For more than three decades, vibration monitoring by accelerometers has been a common technique in the health monitoring of bearings and rotating machines. These sensors are typically mounted on the housing of the system to collect the vibration data. However, the susceptibility of accelerometers to surrounding noise and vibration has attracted more attention toward embedded sensors in bearings. Also, the current trend toward intelligent manufacturing and IoT requires mechanical components with integrated sensors to monitor their health status. In this research, a previously developed piezoelectric transducer embedded in a bearing housing is further investigated for condition monitoring of bearings. By using this transducer, the rotational speed of the bearing in the variable speed condition is measured. The results show a great correlation between the estimated speed compared with an encoder. Moreover, the performance of the transducer in local fault detection in the speed-varying condition is investigated. According to the results, it can be concluded that this low-cost and self-sensing transducer can be successfully used for condition monitoring and speed measurement in bearings.
{"title":"Speed Monitoring and Fault Detection in Bearings Using an Embedded Piezoelectric Transducer Under Speed Varying Condition","authors":"Ali Safian, Xihui Liang","doi":"10.1139/tcsme-2022-0175","DOIUrl":"https://doi.org/10.1139/tcsme-2022-0175","url":null,"abstract":"For more than three decades, vibration monitoring by accelerometers has been a common technique in the health monitoring of bearings and rotating machines. These sensors are typically mounted on the housing of the system to collect the vibration data. However, the susceptibility of accelerometers to surrounding noise and vibration has attracted more attention toward embedded sensors in bearings. Also, the current trend toward intelligent manufacturing and IoT requires mechanical components with integrated sensors to monitor their health status. In this research, a previously developed piezoelectric transducer embedded in a bearing housing is further investigated for condition monitoring of bearings. By using this transducer, the rotational speed of the bearing in the variable speed condition is measured. The results show a great correlation between the estimated speed compared with an encoder. Moreover, the performance of the transducer in local fault detection in the speed-varying condition is investigated. According to the results, it can be concluded that this low-cost and self-sensing transducer can be successfully used for condition monitoring and speed measurement in bearings.","PeriodicalId":23285,"journal":{"name":"Transactions of The Canadian Society for Mechanical Engineering","volume":" ","pages":""},"PeriodicalIF":0.9,"publicationDate":"2023-04-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"45799108","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Since wind turbines placed in wind farms need to minimize their footprint on the ground, the effects of the wake must be considered. Placement optimization, turbine spacing, and direction of rotation are known to affect the performance of vertical-axis wind turbines (VAWTs). However, rigorous numerical modeling methodologies that investigate the influence of these characteristics are lacking, especially in the case of large wind turbines. The goal of this study is to analyze turbine configurations that might enhance the power production of VAWT farms using 2-Dimensional CFD models based on the Star CCM+ package. The novelty of this work is to analyze wind farm configurations for very large turbines. This is important because large turbines are much more performant than small turbines and have a high value of the power coefficient. Results show that CFD simulations capture adequately the performance of wind turbines in farms with multiple VAWTs. In general, if a second rotor is spaced more than 10 turbine diameters downstream of the first rotor, the effect of the wake is less significant. Furthermore, a specific farm configuration with 5 VAWTs is investigated and shows a 20% increase in power output compared to the same number of turbines operating in isolation.
{"title":"CFD modeling of Vertical Axis Wind Turbine Wake Interaction","authors":"B. Belabes, M. Paraschivoiu","doi":"10.1139/tcsme-2022-0149","DOIUrl":"https://doi.org/10.1139/tcsme-2022-0149","url":null,"abstract":"Since wind turbines placed in wind farms need to minimize their footprint on the ground, the effects of the wake must be considered. Placement optimization, turbine spacing, and direction of rotation are known to affect the performance of vertical-axis wind turbines (VAWTs). However, rigorous numerical modeling methodologies that investigate the influence of these characteristics are lacking, especially in the case of large wind turbines. The goal of this study is to analyze turbine configurations that might enhance the power production of VAWT farms using 2-Dimensional CFD models based on the Star CCM+ package. The novelty of this work is to analyze wind farm configurations for very large turbines. This is important because large turbines are much more performant than small turbines and have a high value of the power coefficient. Results show that CFD simulations capture adequately the performance of wind turbines in farms with multiple VAWTs. In general, if a second rotor is spaced more than 10 turbine diameters downstream of the first rotor, the effect of the wake is less significant. Furthermore, a specific farm configuration with 5 VAWTs is investigated and shows a 20% increase in power output compared to the same number of turbines operating in isolation.","PeriodicalId":23285,"journal":{"name":"Transactions of The Canadian Society for Mechanical Engineering","volume":" ","pages":""},"PeriodicalIF":0.9,"publicationDate":"2023-04-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"45267068","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Estimations using the inverse conduction approach to predict temperature and heat flux at the exposed surface leads to indirect measurement away from the exposed surface within the solid. The approach is extremely useful when access to direct measurements is not possible due to various working conditions, thereby provides estimates without disturbing the flow under the real flow condition over the surface. The approach is useful not only for the heat transfer applications but also for numerous engineering applications including fluid mechanics and furnace applications. The approach requires the time history of effective parameters to be known at the strategic locations away from the exposed surface. In the present paper a review of sequential development of various inverse heat conduction methods have been presented to get solutions in different geometries.
{"title":"Solutions of One-Dimensional Inverse Heat Conduction Problems: A Review","authors":"Apoorva Roy, S. K. Dhiman","doi":"10.1139/tcsme-2022-0157","DOIUrl":"https://doi.org/10.1139/tcsme-2022-0157","url":null,"abstract":"Estimations using the inverse conduction approach to predict temperature and heat flux at the exposed surface leads to indirect measurement away from the exposed surface within the solid. The approach is extremely useful when access to direct measurements is not possible due to various working conditions, thereby provides estimates without disturbing the flow under the real flow condition over the surface. The approach is useful not only for the heat transfer applications but also for numerous engineering applications including fluid mechanics and furnace applications. The approach requires the time history of effective parameters to be known at the strategic locations away from the exposed surface. In the present paper a review of sequential development of various inverse heat conduction methods have been presented to get solutions in different geometries.","PeriodicalId":23285,"journal":{"name":"Transactions of The Canadian Society for Mechanical Engineering","volume":" ","pages":""},"PeriodicalIF":0.9,"publicationDate":"2023-03-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"48192648","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Qinghui Zhou, Chenlong Zhang, Yuping He, Jie Huang
Most visual simultaneous localization and mapping (SLAM) algorithms assume that no or only few moving objects occur in application environments. This assumption makes the algorithms vulnerable to the interference of moving objects in dynamic environments. To address the problem, a new visual SLAM method, which could eliminate dynamic features without any prior information, was proposed. By measuring the position of each feature point and its motion vector difference between image sequences, a two-stage clustering was performed on the feature points in the field of view. This method removed the features detected on moving objects, and used a static initialization technique to eliminate the dependence of SLAM on prior information. The proposed method intended to improve OV2SLAM (A Fully Online and Versatile Visual SLAM for Real-Time Applications) algorithm, and the experimental verification was carried out. Our results show that while maintaining the real-time performance of the original OV2SLAM algorithm, the positioning accuracy and robustness of the proposed method is improved in a dynamic environment.
{"title":"A Visual SLAM Algorithm based on Fuzzy Clustering for Removing Dynamic Features","authors":"Qinghui Zhou, Chenlong Zhang, Yuping He, Jie Huang","doi":"10.1139/tcsme-2022-0090","DOIUrl":"https://doi.org/10.1139/tcsme-2022-0090","url":null,"abstract":"Most visual simultaneous localization and mapping (SLAM) algorithms assume that no or only few moving objects occur in application environments. This assumption makes the algorithms vulnerable to the interference of moving objects in dynamic environments. To address the problem, a new visual SLAM method, which could eliminate dynamic features without any prior information, was proposed. By measuring the position of each feature point and its motion vector difference between image sequences, a two-stage clustering was performed on the feature points in the field of view. This method removed the features detected on moving objects, and used a static initialization technique to eliminate the dependence of SLAM on prior information. The proposed method intended to improve OV2SLAM (A Fully Online and Versatile Visual SLAM for Real-Time Applications) algorithm, and the experimental verification was carried out. Our results show that while maintaining the real-time performance of the original OV2SLAM algorithm, the positioning accuracy and robustness of the proposed method is improved in a dynamic environment.","PeriodicalId":23285,"journal":{"name":"Transactions of The Canadian Society for Mechanical Engineering","volume":"1 1","pages":""},"PeriodicalIF":0.9,"publicationDate":"2023-03-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"41416396","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Traditional multivariate regression analysis-based thermal error models use only one polynomial of several temperature variables to predict thermal errors, which will produce lower local prediction accuracy for a longer machining process with sudden changes of machining parameters, and hence the group-wise modeling method is proposed in this paper. Resorting to hard break points and soft break points, the grouping work is completed in two steps: hard grouping and soft grouping. The positions of hard break points are optimized using the genetic algorithm toolbox in Matlab software to realize adaptive grouping. The mechanism for updating the thermal error model coefficients vectors for different soft groups is developed. The modeling test is carried out on a turning center for which the positions of thermal key points are optimized. The prediction results for radial and axial thermal errors show that four hard break points can basically meet the requirements at the di value of 80%, so the group-wise modeling method is helpful to advance the prediction accuracy of thermal errors.
{"title":"Adaptive group-wise modeling of thermally induced errors of a turning center","authors":"Haitao Zhao, Yongbo Tang, Shuixiang Zhang","doi":"10.1139/tcsme-2022-0116","DOIUrl":"https://doi.org/10.1139/tcsme-2022-0116","url":null,"abstract":"Traditional multivariate regression analysis-based thermal error models use only one polynomial of several temperature variables to predict thermal errors, which will produce lower local prediction accuracy for a longer machining process with sudden changes of machining parameters, and hence the group-wise modeling method is proposed in this paper. Resorting to hard break points and soft break points, the grouping work is completed in two steps: hard grouping and soft grouping. The positions of hard break points are optimized using the genetic algorithm toolbox in Matlab software to realize adaptive grouping. The mechanism for updating the thermal error model coefficients vectors for different soft groups is developed. The modeling test is carried out on a turning center for which the positions of thermal key points are optimized. The prediction results for radial and axial thermal errors show that four hard break points can basically meet the requirements at the di value of 80%, so the group-wise modeling method is helpful to advance the prediction accuracy of thermal errors.","PeriodicalId":23285,"journal":{"name":"Transactions of The Canadian Society for Mechanical Engineering","volume":" ","pages":""},"PeriodicalIF":0.9,"publicationDate":"2023-03-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"49572168","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
As a common mechanical part, gear is easy to be damaged because of its complex working environment, which can impact the running of the whole transmission device. Thus, it is very important to evaluate the health of gears in time. A gear fault diagnosis method based on multipoint optimal minimum entropy deconvolution adjusted (MOMEDA) and variational modal extraction (VME) is proposed to solve the problem that the periodic fault features of gears are difficult to be completely extracted from signals. Meanwhile, sparrow search algorithm (SSA) is introduced to optimize the initial parameters of VME and MOMEDA. First, SSA serves to hunt for the best α of VME, VME serves to obtain the signal near the gear fault frequency, and then SSA serves to hunt for the best L and T values of MOMEDA, and MOMEDA serves to strengthen the gear impact features. Finally, the gear impact features are extracted by envelope spectrum. Simulation and experiment show that this method can extract gear fault components from noise effectively with good results.
{"title":"Research on gear fault diagnosis method based on SSA–VME–MOMEDA","authors":"Yangshou Xiong, Zhixian Yan, K. Huang, Huan Chen","doi":"10.1139/tcsme-2022-0093","DOIUrl":"https://doi.org/10.1139/tcsme-2022-0093","url":null,"abstract":"As a common mechanical part, gear is easy to be damaged because of its complex working environment, which can impact the running of the whole transmission device. Thus, it is very important to evaluate the health of gears in time. A gear fault diagnosis method based on multipoint optimal minimum entropy deconvolution adjusted (MOMEDA) and variational modal extraction (VME) is proposed to solve the problem that the periodic fault features of gears are difficult to be completely extracted from signals. Meanwhile, sparrow search algorithm (SSA) is introduced to optimize the initial parameters of VME and MOMEDA. First, SSA serves to hunt for the best α of VME, VME serves to obtain the signal near the gear fault frequency, and then SSA serves to hunt for the best L and T values of MOMEDA, and MOMEDA serves to strengthen the gear impact features. Finally, the gear impact features are extracted by envelope spectrum. Simulation and experiment show that this method can extract gear fault components from noise effectively with good results.","PeriodicalId":23285,"journal":{"name":"Transactions of The Canadian Society for Mechanical Engineering","volume":" ","pages":""},"PeriodicalIF":0.9,"publicationDate":"2023-02-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"49027599","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
There are two major problems with Fiber Reinforced Polymer (FRP) composites during their machining that need to be addressed. The first concern is the delamination and formation of burrs at machined edges, and the second is the effects of aging leading to mechanical deterioration. In this study, Carbon Fiber Reinforced Polymer (CFRP) and Aramid Fiber Reinforced Polymer (AFRP) composites are manufactured by vacuum infusion method and aged for two years under natural environmental conditions. Piercing with three different clearances (1%, 5% and 10% of sheet thickness) and speed of 4m.s-1 are performed. Additionally, conventional drilling is carried out with a feed rate of 0.2 m/min, respectively. The highest delamination factor difference between piercing and drilling processes were calculated as 7.3% and 13.9% for CFRP and AFRP, respectively. The highest burr amounts for AFRP and CFRP composites are obtained as 91.5% and 39% at 10% clearance for piercing process whereas 123% and 32.1% for drilling process, respectively. Compared to drilling, piercing generates less burr formation except for CFRP composites in case of 10% clearance and more precise hole production. It is understood that piercing results significantly improves when smaller clearances up to 5% of the sheet thickness are utilized.
{"title":"THE EFFECT OF PIERCING AND DRILLING PROCESSES ON BURR FORMATION AND DELAMINATION OF AGED CARBON AND ARAMID FIBER REINFORCED POLYMER COMPOSITES","authors":"K. E. Engin, A. Kaya, Mahmut Tandogan","doi":"10.1139/tcsme-2022-0150","DOIUrl":"https://doi.org/10.1139/tcsme-2022-0150","url":null,"abstract":"There are two major problems with Fiber Reinforced Polymer (FRP) composites during their machining that need to be addressed. The first concern is the delamination and formation of burrs at machined edges, and the second is the effects of aging leading to mechanical deterioration. In this study, Carbon Fiber Reinforced Polymer (CFRP) and Aramid Fiber Reinforced Polymer (AFRP) composites are manufactured by vacuum infusion method and aged for two years under natural environmental conditions. Piercing with three different clearances (1%, 5% and 10% of sheet thickness) and speed of 4m.s-1 are performed. Additionally, conventional drilling is carried out with a feed rate of 0.2 m/min, respectively. The highest delamination factor difference between piercing and drilling processes were calculated as 7.3% and 13.9% for CFRP and AFRP, respectively. The highest burr amounts for AFRP and CFRP composites are obtained as 91.5% and 39% at 10% clearance for piercing process whereas 123% and 32.1% for drilling process, respectively. Compared to drilling, piercing generates less burr formation except for CFRP composites in case of 10% clearance and more precise hole production. It is understood that piercing results significantly improves when smaller clearances up to 5% of the sheet thickness are utilized.","PeriodicalId":23285,"journal":{"name":"Transactions of The Canadian Society for Mechanical Engineering","volume":" ","pages":""},"PeriodicalIF":0.9,"publicationDate":"2023-02-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"44910478","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Yan Guo, Xuhui Liao, H. Meng, F. Dong, Shang-Kuo Yang
Based on the designed vibration energy recovery system of speed bump, the structure and principle of a novel transducer are introduced in this paper, which is an important part of the system. AMEsim simulation software was used to study the characteristics of the transducer, and the feasibility of the transducer design was verified through modeling and analysis of the dual-cylinder transducer. The coupling model of vehicle speed bump and transducer was analyzed, the dynamic differential equation was listed, and the decoupling operation was carried out. On the basis of the above, Matlab/Simulink was used to establish the model simulation, and the time-domain responses of displacement, velocity and acceleration of the vibration of the car body, wheel and transducer in the coupling model system were analyzed. The control variable method was used to further explore the time-domain response of vehicle acceleration in the coupling system only when the vehicle speed changes or the transducer damping changes. Finally, the vibration energy recovery system of the speed bump was built, and the preliminary test proved that the transducer can realize its function.
{"title":"Design, modeling and simulation of a novel transducer for vibration energy recovery system of speed bump","authors":"Yan Guo, Xuhui Liao, H. Meng, F. Dong, Shang-Kuo Yang","doi":"10.1139/tcsme-2022-0064","DOIUrl":"https://doi.org/10.1139/tcsme-2022-0064","url":null,"abstract":"Based on the designed vibration energy recovery system of speed bump, the structure and principle of a novel transducer are introduced in this paper, which is an important part of the system. AMEsim simulation software was used to study the characteristics of the transducer, and the feasibility of the transducer design was verified through modeling and analysis of the dual-cylinder transducer. The coupling model of vehicle speed bump and transducer was analyzed, the dynamic differential equation was listed, and the decoupling operation was carried out. On the basis of the above, Matlab/Simulink was used to establish the model simulation, and the time-domain responses of displacement, velocity and acceleration of the vibration of the car body, wheel and transducer in the coupling model system were analyzed. The control variable method was used to further explore the time-domain response of vehicle acceleration in the coupling system only when the vehicle speed changes or the transducer damping changes. Finally, the vibration energy recovery system of the speed bump was built, and the preliminary test proved that the transducer can realize its function.","PeriodicalId":23285,"journal":{"name":"Transactions of The Canadian Society for Mechanical Engineering","volume":" ","pages":""},"PeriodicalIF":0.9,"publicationDate":"2023-01-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"48590117","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
In this work, an optimal suspension system is proposed to reduce the oscillations/vibrations of the car body and harvest some of the induced vibration energy. The usual shock absorbers are replaced with energy harvesters capable of not only absorbing vibrations for ride comfort, but also regenerate electrical energy for onboard use. To investigate the efficiency of the proposed harvesters, the input to the vehicle wheels is assumed to come from a sawtooth shaped speed bump or rumble speed strip. Also, given the coupling between the various degrees of freedom of the car (heave, pitch, etc.), a half-car model is adopted in the derivation of the equations of motion. To maximize the amount of energy harvested, the design parameters of the harvesters are obtained using the Simulated Annealing optimization technique with four objective functions. Many of the design parameters, including magnet size, coil turns, and coil layers, are adjusted during the optimization process. Constant and accelerated motions are considered in this study to maximize the Generated Electricity index (GE) and Ride Comfort Efficiency (RCE). The simulation results showed that the optimized harvesters were able to regenerate a significant amount of energy while maintaining an acceptable ride comfort level.
{"title":"Energy Harvesting Optimization Using 2-dimensional Car Suspension System Actuated by a Sawtooth Speed Bump","authors":"M. Chiu, M. Karkoub, M. Her","doi":"10.1139/tcsme-2022-0137","DOIUrl":"https://doi.org/10.1139/tcsme-2022-0137","url":null,"abstract":"In this work, an optimal suspension system is proposed to reduce the oscillations/vibrations of the car body and harvest some of the induced vibration energy. The usual shock absorbers are replaced with energy harvesters capable of not only absorbing vibrations for ride comfort, but also regenerate electrical energy for onboard use. To investigate the efficiency of the proposed harvesters, the input to the vehicle wheels is assumed to come from a sawtooth shaped speed bump or rumble speed strip. Also, given the coupling between the various degrees of freedom of the car (heave, pitch, etc.), a half-car model is adopted in the derivation of the equations of motion. To maximize the amount of energy harvested, the design parameters of the harvesters are obtained using the Simulated Annealing optimization technique with four objective functions. Many of the design parameters, including magnet size, coil turns, and coil layers, are adjusted during the optimization process. Constant and accelerated motions are considered in this study to maximize the Generated Electricity index (GE) and Ride Comfort Efficiency (RCE). The simulation results showed that the optimized harvesters were able to regenerate a significant amount of energy while maintaining an acceptable ride comfort level.","PeriodicalId":23285,"journal":{"name":"Transactions of The Canadian Society for Mechanical Engineering","volume":" ","pages":""},"PeriodicalIF":0.9,"publicationDate":"2023-01-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"47780856","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
A life-sized spatial redundantly actuated parallel mechanism (RAPM) constrained by two point-contact higher kinematic pairs (HKPs) has been designed, inspired by the mastication of human beings. To facilitate its real-time control in practice, an accurate inverse dynamics model is built in this paper. Firstly, its constrained motions are described, thereafter three dynamics methods, i.e., Newton-Euler’s law, the Lagrangian equations and the principle of virtual work, respectively, are used to explore its rigid-body inverse dynamics. Symbolic results show that model structures based on these approaches are quite different. The model via Newton-Euler’s law well reflects the nature of the mechanism in terms of the constraint forces at HKPs, while those from the latter two methods do not contain them. Despite this, the actuating torques from these three models are identical. The comparisons between the dynamics models of the RAPM and its counterpart free of HKPs clarify that the constraints at HKPs greatly alter the model structures and numerical results, and the computational difficulties are considerably larger in the models of the RAPM.
{"title":"A comparative study of inverse dynamics in a spatial redundantly actuated parallel mechanism constrained by two point-contact higher kinematic pairs","authors":"Chen Cheng, Xiaojing Yuan, Yanjie Chen","doi":"10.1139/tcsme-2022-0119","DOIUrl":"https://doi.org/10.1139/tcsme-2022-0119","url":null,"abstract":"A life-sized spatial redundantly actuated parallel mechanism (RAPM) constrained by two point-contact higher kinematic pairs (HKPs) has been designed, inspired by the mastication of human beings. To facilitate its real-time control in practice, an accurate inverse dynamics model is built in this paper. Firstly, its constrained motions are described, thereafter three dynamics methods, i.e., Newton-Euler’s law, the Lagrangian equations and the principle of virtual work, respectively, are used to explore its rigid-body inverse dynamics. Symbolic results show that model structures based on these approaches are quite different. The model via Newton-Euler’s law well reflects the nature of the mechanism in terms of the constraint forces at HKPs, while those from the latter two methods do not contain them. Despite this, the actuating torques from these three models are identical. The comparisons between the dynamics models of the RAPM and its counterpart free of HKPs clarify that the constraints at HKPs greatly alter the model structures and numerical results, and the computational difficulties are considerably larger in the models of the RAPM.","PeriodicalId":23285,"journal":{"name":"Transactions of The Canadian Society for Mechanical Engineering","volume":" ","pages":""},"PeriodicalIF":0.9,"publicationDate":"2022-12-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"49529047","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
京公网安备 11010802042870号
京ICP备2023020795号-1
扫码关注我们
求助内容：
应助结果提醒方式：