This paper concerns the kinematic characteristics of a coupling device in a deep-seabed mining system. This coupling device connects the buffer system and the flexible pipe. The motion of the buffer system, flexible pipe and mining robot are affected by the coupling device. So the coupling device should be considered as a major factor when this device is designed. Therefore, we find a stable kinematic device, and apply it to the design coupling device through this study. The kinematic characteristics of the coupling device are analyzed by multi-body dynamics simulation method, and finite element method. The dynamic analysis model was built in the commercial software DAFUL. The Fluid Structure Interaction (FSI) method is applied to build the deep-seabed environment. Hydrodynamic force and moment are applied in the dynamic model for the FSI method. The loads and deformation of flexible pipe are estimated for analysis results of the kinematic characteristics.
When modeling the dynamics of robotic systems containing electric motors, the force generated by the motor is generally considered only as an applied torque or force that is independent of mechanical state variables such as velocity. Due to the electromechanical coupling effects in the motors, this approach leads engineers working on a robotic system to designing faulty controllers. In this paper, we propose a dynamics analysis model in which DC motor dynamics are embedded into a mechanical dynamics model such that the electromechanical coupling effects are included in the overall model. A model for the DC motor is developed based on its equivalent circuit model and incorporated into the generalized recursive dynamics formula previously developed by our group. The resulting dynamic numerical simulation program provides an effective and realistic approach for analyzing the electromechanical dynamics of robotic systems driven by DC motors. The developed numerical simulation tool is evaluated by applying to an industrial robot and a flexible antenna system driven by DC motors for a satellite.
This study presents the DFSS optimization for the dynamic responses of a paper feeding mechanism. The flexible paper is idealized as a series of rigid bars connected by revolute joints and rotational spring dampers. In this mechanism, a paper is fed by a contact and friction mechanism on rollers or guides. The design objective is to minimize the slip amounts between paper and mechanisms and satisfy the 6-sigma constraint for the nip forces of rollers. In order to avoid the difficulty of design sensitivity analysis and overcome the numerical noise, a meta-model based optimization is employed. In this approach, first, the space filling methods and the classical DOE methods are used to generate sampling points. Second, the meta-models are constructed from the Kriging, RBF and RSM methods. Finally, a well-developed numerical optimizer sequentially solves the approximate optimization problem. In the numerical test, the DFSS for the paper feeding mechanism problem, having 8-random design variables, is solved in only 23 analyses.
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