Identification of dynamic parameters in low-mobility mechanical systems: application to short long arm vehicle suspension

Valero, Francisco; Iriarte, Xabier; Mata, Vicente; Ros, Javier

doi:10.1080/00423114.2013.792940

Cited by 6 publications

(12 citation statements)

References 17 publications

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“…The weakness of the method lies in the limitation of transferring only the masses, possible only in some kinematic joints (revolute, spherical and universal). This difficulty is overcome by Ros et al [22], who uses the so-called monopoles, dipoles and quadrupoles.…”

Section: Standard Procedures For Determining Base Parametersmentioning

confidence: 99%

“…A general symbolic method that can be applied in closed chains and low mobility systems is the mass transfer concept proposed by Ros et al [22]. This concept is based on the premise that the dynamics of a mechanical system will not be modified by the virtual mass transfers between rigid bodies when the variation of the Lagrangian is constant with respect to time.…”

Section: Determination Of the Symbolic Expressions Of Base Parametersmentioning

confidence: 99%

“…The dynamic parameter identification has been addressed until today, especially in robotics [6][7][8][9], [11][12][13][14][15][16][17][18]. However, for mechanical systems in general, few studies have been carried out [19][20][21][22]. Bearing in mind that almost all the mechanisms of machines are closed kinematic chains, with low mobility, it is essential to propose a methodology to identify dynamic parameters for this type of mechanisms.…”

Section: Introductionmentioning

confidence: 99%

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New Methodology for Inertial Identification of Low Mobility Mechanisms Considering Dynamic Contribution

Calderon

Piedrahita

2019

IJAME

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Knowledge of dynamic parameters of mechanical systems is required in different applications, particularly in the simulation and control problems. In this paper, the standard identification methods are discussed and a new methodology for identification of inertial parameters is raised when the closed chain has low mobility. The methodology includes formulating a symbolic model based on the transfer of inertial properties and a reduction using dynamic contribution indices based on CAD approximations. The new method is applied to the front suspension of an electrical vehicle. After applying the procedure, a model with few parameters that allows accurately reproducing the dynamic behaviour of the system is obtained. A novel methodology has been developed that allows the identification of dynamic parameters in low mobility mechanical systems.

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Section: Standard Procedures For Determining Base Parametersmentioning

confidence: 99%

Section: Determination Of the Symbolic Expressions Of Base Parametersmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

New Methodology for Inertial Identification of Low Mobility Mechanisms Considering Dynamic Contribution

Calderon

Piedrahita

2019

IJAME

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“…Because of the advantage of obtaining the velocities and accelerations in the frequency domain from the analytical derivation of the designed Fourier series trajectory and reducing the noise-to-signal ratio by averaging the measurement data obtained for more than one cycle, this method has received more attention in recent identification processes; see for example. 20,21 Abdellatif et al 11 proposed an identification approach that separates the friction forces and dynamic forces by especially designed point-to-point motion. However, the point-to-point motion restricts the selection of the excited trajectory and the identification accuracy is worse.…”

Section: Introductionmentioning

confidence: 99%

An inertial parameter identification method of eliminating system damping effect for a six-degree-of-freedom parallel manipulator

Tang

Jiang

Tong

et al. 2015

Chinese Journal of Aeronautics

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A new simple and effective inertial parameter identification method based on sinusoidal vibrations of a six-degree-of-freedom parallel manipulator is proposed. Compared with previously known identification algorithms, the advantages of the new approach are there is no need to design the excitation trajectory to consider the condition number of the observation matrix and the inertial matrix can be accurately defined regardless of the effect of viscous friction. In addition, the use of a sinusoidal exciting trajectory allows calculation of the velocities and accelerations from the measured position response. Simulations show that the new approach has acceptable tolerance of dry friction when using a simple coupling parameter modified formula. The experimental application to the hydraulically driven Stewart platform demonstrates the capability and efficiency of the proposed identification method.

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“…Sin embargo, en estos últimos estudios, no son considerados los errores de medida a los que están sujetas las fuerzas generalizadas usadas para identificar. Otros autores usan formalismos Introducción robóticos en el modelado de la dinámica del vehículo como Venture et al [83] quienes aplican descomposición QR para la construcción del modelo en parámetros base.…”

Section: Introductionunclassified

Metodología para la identificación de parámetros dinámicos en sistemas mecánicos de baja movilidad: Aplicación a una suspensión de vehículo automóvil.

Calderón¹,

Adriana²

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Knowledge of the dynamic parameters of mechanical systems is required in different applications, particularly in the simulation and control problems. The Department of Mechanical and Materials Engineering at the Polytechnic University of Valencia has worked for several years in identification of dynamic parameters of serial and parallel robots. With this thesis it is to continue the process of identification of dynamic parameters, now on other mechanical systems. Given that mainly the mechanisms that make the systems and machines are closed kinematic chain, in this work the standard identification methods are discussed and a new methodology for identification of dynamic parameters is raised when the closed chain is low mobility.

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Identification of dynamic parameters in low-mobility mechanical systems: application to short long arm vehicle suspension

Cited by 6 publications

References 17 publications

New Methodology for Inertial Identification of Low Mobility Mechanisms Considering Dynamic Contribution

New Methodology for Inertial Identification of Low Mobility Mechanisms Considering Dynamic Contribution

An inertial parameter identification method of eliminating system damping effect for a six-degree-of-freedom parallel manipulator

Metodología para la identificación de parámetros dinámicos en sistemas mecánicos de baja movilidad: Aplicación a una suspensión de vehículo automóvil.

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