Robust multi-objective optimization of parallel manipulators

Meccanica - This paper presents a novel robust optimal design for parallel manipulators to optimize the performance indices subject to the unavoidable effect of the uncertainties. The robust...     

Forward position analysis of 6-3 Linapod parallel manipulators

In this study closed-form solutions to the forward kinematic problems are obtained for a particular type of six degree-of-freedom parallel manipulator called 6-3 Linapod. The 6-3 Linapod parallel manipulators have a 6-3 PSS (or PUS) structure, and forward kinematic solutions are obtained by using the solution procedure for 6-3 SPS (or UPS) manipulators. In this procedure, a 6-3 Linapod is first transformed into its equivalent mechanism, namely an inclined 3RS manipulator, and then the condition that the three spherical joints on the moving platform form an equilateral triangle leads us to obtain three polynomial equations in three unknowns. These equations are solved by using Sylvester dialytic elimination method. Each set of real roots corresponds to a particular configuration of the manipulator. Solutions so obtained are verified by performing inverse position analysis. A method to identify configurations containing crossed links is presented in this study, which is based on the interpretation of link crossing as intersection of a link with a triangle, whose vertices are positions of joints on the corresponding links.     

A reconfigurable dynamic Bayesian network for digital twin modeling of structures with multiple damage modes

Dynamic Bayesian networks (DBNs) are commonly employed for structural digital twin modeling. At present, most researches only consider single damage mode tracking. It is not sufficient for a reusable spacecraft as various damage modes may occur during its service life. A reconfigurable DBN method is proposed in this paper. The structure of the DBN can be updated dynamically to describe the interactions between different damages. Two common damages (fatigue and bolt loosening) for a spacecraft structure are considered in a numerical example. The results show that the reconfigurable DBN can accurately predict the acceleration phenomenon of crack growth caused by bolt loosening while the DBN with time-invariant structure cannot, even with enough updates. The definition of interaction coefficients makes the reconfigurable DBN easy to track multiple damages and be extended to more complex problems. The method also has a good physical interpretability as the reconfiguration of DBN corresponds to a specific mechanism. Satisfactory predictions do not require precise knowledge of reconfiguration conditions, making the method more practical.     

Problems in the control of redundantly actuated parallel manipulators caused by geometric imperfections

Redundant actuation is considered as a way to improve the properties of parallel manipulators as it increases and homogenizes the kinematic dexterity and the stiffness, and eventually eliminates singularities. It further allows for a purposeful distribution of control forces, taking into account secondary tasks, such as optimal force distribution, stiffness control, and backlash avoiding control. The actual model-based control builds upon an exact model of the manipulator. In this paper the effect of kinematic uncertainties on the applicability of established model-based control schemes is analyzed. It is shown that kinematic model uncertainties lead to parasitic perturbation forces that cannot be compensated by the controls. To tackle this problem amended versions of the augmented PD and computed torque control schemes are proposed.     

Combined interval analysis - Monte Carlo simulation approach for the analysis of uncertainties in parallel manipulators

The quantification of the impact of uncertainties may increase the reliability and robustness of parallel manipulators. Monte Carlo simulation (MCS) and interval analysis are among the most common techniques used in uncertainty quantification. Interval analysis provides guaranteed performance since the interval evaluation of a function always contains the exact result. Nevertheless, interval analysis estimations are very conservative, frequently yielding overestimated results. Conversely, Monte Carlo Simulation avoids overestimation, but does not provide guaranteed performance. This paper proposes a novel hybrid algorithm combining the best features of interval analysis and Monte Carlo simulation for estimating probabilities of failure in the positioning error of parallel manipulators. A 3RRR manipulator is employed as case-study. The hybrid approach provides information on the bounds (minimum and maximum values) and estimated values of failure probabilities. The simulations herein compare the hybrid approach with pure interval analysis and pure Monte Carlo simulation. The results reveal that the hybrid technique may estimate not only the probability of failure in a continuous region, but also the worst and best case probabilities, much faster than interval analysis based approaches.

     

Simulation of operation modes of a centrifugal conductive magnetohydrodynamic pump

A mathematical model of a centrifugal conductive magnetohydrodynamic (MHD) pump that calculates the distributions of velocity, current density, and pressure along the channel is developed. The viscous forces in the original system of MHD equations are taken into account on the basis of the known square law of the drag for a turbulent flow in a pipe, generalized for the case of plane flows in a channel. Dependences of the drag coefficient on the main governing parameters (metal flow rate, current intensity, and intensity of magnetic induction), which provide the agreement of the calculated and experimental data on the pressure at the pump outlet for different operation modes, are obtained. It is shown that these dependences have a universal character and the proposed model can be used to design pumps of this type and to manage their operation in production industry.     

A methodology to model the complex morphology of rough interfaces

A methodology is proposed to model the complex morphology of rough interfaces using Fourier techniques and image analysis. It allows an optimal representation of a rough interface so as to enable a realistic calculation of the local stress and strain fields in the interface vicinity using finite element techniques. The methodology is illustrated through a sensitivity analysis carried out on a thermal barrier coating system. Typical bi-material interfaces with different levels of morphological complexity are described in 2D and 3D using both periodic (sinusoidal) and Fourier functions. The results are discussed in terms of their relative accuracy.     

Conditions for the existence of a complete set of real modes for a damping vibration system

In this paper, a general damping system is transformed into an equivalent undamped system according to the transformation of general coordinates for a matrix function. The necessary and sufficient conditions for the transformability are presented, which become, after supplementing another condition as suggested, the conditions for decoupling the damping matrix of a general damping vibration system. So the Caughey's condition is insufficient for determining if a damping matrix of a general system can be decoupled.     

A novel perspective to high-speed cross-hot-wire calibration methodology

A practical cross-hot-wire calibration and data reduction methodology for instantaneous measurements of mass flux and flow angle is developed for two dimensional subsonic compressible flows. Historically, data reduction for flow conditions of 0.4?<?M?<?1.2 is regarded as problematic, even in the simplified case of flow normal mounted wires. Thus, in comparison with the incompressible and supersonic conditions, the literature addressing these flow regimes is quite limited. The present study addresses this void by relating the wire voltages to flow conditions through renormalized, Mach and overheating independent, nondimensional quantities. Therefore, a short and robust calibration can be performed in an unheated free jet facility with applicability toward a broad range of planar flow conditions. This disposes the need for typical closed loop calibration wind tunnels which vary flow velocity, density and temperature independently to parameterize the voltage dependency in a purely empirical manner.     

A recursive approach of inverse dynamics for flexible manipulators

To realize the trajectory control of a flexible manipulator, a so-called virtual rigid manipulator is introduced to describe the specified trajectory. The recursive kinematics relations and dynamics equation in the form of variation are established. A recursive approach of inverse dynamics is developed, which is simple and has higher computation efficiency. A two-links planar flexible manipulator is studied to verify the effectiveness of the approach proposed.This work was supported by the National Natural Science Foundation of China and a Doctoral Program.     

Maneuver control of the multilink flexible manipulators

In this paper a new controller for the end-effector trajectory tracking (EETT) of multilink flexible manipulators (MLFM) is introduced. The new controller is derived utilizing the concept of the integral manifold of the singularly perturbed differential equations.Based on the new controller, to reduce the end-effector trajectory tracking error, a corrective term of order ε² has to be added to the computed torque command (CTC) of the rigid link counterpart of the MLFM, where the parameter ε=1/2πf and f is the smallest non-zero natural frequency (first natural frequency) of the MLFM in the specified range of operation of the manipulator. The implementation of the new controller does not require measurement of the time derivative of the links’ lateral deflections, which may be practically impossible. This is achieved since the time derivative of the links’ lateral deflections is estimated by using an observer, which is designed based on the gain-scheduling technique. The stability of the proposed controller is proven using the Lyapunov criterion. Simulation results showed the effectiveness of the new controller.One of the main contributions of this work is in the derivation of a new EETT controller for the MLFM, based on the integral manifold concept, which: (1) requires the fewest corrective terms in addition to the CTC and (2) its calculation effort is minimized.     

Propagation of long waves into a set of parallel vertical barriers on a rotating earth

The problem of propagation of long waves into a set of parallel vertical barriers on a rotating system is considered and an exact solution is obtained showing that an appropriate Kelvin wave is created in all parts of the field.Moreover, the case of a semi-infinite rotating channel, alone, is investigated as a limiting case of the above problem.     

Flow analysis for a double suction centrifugal machine in the pump and turbine operation modes

A double suction centrifugal machine has been studied, both experimentally and numerically, operating as a pump and as a turbine. Experimentally, the static performance of the machine working as a pump was obtained. These measurements were compared with equivalent numerical results from a URANS calculation. As a second step, the numerical results have been exploited to get detailed information about the flow in both operating modes (pump and turbine). The main goals of the study are, first, the validation of the numerical procedure proposed and second, the possible turbine operation of the impeller, which could point out a wider working range for the machine. The first aspect is handled by detailed analysis in the pump mode, according to previous experience of the research group. The second objective is obtained by using the numerical model to explore the flow fields obtained, when working in an inverse mode. Therefore, the presented results join the use of a numerical methodology and the turbine mode of operation for a centrifugal impeller, providing insight into the flow characteristics. When working as a pump, the flow at the suction side is characterized by the existence of an inlet tongue, which tends to enforce a uniform flow for the nominal conditions. For the turbine mode, flow patterns in the impeller, volute and suction regions are carefully investigated. The influence of the specific geometrical arrangement is also considered for this operation mode. Copyright © 2008 John Wiley & Sons, Ltd.     

A device to achieve low Reynolds numbers in an open surface water channel

When investigating flow structures, and especially flow transitions, research projects often seek to increase insight using complementary numerical and physical experiments. Obtaining exact Reynolds number correspondence can frequently be difficult in experiments, particularly when relatively low values are required. Often, available test facilities were designed and optimised for a specific velocity range, meaning they have restrictions on the minimum flow velocity. This study describes a device to reduce the flow velocity locally in an open surface water channel. The underlying idea is to divert a controlled fraction of the incoming flow from the working section by increasing the pressure there, resulting in reduced velocity. This idea is realised using a ‘sub-channel’ that can be inserted into the main test chamber, with a variable porosity perforated screen at its downstream end. This study assesses and optimises the flow quality inside this structure, such as usable test section length, uniformity of the velocity profiles and turbulence intensity. The results demonstrate that the device creates high quality low Reynolds number flows, which is exemplified with the canonical circular cylinder in cross-flow.     

Dynamic operation modes of AFM: Non-linear behavior and theoretical analysis of the stability of the AFM oscillator

The first part of this paper gives a theoretical study of the mechanics of contact of an AFM tip on viscous materials. Analytical expressions are derived showing the non-linear behaviors specifically related to the use of dynamic operation modes of AFM on viscous materials. A detailed analysis of the dissipated energy as a function of the tip indentation is presented. The second part is dedicated to a theoretical analysis investigating the domain of stability of the oscillator and the influence of the machine. The theoretical approach includes the electronic feedback loop used with the frequency modulation mode. Because the interaction between the tip and the sample produces a dynamical non-linear behavior, an unstable branch occurs that can change the stability of the oscillator. In particular, a sudden jump of the oscillating tip can be produced. In spite of the complexity of the problem, the analytical approach ends with two simple equations. The two equations provide an unambiguous way of discriminating between the contributions from the machine and the tip sample interaction.