Dynamic simulations of electromechanical robotic systems driven by DC motors

Kim, Moojin; Moon, Wonkyu; Bae, Dae-Sung; Park, Ilhan

doi:10.1017/s0263574704000177

Cited by 4 publications

(4 citation statements)

References 8 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…There are only a few studies showing the construction of dynamic models for the electromechanical system [21][22][23][24][25][26][27][28]. In [21,22], two methods of linear graph and bond graph theories were presented for modelling of electromechanical systems.…”

Section: Vietnam Academy Of Science and Technologymentioning

confidence: 99%

“…In [24], authors combined a linear graph theory with symbolic programming to model the flexible multibody mechatronic systems. In the study [23], authors extended the recursive dynamic formulation to model a mechanical system containing an electric DC motor. In [25], the driving torque is assigned to be proportional to the voltage applied to the motor, where the damping due to the armature resistance of the motor is ignored.…”

Section: Vietnam Academy Of Science and Technologymentioning

confidence: 99%

“…d electrical interaction of n e relationship between current and motor torque [15,23]; between motor ges as follows: Dynamics of actuators (electric motors - Fig. 1) is described by the mechanical and electrical equations [15,26].…”

Section: Dynamic Model Of Electric Motors and Gear Transmissionmentioning

confidence: 99%

See 2 more Smart Citations

Differential equations of motion in matrix form of multibody systems driven by electric motors

Hoang

Vuong

2019

Vietnam J. Mech.

View full text Add to dashboard Cite

This paper presents the dynamic model of multibody systems driven by electric motors, the so-called electromechanical systems. The mechanical systems considered in this study include an open loop and/or a closed loop, a full-actuated and an under-actuated one. The dynamic model of this electromechanical systems is established in matrix form by applying the Lagrangian equation with and without multipliers and substructure method. With this approach it is easy to obtain the differential equation of motion of the electro-mechanical systems based on the corresponding differential equations of the purely available mechanical system. These obtained equations describe the electromechanical systems in engineering better than in case the systems are purely described by mechanical equations. The differential equations of serial and parallel manipulators, slider-crank mechanism, and overhead crane driven by electric motors are established as illustrated examples. In addition, a simplified dynamic model obtained by neglecting of current variation is also validated by numerical simulation.

show abstract

Section: Vietnam Academy Of Science and Technologymentioning

confidence: 99%

Section: Vietnam Academy Of Science and Technologymentioning

confidence: 99%

See 1 more Smart Citation

Differential equations of motion in matrix form of multibody systems driven by electric motors

Hoang

Vuong

2019

Vietnam J. Mech.

View full text Add to dashboard Cite

show abstract

“…The feasibility of this approach has already been demonstrated by implementing a motor element into the simulation package for multibody dynamics [14].…”

Section: Overviewmentioning

confidence: 99%

A multibody-based dynamic simulation method for electrostatic actuators

et al. 2007

Self Cite

View full text Add to dashboard Cite

A numerical simulation method is developed to analyze the dynamic responses of electrostatic actuators, which are electromechanically-coupled systems. The developed method can be used to determine the dynamic responses of cantilever-type switches, which are an example of typical MEMS (Micro-Electro-Mechanical System) devices driven by an electrostatic force. We propose the approach that adopts a point charge to deal with electric field effects between electrodes. This approach may be considered as a lumped parameter model for the electrostatic interactions. An advantage of this model may be the easy incorporation of the electrostatic effects between electrodes into a multibody dynamics analysis algorithm. The resulting equations contain the variables for position, velocity, and electric charge to describe the motion of the masses and the charges on the electrodes in a system. By solving these equations simultaneously, the dynamic response of an electrostatically-driven system can be correctly simulated. In order to realize this approach, we implement the procedures into RecurDyn, the multibody dynamics software developed by the authors. The developed numerical simulation tool was evaluated by applying it to cantilever-type electrostatic switches in many different driving conditions. The results suggest that the developed tool may be useful for predicting behaviors of electrostatic actuators in testing as well as in design.

show abstract