Effects of Tooth Breakage Size and Rotational Speed on the Vibration Response of a Planetary Gearbox

Wei-guo, Yang; Jiang, Dongxiang; Han, Te

doi:10.3390/app7070678

Cited by 10 publications

(2 citation statements)

References 31 publications

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“…Klimchik presented an approach to identify the elastostatic parameters of both links and joints in a real industrial environment based on VJM, and this approach comprises of physical algebraic and statistical model reduction methods [10]. The compliance is important for the analysis of mechanism stiffness characteristics in Cartesian space [11][12][13][14][15]. The stiffness characteristics of industrial robots influence the requirement of the accuracy and the force commands [16].…”

Section: Introductionmentioning

confidence: 99%

Joint Stiffness Identification and Deformation Compensation of Serial Robots Based on Dual Quaternion Algebra

Zhang

et al. 2018

Applied Sciences

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As the application of industrial robots is limited by low stiffness that causes low precision, a joint stiffness identification algorithm for serial robots is presented. In addition, a deformation compensation algorithm is proposed for the accuracy improvement. Both of these algorithms are formulated by dual quaternion algebra, which offers a compact, efficient, and singularity-free way in robot analysis. The joint stiffness identification algorithm is derived from stiffness modeling, which is the combination of the principle of virtual work and dual quaternion algebra. To validate the effectiveness of the proposed identification algorithm and deformation compensation algorithm, an experiment was conducted on a dual arm industrial robot SDA5F. The robot performed a drilling operation during the experiment, and the forces and torques that acted on the end-effector (EE) of both arms were measured in order to apply the deformation compensation algorithm. The results of the experiment show that the proposed identification algorithm is able to identify the joint stiffness parameters of serial industrial robots, and the deformation compensation algorithm can improve the accuracy of the position and orientation of the EE. Furthermore, the performance of the forces and torques that acted on the EE during the operation were improved as well.

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Section: Introductionmentioning

confidence: 99%

Joint Stiffness Identification and Deformation Compensation of Serial Robots Based on Dual Quaternion Algebra

Zhang

et al. 2018

Applied Sciences

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“…The complexity of the dynamic behavior of this family of constrained mechanical systems requires the development of advanced analysis and modeling tools to perform virtual prototyping in the multibody framework [21][22][23][24][25][26][27]. The problem is particularly challenging when control strategies for flexible multibody systems need to be designed [28][29][30][31][32][33]. In general, the design process gives the structure necessary to transform qualitative needs, often stated in non-engineering terms, into real products.…”

Section: Introductionmentioning

confidence: 99%

Evaluation of Uncertainties in the Design Process of Complex Mechanical Systems

Villecco

Pellegrino

2017

Entropy

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Abstract:In this paper, the problem of the evaluation of the uncertainties that originate in the complex design process of a new system is analyzed, paying particular attention to multibody mechanical systems. To this end, the Wiener-Shannon's axioms are extended to non-probabilistic events and a theory of information for non-repetitive events is used as a measure of the reliability of data. The selection of the solutions consistent with the values of the design constraints is performed by analyzing the complexity of the relation matrix and using the idea of information in the metric space. Comparing the alternatives in terms of the amount of entropy resulting from the various distribution, this method is capable of finding the optimal solution that can be obtained with the available resources. In the paper, the algorithmic steps of the proposed method are discussed and an illustrative numerical example is provided.

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