Dynamic analysis and vibration control of a multi-body system using MSC Adams

Alam, M. Naushad; Akhlaq, Adnan; Rahman, Najeeb

doi:10.1590/1679-78251598

Cited by 2 publications

(1 citation statement)

References 25 publications

(25 reference statements)

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“…Dynamic relations has principal role in some applications such as manipulators with high velocity, high load carrying capacity, high pass band manipulators, and high performance manipulators. Although, dynamic of the system can be modeled, the made models have non-linear equations which make it difficult the manipulator dynamic performance prediction (Alam and Akhlaq(2015)). …”

Section: Dynamic Performance Indicesmentioning

confidence: 99%

Structure Comparison and Optimal Design of 6-RUS Parallel Manipulator Based on Kinematic and Dynamic Performances

Mirshekari

Ghanbarzadeh

Shirazi

2016

Lat. Am. j. solids struct.

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The effects of distinctive parameters such as revolute joint angle or spherical joint location of mobile platform in a 6-DOF 6-RUS parallel manipulators on workspace, kinematic, and dynamic indices are investigated in this study to select proper structure commensurate with performance. Intelligent multi-objective optimization method is used to design the manipulator. Considering distinctive parameters, relevant relations for developing inverse kinematic and Jacobin matrix are obtained. In order to study dynamic properties, mass matrix is obtained from calculating the total kinetic energy of the manipulator. After modifying multi-objective Bees algorithm, it used to optimize the manipulator structure considering all geometrical parameters with proper constraints. In addition of comparison of three well known 6-RUS manipulators' types, variation diagram of workspace, local and global dynamics and kinematics performance indices have been drawn with respect to structural parameters variation and limitation of these parameters with proper value are determined. Moreover, considering all dimensional parameters, Pareto front line of multi objective optimization of structure is presented based on dynamic and kinematic performance in pre-determined workspace. Based on the results, a fairly comparison among various types of 6-RUS manipulators can be conducted and the most appropriate set of dimensional parameters are selected based on specific demand. are made of mobile platform which is connected to a fixed platform by several parallel arms. Parallel manipulators can be classified based on degree of freedom, number of arms, order of joints in each arm and type of actuator (Merlet, 2006). according to this, various 6-DOF parallel manipulators have been proposed. One of the most important 6-DOF parallel manipulators is 6-RUS manipulators that revolute joint, universal joint, and spherical joint are used in each arm, respectively.A 6-RUS manipulators has some advantages that the most important one, is low weight of movable parts because of installing motor in the fixed platform. Therefore, bigger and cheaper electrical motors can be used. In addition, thinner connecting rod can be used to the mobile platform that conclude reduction of collision of links to each other (Bonev, 2002). Moreover, these manipulators can be balanced statically (Gosselin and Wang, 2000). Although this type of manipulator has some disadvantages such as bending in connecting rods and complicated mechanical analysis. Also, because of great number of chains, connecting the fixed base with the moving platform, and movment limitations of passive joints, such as spherical and universal, workspace of the 6-RUS manipulators are restericted. To overcome such drawbacks, some researchers demonstrate the tendency for the use less than 6-degree-of-freedom parallel mechanisms (Chablat and Wenger, 2003;Gosselin et al., 2007;Clavel, 1991) and for 6-dof applications hybrid manipulators are studied (Caro et al., 2015).The first 6-RUS manipulator was proposed b...

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Section: Dynamic Performance Indicesmentioning

confidence: 99%

Structure Comparison and Optimal Design of 6-RUS Parallel Manipulator Based on Kinematic and Dynamic Performances

Mirshekari

Ghanbarzadeh

Shirazi

2016

Lat. Am. j. solids struct.

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Vibration response difference of caving mechanism under coal rock impact based on mechanical–hydraulic coupling

Zhu,

Zeng,

Wan

et al. 2023

Sci Rep

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Top coal caving in fully mechanized caving mining will cause an irregular impact on the caving mechanism of hydraulic support. The vibration response of the caving mechanism varies under different forms of impact. This response difference is a prerequisite for new coal rock identification technology in intelligent mining. Therefore, this work studies the difference in vibration response of the caving mechanism under different forms of impact. An innovative mechanical–hydraulic coupling system model of the caving mechanism impact by coal rock is established. The metal plate impact test proved the significant difference in vibration response of the caving mechanism under coal rock impact of different materials. Afterward, a more improved mechanical–hydraulic co-simulation model analyzed the difference in the vibration response of the caving mechanism under different rock materials, volumes, velocities and impact positions. The results show that the vibration response is more intense under rock impact than under coal impact. A lower position, a faster velocity and a larger volume correspond to a more noticeable response difference in the caving mechanism. The vibration and fault sensitive areas of the caving mechanism are determined. This study has a reference significance for improving the caving mechanism's structural design and failure prevention. The conclusions provide guidance for a new intelligent coal rock identification technology based on vibration signals.

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Dynamic analysis and vibration control of a multi-body system using MSC Adams

Cited by 2 publications

References 25 publications

Structure Comparison and Optimal Design of 6-RUS Parallel Manipulator Based on Kinematic and Dynamic Performances

Structure Comparison and Optimal Design of 6-RUS Parallel Manipulator Based on Kinematic and Dynamic Performances

Vibration response difference of caving mechanism under coal rock impact based on mechanical–hydraulic coupling

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