method using Legendre polynomials and models of actuators (PWM power amplifiers), transmitters (harmonic drive and tooth-belt gearboxes) and sensors (PVDF, vision sensor and rotary encoder). The proposed gearboxes models taking into account such phenomena as: hysteresis, friction as well as torsional and longitudinal flexibility. The hysteresis has been modeled as weighted combination of individual Preisach cells to form a global operator. Friction model includes a lubricated contact force assuming dynamic behavior developed by Bliman and Sorine. The harmonic drive model describes the flexspline flexibility, that produces substantial transmission torsion. The original proposition assumes that the flexspline can be modeled as cylindrical shell FEM model based on 16 directional mesh. All analytical operations of process design stage have been done using the Maple symbolic language. The paper describes also the developed software which has been prepared as the dynamic library (C++/Cg) and as the s-function forms (for Matlab/Simulink). Both, the result of the theoretical analysis and the written software are used in ongoing research to develop variant of MRAC-type controllers for vibration cancelation.
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Bibliogr. 7 poz., rys., tab.
  • Department of Electrical Engineering and Informatics, Technical University of Rzeszow, Poland
  • [1] L. MEIROVITCH: Elements of vibrations analysis. McGraw-Hill, New York, 1986.
  • [2] C. FELIPPA: Customizing the mass and geometric stiffness of plane thin beam elements by Fourier methods. Rapport of College of Engineering, University of Colorado, 2000.
  • [3] H. OLSSON, K. J. ASTROM, C. CANUDAS DE WIT, M. GAFVERT and P. LISCHINSKY: Friction models and friction compensation. Scientific Rapport, Lund University, Lund, Sweden, 1997.
  • [4] S. CHO and I. J. HU: A learning approach to tracking in mechanical system with friction. IEEE Trans. Automatic Control, 45(1), (2000).
  • [5] C. CANUDAS DE WIT, H. OLSSON, K. J. ASTROM and P. LISCHINSKY: Adaptive friction compensation with partially known dynamic friction model. Int. J. Of Adaptive Control and Signal Processing, 11 (1997).
  • [6] X. TAN, J. BARAS and P. S. KRISHANAPRASAD: Control of hysteresis in smart actuators with application to micro-positionin g. Systems & Control Letters, 54 (2005), 483-492.
  • [7] R. DHAOUADI and F. GHORBEL: Modeling and analysis of hysteresis in harmonic drive gears. Sys. Analysis Model Simul. 1 (2003), 1-14.
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