Pub Date : 2014-01-01DOI: 10.7494/MECH.2014.33.3.67
Bartłomiej Kukulski, T. Wszołek
The paper presents the work on the problem of qualification of impulsive sounds for applying the adequate value of impulsive adjustment. Impulsive events must be included in the assessment of noise in Poland. There are no agreement for using the objective methods that could classify impulsive sounds on the basis of measurable physical characteristics of the impulses. Moreover, the arbitrary classification includes only a several specified sources. The paper presents the review of methods and criteria for qualification of the impulses, and provides the results of applying these methods on certain impulsive noise source – collision of the wagons.
{"title":"QUALIFICATION METHODS FOR ASSESSMENT OF ANNOYANCE OF IMPULSIVE SOUNDS","authors":"Bartłomiej Kukulski, T. Wszołek","doi":"10.7494/MECH.2014.33.3.67","DOIUrl":"https://doi.org/10.7494/MECH.2014.33.3.67","url":null,"abstract":"The paper presents the work on the problem of qualification of impulsive sounds for applying the adequate value of impulsive adjustment. Impulsive events must be included in the assessment of noise in Poland. There are no agreement for using the objective methods that could classify impulsive sounds on the basis of measurable physical characteristics of the impulses. Moreover, the arbitrary classification includes only a several specified sources. The paper presents the review of methods and criteria for qualification of the impulses, and provides the results of applying these methods on certain impulsive noise source – collision of the wagons.","PeriodicalId":38333,"journal":{"name":"International Journal of Mechanics and Control","volume":"521 1","pages":"67"},"PeriodicalIF":0.0,"publicationDate":"2014-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"72440884","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2014-01-01DOI: 10.7494/MECH.2014.33.1.1
T. Banek
A stochastic model of sound propagation in damping medium is proposed. It consists of: (1) Ito’s stochastic differential equation describing the sound propagation, (2) a potential which models the damping effects. However, due to presence of path integrals this model is elaborate and time consuming, hence inappropriate for numerical simulations and/or model calibrations. To make it simpler we usde the classical results of stochastic analysis; Feynman-Kac formula and Girsanov tansformation obtaining easy-to-use computational procedure for practical purposes.
{"title":"STOCHASTIC ANALYSIS IN THE ACOUSTICS OF DAMPED SOUNDS","authors":"T. Banek","doi":"10.7494/MECH.2014.33.1.1","DOIUrl":"https://doi.org/10.7494/MECH.2014.33.1.1","url":null,"abstract":"A stochastic model of sound propagation in damping medium is proposed. It consists of: (1) Ito’s stochastic differential equation describing the sound propagation, (2) a potential which models the damping effects. However, due to presence of path integrals this model is elaborate and time consuming, hence inappropriate for numerical simulations and/or model calibrations. To make it simpler we usde the classical results of stochastic analysis; Feynman-Kac formula and Girsanov tansformation obtaining easy-to-use computational procedure for practical purposes.","PeriodicalId":38333,"journal":{"name":"International Journal of Mechanics and Control","volume":"20 1","pages":"1"},"PeriodicalIF":0.0,"publicationDate":"2014-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"90688834","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2013-01-01DOI: 10.7494/MECH.2013.32.2.37
W. Batko
This tribute is devoted to the memory of Professor Zbigniew Engel, who passed away recently at the age of eighty. The text describes the late Professor Engel’s scientific life-track and his research activities, which resulted in the creation of a new scientific discipline: vibroacoustics. An outline of his scientific activities in several research fields is presented, together with examples of his numerous innovatory technological achievements. Professor Engel was also a highly respected teacher and tutor of students and scientific staff. His very active involvement in the organization of scientific life as well as the participation in the activities of various Polish and international scientific associations of mechanical and acoustical engineers deserves special mention. This activity spread in the world the good name of the AGH University of Science and Technology, the university to which he devoted his entire scientific life.
{"title":"PROFESOR ZBIGNIEW ENGEL, DOKTOR HONORIS CAUSA MULTI 1933–2013","authors":"W. Batko","doi":"10.7494/MECH.2013.32.2.37","DOIUrl":"https://doi.org/10.7494/MECH.2013.32.2.37","url":null,"abstract":"This tribute is devoted to the memory of Professor Zbigniew Engel, who passed away recently at the age of eighty. The text describes the late Professor Engel’s scientific life-track and his research activities, which resulted in the creation of a new scientific discipline: vibroacoustics. An outline of his scientific activities in several research fields is presented, together with examples of his numerous innovatory technological achievements. Professor Engel was also a highly respected teacher and tutor of students and scientific staff. His very active involvement in the organization of scientific life as well as the participation in the activities of various Polish and international scientific associations of mechanical and acoustical engineers deserves special mention. This activity spread in the world the good name of the AGH University of Science and Technology, the university to which he devoted his entire scientific life.","PeriodicalId":38333,"journal":{"name":"International Journal of Mechanics and Control","volume":"12 1","pages":"37"},"PeriodicalIF":0.0,"publicationDate":"2013-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"76668662","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2013-01-01DOI: 10.7494/MECH.2013.32.3.102
K. Szopa, M. Iwaniec, A. Gołaś
Transmission towers are vital parts of the overhead power line infrastructures. Any damage to these supporting structures may result in decreased load-bearing capacity and, in consequence, their collapse. Failures of transmission towers are much more severe than power failures, as they not only cause interruption to the energy supply but can also result in considerable costs of infrastructure repairs and damage. Therefore, supporting structures of overhead power lines should be subjected to structural health monitoring. This paper presents a comprehensive database containing natural frequencies and strain energies of all elements for various (simulated) damage states. On the basis of structure modal parameters, by finding the correlation between natural frequencies of damaged structure stored in the created database and natural frequencies of the structure of interest, state of the test structure can be identified. In order to verify this method, a numerical experiment was carried out. Observing the strain energy variation as compared to the undamaged state makes it possible to localize the damage and assess its importance for the further structure exploitation.
{"title":"LOW FREQUENCY IDENTIFICATION OF CRITICAL STATES OF TRANSMISSION TOWER STRUCTURES","authors":"K. Szopa, M. Iwaniec, A. Gołaś","doi":"10.7494/MECH.2013.32.3.102","DOIUrl":"https://doi.org/10.7494/MECH.2013.32.3.102","url":null,"abstract":"Transmission towers are vital parts of the overhead power line infrastructures. Any damage to these supporting structures may result in decreased load-bearing capacity and, in consequence, their collapse. Failures of transmission towers are much more severe than power failures, as they not only cause interruption to the energy supply but can also result in considerable costs of infrastructure repairs and damage. Therefore, supporting structures of overhead power lines should be subjected to structural health monitoring. This paper presents a comprehensive database containing natural frequencies and strain energies of all elements for various (simulated) damage states. On the basis of structure modal parameters, by finding the correlation between natural frequencies of damaged structure stored in the created database and natural frequencies of the structure of interest, state of the test structure can be identified. In order to verify this method, a numerical experiment was carried out. Observing the strain energy variation as compared to the undamaged state makes it possible to localize the damage and assess its importance for the further structure exploitation.","PeriodicalId":38333,"journal":{"name":"International Journal of Mechanics and Control","volume":"20 1","pages":"102"},"PeriodicalIF":0.0,"publicationDate":"2013-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"82254704","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2013-01-01DOI: 10.7494/MECH.2013.32.2.77
M. Vítečková, A. Víteček, J. Tuma
The article deals with the analysis of active vibration control of a rotor which is supported by journal bearings. The oil film between the journal and bushing induces the rotor instability, which causes rotor vibrations if rotational speed is greater than a threshold of system stability. This phenomenon is very important for high-speed rotational machines for which restricts the operational range of the rotational speed. Therefore increasing the rotor stability threshold is very important for preventing rotor vibrations. The rotor instability results in lateral vibrations which do not conform to the forces of the unbalanced masses or other external forces. The frequency of the lateral vibration is slightly less than half of the rotational frequency. The main result of the article is the analytical determination of the influence of the setting of the PD type controller on the threshold of stability.
{"title":"Active rotor vibration control","authors":"M. Vítečková, A. Víteček, J. Tuma","doi":"10.7494/MECH.2013.32.2.77","DOIUrl":"https://doi.org/10.7494/MECH.2013.32.2.77","url":null,"abstract":"The article deals with the analysis of active vibration control of a rotor which is supported by journal bearings. The oil film between the journal and bushing induces the rotor instability, which causes rotor vibrations if rotational speed is greater than a threshold of system stability. This phenomenon is very important for high-speed rotational machines for which restricts the operational range of the rotational speed. Therefore increasing the rotor stability threshold is very important for preventing rotor vibrations. The rotor instability results in lateral vibrations which do not conform to the forces of the unbalanced masses or other external forces. The frequency of the lateral vibration is slightly less than half of the rotational frequency. The main result of the article is the analytical determination of the influence of the setting of the PD type controller on the threshold of stability.","PeriodicalId":38333,"journal":{"name":"International Journal of Mechanics and Control","volume":"50 1","pages":"77"},"PeriodicalIF":0.0,"publicationDate":"2013-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"80787784","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2013-01-01DOI: 10.7494/MECH.2013.32.4.136
K. Shumelchyk, V. Kuzmenko
Nowadays the problems of interaction between solids and liquid under high and extremely high pressure are fairly relevant. So the main aim of presented research work is: creating the mathematical models and methods to investigate the interaction of bodies that include cracks filled with a compressible liquid or gas. The coupled problem of interaction of nonlinear elastic bodies and liquid of high pressure was considered. The pressure exerted by a liquid or gas present in the cavities of solids depends on the deformation of the body. In turn the deformation is caused by the pressure inside the cavity. The interaction between a deformable body and liquid is presented as a variational problem. The iterative splitting process of the coupled problem was proposed as well as the algorithm of numerical solution based on variational approach and finite element method. The software which allows calculating the stress state of an elastic body for some classes of problems was developed basing on the algorithm of splitting. The plane problem with cavity and solid stamp which imposes pressure on the boundary was considered and the numerical solution was computed using created software.
{"title":"COUPLED PROBLEMS OF INTERACTION OF DEFORMABLE BODIES AND LIQUID OF HIGH PRESSURE","authors":"K. Shumelchyk, V. Kuzmenko","doi":"10.7494/MECH.2013.32.4.136","DOIUrl":"https://doi.org/10.7494/MECH.2013.32.4.136","url":null,"abstract":"Nowadays the problems of interaction between solids and liquid under high and extremely high pressure are fairly relevant. So the main aim of presented research work is: creating the mathematical models and methods to investigate the interaction of bodies that include cracks filled with a compressible liquid or gas. The coupled problem of interaction of nonlinear elastic bodies and liquid of high pressure was considered. The pressure exerted by a liquid or gas present in the cavities of solids depends on the deformation of the body. In turn the deformation is caused by the pressure inside the cavity. The interaction between a deformable body and liquid is presented as a variational problem. The iterative splitting process of the coupled problem was proposed as well as the algorithm of numerical solution based on variational approach and finite element method. The software which allows calculating the stress state of an elastic body for some classes of problems was developed basing on the algorithm of splitting. The plane problem with cavity and solid stamp which imposes pressure on the boundary was considered and the numerical solution was computed using created software.","PeriodicalId":38333,"journal":{"name":"International Journal of Mechanics and Control","volume":"39 1","pages":"136"},"PeriodicalIF":0.0,"publicationDate":"2013-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"80804532","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2013-01-01DOI: 10.7494/MECH.2013.32.1.6
W. Batko, B. Przysucha
The authors focus their attention on the identification of the probability distribution density function of the sound level, which constitutes the basis for the proper statistical inferences and uncertainty assessments in the environment acoustical hazard control. Their functional form is a metric for the analysis of acoustical measurement results burdened with random errors. Its proper selection conditions the rightness of statistical inferences in relation to the analyzed noise effect. The problem of identification of the noise level probability distribution form was presented on the grounds of the sound L a level monitored at one of the main streets in Lublin. The analysis of differences and references to the normal distribution form, commonly applied to statistical analysis of the acoustical measurement results, was carried out. It is the aim of the authors, that the presented results should become the basis of a broader discussion concerning new estimation procedures of the controlled noise indicators and their uncertainty assessment. Also new verification procedures of the rightness of model acoustical formalisms, assumed in numerous environment acoustic investigations, are required.
{"title":"IDENTIFICATION OF PROBABILITY DISTRIBUTION FORM FOR RESULTS OF SOUND LEVEL MEASUREMENTS","authors":"W. Batko, B. Przysucha","doi":"10.7494/MECH.2013.32.1.6","DOIUrl":"https://doi.org/10.7494/MECH.2013.32.1.6","url":null,"abstract":"The authors focus their attention on the identification of the probability distribution density function of the sound level, which constitutes the basis for the proper statistical inferences and uncertainty assessments in the environment acoustical hazard control. Their functional form is a metric for the analysis of acoustical measurement results burdened with random errors. Its proper selection conditions the rightness of statistical inferences in relation to the analyzed noise effect. The problem of identification of the noise level probability distribution form was presented on the grounds of the sound L a level monitored at one of the main streets in Lublin. The analysis of differences and references to the normal distribution form, commonly applied to statistical analysis of the acoustical measurement results, was carried out. It is the aim of the authors, that the presented results should become the basis of a broader discussion concerning new estimation procedures of the controlled noise indicators and their uncertainty assessment. Also new verification procedures of the rightness of model acoustical formalisms, assumed in numerous environment acoustic investigations, are required.","PeriodicalId":38333,"journal":{"name":"International Journal of Mechanics and Control","volume":"73 1","pages":"6"},"PeriodicalIF":0.0,"publicationDate":"2013-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"86399498","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2013-01-01DOI: 10.7494/MECH.2013.32.2.41
F. Duarte, Pablo Ballesteros, Xinyu Shu, C. Bohn
Light flexible structures are easily prone to vibrate due to external forces or due to forces generated in the inner structure. This situation is common in machinery or mechanical structures with rotational devices. The unwanted vibration of such structures can be compensated with the addition of piezoelectric actuators for active vibration control (AVC). The rejection of harmonic disturbances is frequently done with controllers based on the internal model principle. The goal of this research is to reduce the effect of harmonic disturbances with known (measured) time-varying frequencies acting on a system as well as to increase the damping of the system for the transient response (first mode of vibration). The experimental setup is made up of a slender aluminium flexible beam, a pair of piezoelectric actuators, an accelerometer and two DC motors, as well as the data acquisition and signal conditioning equipment. The harmonic disturbance is generated by DC motors. The control design utilizes an augmented description of the plant. The plant including the disturbance is modelled as a polytopic linear parameter-varying (pLPV) system. An observer-based gain-scheduling controller is calculated based on quadratic stability and the stability is guaranteed for the specified range of variation of the scheduling parameters, also restriction in the performance is introduced in the sense of the H 2 -norm. Experimental results show very good disturbance cancellation.
{"title":"REJECTION OF HARMONIC AND TRANSIENT DISTURBANCES OF A SMART STRUCTURE WITH PIEZOELECTRIC ACTUATORS","authors":"F. Duarte, Pablo Ballesteros, Xinyu Shu, C. Bohn","doi":"10.7494/MECH.2013.32.2.41","DOIUrl":"https://doi.org/10.7494/MECH.2013.32.2.41","url":null,"abstract":"Light flexible structures are easily prone to vibrate due to external forces or due to forces generated in the inner structure. This situation is common in machinery or mechanical structures with rotational devices. The unwanted vibration of such structures can be compensated with the addition of piezoelectric actuators for active vibration control (AVC). The rejection of harmonic disturbances is frequently done with controllers based on the internal model principle. The goal of this research is to reduce the effect of harmonic disturbances with known (measured) time-varying frequencies acting on a system as well as to increase the damping of the system for the transient response (first mode of vibration). The experimental setup is made up of a slender aluminium flexible beam, a pair of piezoelectric actuators, an accelerometer and two DC motors, as well as the data acquisition and signal conditioning equipment. The harmonic disturbance is generated by DC motors. The control design utilizes an augmented description of the plant. The plant including the disturbance is modelled as a polytopic linear parameter-varying (pLPV) system. An observer-based gain-scheduling controller is calculated based on quadratic stability and the stability is guaranteed for the specified range of variation of the scheduling parameters, also restriction in the performance is introduced in the sense of the H 2 -norm. Experimental results show very good disturbance cancellation.","PeriodicalId":38333,"journal":{"name":"International Journal of Mechanics and Control","volume":"71 1","pages":"41"},"PeriodicalIF":0.0,"publicationDate":"2013-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"85900876","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2013-01-01DOI: 10.7494/MECH.2013.32.1.21
Michał Lubieniecki, T. Uhl
For decades people have used ambient energy, e.g., that of rushing streams or wind to obtain usable power. Starting with very low energy conversion, through constant development we have now reached the stage of extensive possibilities of harvesting the energy from the environment we live in. Today, there exist almost unconstrained opportunities to energize a broad spectrum of devices by energy available almost anywhere and of whichever form. One of the great advantages of energy harvesting is to make small electronic devices autonomous eliminating the need ofpower supply and maintenance. Shunt damping systems are unfavorably influenced by the size and mass of the coil inductors. While substituting bulky inductors with synthetic inductors one losses the passivity of the system gaining its practicability. Nevertheless, in order to outperform the actively driven systems, it is indispensable to return the passive properties of the system maintaining its performance. This paper presents the feasibility study ofpowering the passive shunt damping devices by the work that is lost irrevocably in a bearing node. The heat generated in a bearing is converted via the thermoelectric phenomenon and then used to power the synthetic inductance circuitry. In the paper it is shown that the required power levels can be satisfied by the thermoelectric generator paired to a moderately loaded bearing.
{"title":"RESTORING THE PASSIVITY OF SHUNT DAMPING CIRCUITS BASED ON THE SYNTHETIC INDUCTANCE BY THERMAL ENERGY HARVESTING","authors":"Michał Lubieniecki, T. Uhl","doi":"10.7494/MECH.2013.32.1.21","DOIUrl":"https://doi.org/10.7494/MECH.2013.32.1.21","url":null,"abstract":"For decades people have used ambient energy, e.g., that of rushing streams or wind to obtain usable power. Starting with very low energy conversion, through constant development we have now reached the stage of extensive possibilities of harvesting the energy from the environment we live in. Today, there exist almost unconstrained opportunities to energize a broad spectrum of devices by energy available almost anywhere and of whichever form. One of the great advantages of energy harvesting is to make small electronic devices autonomous eliminating the need ofpower supply and maintenance. Shunt damping systems are unfavorably influenced by the size and mass of the coil inductors. While substituting bulky inductors with synthetic inductors one losses the passivity of the system gaining its practicability. Nevertheless, in order to outperform the actively driven systems, it is indispensable to return the passive properties of the system maintaining its performance. This paper presents the feasibility study ofpowering the passive shunt damping devices by the work that is lost irrevocably in a bearing node. The heat generated in a bearing is converted via the thermoelectric phenomenon and then used to power the synthetic inductance circuitry. In the paper it is shown that the required power levels can be satisfied by the thermoelectric generator paired to a moderately loaded bearing.","PeriodicalId":38333,"journal":{"name":"International Journal of Mechanics and Control","volume":"58 1","pages":"21"},"PeriodicalIF":0.0,"publicationDate":"2013-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"84706386","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2013-01-01DOI: 10.7494/MECH.2013.32.4.129
Dariusz Baran, W. Lisowski
Application of general purpose computing environments to analysis of manipulators’ dynamics gives ability to select elastically the model structure and analysis algorithms, as well as full access to the intermediate results, however, it often requires introduction of various simplifications of the model under consideration. The alternative approach consists in application of the specialized software packages that allow the use of more sophisticated models, but at the cost of restricted access to the intermediate results as well as the limited range of possible modifications of models and solution algorithms. The authors focused on application of the co-simulation technique in analysis of manipulators’ dynamics. Co-simulation consists in application of specialized software packages to formulation of the dynamic model. Next, the model is simulated with use of a general purpose computing environment and co-operating specialized software package. The authors used Matlab/Simulink computing environment and MD ADAMS software package. The paper presents comparison of results, problems of application, as well as remarks on educational applicability of manipulator dynamics analysis with use of the simulation and the co-simulation techniques. Two examples of a manipulator dynamics modelling were considered. One example with a considerably simplified mass spatial distribution, and another one with a mass distribution corresponding to a real commercial manipulator. The achieved analysis results confirmed that application of the co-simulation technique eases the use of complex models in analysis of manipulator dynamics with use of the general purpose computing environments.
{"title":"NUMERICAL SIMULATION AND CO-SIMULATION IN ANALYSIS OF MANIPULATORS’ DYNAMICS","authors":"Dariusz Baran, W. Lisowski","doi":"10.7494/MECH.2013.32.4.129","DOIUrl":"https://doi.org/10.7494/MECH.2013.32.4.129","url":null,"abstract":"Application of general purpose computing environments to analysis of manipulators’ dynamics gives ability to select elastically the model structure and analysis algorithms, as well as full access to the intermediate results, however, it often requires introduction of various simplifications of the model under consideration. The alternative approach consists in application of the specialized software packages that allow the use of more sophisticated models, but at the cost of restricted access to the intermediate results as well as the limited range of possible modifications of models and solution algorithms. The authors focused on application of the co-simulation technique in analysis of manipulators’ dynamics. Co-simulation consists in application of specialized software packages to formulation of the dynamic model. Next, the model is simulated with use of a general purpose computing environment and co-operating specialized software package. The authors used Matlab/Simulink computing environment and MD ADAMS software package. The paper presents comparison of results, problems of application, as well as remarks on educational applicability of manipulator dynamics analysis with use of the simulation and the co-simulation techniques. Two examples of a manipulator dynamics modelling were considered. One example with a considerably simplified mass spatial distribution, and another one with a mass distribution corresponding to a real commercial manipulator. The achieved analysis results confirmed that application of the co-simulation technique eases the use of complex models in analysis of manipulator dynamics with use of the general purpose computing environments.","PeriodicalId":38333,"journal":{"name":"International Journal of Mechanics and Control","volume":"50 1","pages":"129"},"PeriodicalIF":0.0,"publicationDate":"2013-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"80723532","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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