Active vibration control of an equipment mounting link for an exploration robot

Williams, D.; Khodaparast, Hamed Haddad; Jiffri, Shakir

doi:10.1016/j.apm.2021.02.016

Cited by 8 publications

(4 citation statements)

References 30 publications

(31 reference statements)

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“…To calculate the velocities and accelerations of the center of mass for each rod and slider, it is necessary to first determine the coordinates of the center of mass. The coordinates of the center of mass for each moving rod and the slider, to express it in matrix form are as follows: In the kinematics of mechanisms considering clearance, a massless rod is employed instead of the clearance to analyze the forces between joints, establishing equilibrium conditions [16][17][18]. Inertial force is the vector sum of forces acting on the joint forces on the link, and the inertial moment is the total moment of the joint forces about the center of mass.…”

Section: Description Of Frame Mechanismmentioning

confidence: 99%

Kinematics Analysis and Simulation of the Frame Mechanism of a Small-Caliber Deep Well Rescue Robot

2024

IJOMAM

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Rescuing falling objects from small-diameter deep wells has always been difficult in the rescue field. Aiming at a series of problems, such as the unique condition of the small-diameter deep well and the difficulty of rescue, a small-diameter deep well rescue robot is proposed. Combined with the secondary injuries that may occur during the rescue process, the frame structure, lifting mechanism, walking mechanism, grasping mechanism, and bracket mechanism scheme of the deep well rescue robot are designed. Furthermore, the virtual prototype model of each mechanism is established based on SolidWorks' three-dimensional design software. According to the functions realized by each mechanism, a kinematic mathematical model of the bracket mechanism is established, the D-H parameter table in the process of movement is obtained, and the kinematic expression is derived. The coordinate transformation matrix in the movement process is obtained. Based on the Lagrange dynamic analysis method, a mathematical model of the dynamics of the bracket mechanism is established, the dynamic expression is derived, and the moment expression during the movement is obtained. Based on this, using SolidWorks software, the motion characteristics of the bracket mechanism of the deep well rescue robot are simulated, and the change law of the motion parameters during the movement is obtained, providing a reference for the optimization of the mechanism and the stability of the rescue.

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Section: Description Of Frame Mechanismmentioning

confidence: 99%

Kinematics Analysis and Simulation of the Frame Mechanism of a Small-Caliber Deep Well Rescue Robot

2024

IJOMAM

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“…The results consider the uncontrolled (K p = 0) and controlled (K p = 600) responses of the link structure for the first and second modes for two of force cases (5 N and 7 N). The 3 N force case has not been considered here as a linear response is yielded, and an analytical model of this response has been previously validated [1,32].…”

Section: Model Verificationmentioning

confidence: 99%

“…A suggested application for the solution developed in this research pertains to the vibration control of a flexible robot link (or equipment armature) to be envisioned as an additional or replacement link of a robot manipulator mounted on a drone. This suggested application is drawn from previous research [1], wherein the flexible link is purposefully long and thin so it may be used in the exploration of small crevasses during search and rescue missions. In previous work, the response of the link was assumed to be linear; however, in this paper the flexible link is subjected to large deformations and hence geometric nonlinearity is considered.…”

Section: Introductionmentioning

confidence: 99%

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Linear Control of a Nonlinear Equipment Mounting Link

et al. 2021

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The linear control of a nonlinear response is investigated in this paper, and a nonlinear model of the system is developed and validated. The design of the control system has been constrained based on a suggested application, wherein mass and expense are parameters to be kept to a minimum. Through these restrictions, the array of potential applications for the control system is widened. The structure is envisioned as a robot manipulator link, and the control system utilises piezoelectric elements as both sensors and actuators. A nonlinear response is induced in the structure, and the control system is employed to attenuate these vibrations which would be considered a nuisance in practical applications. The nonlinear model is developed based on Euler–Bernoulli beam theory, where unknown parameters are obtained through optimisation based on a comparison with experimentally obtained data. This updated nonlinear model is then compared with the experimental results as a method of empirical validation. This research offers both a solution to unwanted nonlinear vibrations in a system, where weight and cost are driving design factors, and a method to model the response of a flexible link under conditions which yield a nonlinear response.

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