A newly treated boundary conditions to enhance accuracy of finite element analysis for orifice-type aerostatic bearings

Wu, Yangong; Qiao, Zheng; Xue, Jiadai; Wang, Bo; Chen, Wentao

doi:10.1016/j.advengsoft.2022.103277

Cited by 4 publications

(1 citation statement)

References 35 publications

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“…The concept "symbolic" is used in robotics when the dynamics of manipulator robots are described by symbolic expressions using symbolic variables that do not have numerical values. A symbolic calculation program is more powerful than a numerical one, since, from a design perspective, a symbolic representation is easier to analyze when verifying, for example, the influence of parameters such as mass or length of the links in the model [23]. In general, the execution of a simulation based on a symbolic (exact) model is faster than that based on a numerical model.…”

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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Relative sensitivity of nano-mechanical cantilevers to stiffness and mass variation

Yang,

Tian,

Liu

et al. 2024

International Journal of Mechanical Sciences

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Evaluation and Application of an Engineering Calculation Method of the Static Performance of an Aerostatic Journal Bearing with Multiple Orifice-Type Restrictors

Qiao

Chen

et al. 2022

Lubricants

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A simplified calculation method is evaluated to calculate the static performance of an aerostatic journal bearing with multiple orifice-type restrictors. This method adopts a one-dimension flow assumption and is a fast calculation method to design journal bearings in engineering by directly linking the structural parameters and performance parameters affecting radial bearings with nonlinear equations. In addition, this method is verified with computational fluid dynamics by two actual case studies, and it is found that the LCC difference between those two methods is less than 5% for a 200 mm diameter spindle, and less than 10% for a 100 mm diameter spindle. Subsequently, the influence of a key parameter ζi on the static performance of journal bearings is explained theoretically. This method is much easier and more intuitive compared with numerical computational methods. Furthermore, it promotes the application of aerostatic journal bearings.

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A newly treated boundary conditions to enhance accuracy of finite element analysis for orifice-type aerostatic bearings

Cited by 4 publications

References 35 publications

Automated Symbolic Processes for Dynamic Modeling of Redundant Manipulator Robots

Automated Symbolic Processes for Dynamic Modeling of Redundant Manipulator Robots

Relative sensitivity of nano-mechanical cantilevers to stiffness and mass variation

Evaluation and Application of an Engineering Calculation Method of the Static Performance of an Aerostatic Journal Bearing with Multiple Orifice-Type Restrictors

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