Dynamic modeling of a Stewart platform using the generalized momentum approach

Dynamic modeling of parallel manipulators presents an inherent complexity, mainly due to system closed-loop structure and kinematic constraints.In this paper, an approach based on the manipulator generalized momentum is explored and applied to the dynamic modeling of a Stewart platform. The generalized momentum is used to compute the kinetic component of the generalized force acting on each manipulator rigid body. Analytic expressions for the rigid bodies inertia and Coriolis and centripetal terms matrices are obtained, which can be added, as they are expressed in the same frame. Gravitational part of the generalized force is obtained using the manipulator potential energy. The computational load of the dynamic model is evaluated, measured by the number of arithmetic operations involved in the computation of the inertia and Coriolis and centripetal terms matrices. It is shown the model obtained using the proposed approach presents a low computational load. This could be an important advantage if fast simulation or model-based real-time control are envisaged.     

Motion equations of cooperative multi flexible mobile manipulator via recursive Gibbs–Appell formulation

In this paper, the developed model of an N-flexible-link mobile manipulator with revolute-prismatic joints is presented for the cooperative flexible multi mobile manipulator. In this model, the deformation of flexible links is calculated by using the assumed modes method. In additions, non-holonomic constraints of the robots’ mobile platforms that bound its locomotion are considered. This limitation is alleviated through the concurrent motion of revolute and prismatic joints, although it results in computational complexity and changes the final motion equations to time-varying form. Not only is the proposed dynamic model implemented for the multi-mobile manipulators with arms having independent motion, but also for multi-mobile manipulators in cooperation after defining gripper's kinematic constraints. These constraints are imported to the dynamic equations by defining Lagrange multipliers. The recursive Gibbs–Appell formulation is preferred over other similar approaches owing to the capability of solving the equations without the need to use Lagrange multipliers for eliminating non-holonomic constraints in addition to the novel optimized process of obtaining system equations. Hence, cumbersome simultaneous computations for eliminating the constraints of platform and arms are circumvented. Therefore, this formulation is improved for the first time by importing Lagrange multipliers for solving kinematic constrained systems. In the simulation section, the results of forward dynamics solution for two flexible single-arm manipulators with revolute-prismatic joints while carrying a rigid object are presented. Inverse dynamics equations of the system are also presented to obtain the maximum dynamic load-carrying capacity of the two-rigid-link mobile manipulators on a predefined path. Two constraints, namely the capacity of joint motors torque and robot motion stability are considered as the limitation criteria. The concluded motion equations are used to accurately control the movement of sensitive bodies, which is not achievable through the use of one platform.     

On-line identification of parameters of a linear multivariable discrete-time system and their convergence characteristics

A recursive algorithm for on-line identification of the parameters of linear, discrete-time, multi-input, multi-output nondynamical, and dynamical systems using noisy input and output measurements is presented in detail. Necessary and sufficient conditions for the convergence of the recursive algorithm, under certain restrictive assumptions, for arbitrary choice of initial values of the matrices described in the sequel are explicitly derived, which is one of the new results of this paper.     

Modeling and sensitivity analysis methodology for hybrid dynamical system

This paper provides a complete mathematical framework to compute the sensitivities with respect to system parameters for any second order hybrid Ordinary Differential Equation (ODE) and ranked 1 and 3 Differential Algebraic Equation (DAE) system. The hybrid system is characterized by discontinuities in the velocity state variables due to an impulsive forces at the time of event. Such system may also exhibit at the time of event a change in the equation of motions, or in the kinematic constraints.The methodology and the tools developed in this study compute the sensitivities of the states of the model and of the general cost functionals with respect to model parameters for both, unconstrained and constrained, hybrid mechanical systems. The analytical methodology that solves this problem is structured based on jumping conditions for both, the velocity state variables and the sensitivities matrix. The proposed analytical approach is then benchmarked against a known numerical method.Finally, this study emphasizes the penalty formulation for modeling constrained mechanical systems since this formalism has the advantage that it incorporates the kinematic constraints inside the equation of motion, thus easing the numerical integration, works well with redundant constraints, and avoids kinematic bifurcations.     

Kinematic and dynamic analysis of the Gantry-Tau,a 3-DoF translational parallel manipulator

This paper deals with the mathematical modeling of kinematics and dynamics of the 3-degrees-of-freedom Gantry-Tau manipulator. Compared to many other parallel robots, Gantry-Tau offers a large accessible workspace and high stiffness. The kinematics of Gantry-Tau is presented which includes inverse kinematics formulation for the position, velocity and acceleration of the mechanism. Also, based on the obtained Jacobin matrices, singular configurations of the robot are studied. Afterwards, the equations of the inverse dynamic model of the Gantry-Tau are obtained through two different methods, i.e., virtual work and Newton–Euler. Finally, a case study is performed to verify the correctness of the derived models and investigate their computational efficiency.     

Possibilities and Challenges in Kinematic Modeling of Highly Redundant,Non-Holonomic and Omnidirectional Mobile Robots

Industry as well as the private domain show an increasing interest to the field of mobile robotics. With a higher number of applications, the complexity of the required tasks rises, and therefore the community tends to use robots with many degrees of freedom (DOF). The present paper takes this topic up and focuses on challenges of the kinematical modeling of redundant, non-holonomic mobile robots by considering a 12 DOF platform. To reach an omnidirectional behaviour, the actuated wheels are diagonally mounted on the chassis. Well known problems resulting from this set-up are parametric singularities which unnecessarily restrict the motion of the mathematical model. As it turns out, this problem can be avoided by the use of a non-minimal parametrized model. An additional challenge results from the inverse kinematic (IK) problem on velocity level. The corresponding equations are highly underdetermined and, due to the non-holonomic wheels, not directly affected by the steering angle velocities. This problem is solved by performing a local optimization on acceleration level. Finally, simulation results are presented. (© 2014 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim)     

Error Bounds for Nonnegative Dynamic Models

The extension of Markov reward models to dynamic models with nonnegative matrices is motivated by practical applications, such as economic input–output, employment, or population models. This paper studies the generalization of error bound theorems for Markov reward structures to dynamic reward structures with arbitrary nonnegative matrices. Both irreducible and reducible matrices are covered. In addition, results for the stochastic case are unified and extended. First, generalized expressions are derived for average reward functions. The special normalization case is distinguished and is shown to be transformable into the stochastic case. Its interpretation is of interest in itself. Next, error bound results are studied. Under a general normalization condition, it is shown that the results for the stochastic case can be extended. Both the average case and the transient case are included. A random walk-type example is included to illustrate the results.     

多体机械手的一般动力学模型

本文建立了多体机械手的一般动力学方程.设多体系统是由任意数目的刚体组成的树形拓扑结构,并认为铰是柱铰链,允许具有相对转动和滑动.考虑到实际问题中摩擦力的影响,采用Newton-Euler方法,建立了运动方程.进一步通过构造分配矩阵,将动力学方程分离,得到了一组实用的力方程和运动方程.     

Non-linear reflection of a plane wave in an elastic medium

Exact formulae are derived for the reflected and refracted waves which occur for the inclined incidence of a plane horizontally polarized transverse wave of arbitrary profile on a horizontal interface between two elastic half-spaces experiencing non-linear friction when they move with respect to one another. A smooth function of general form is adopted as the friction function, which depends on the difference between the horizontal velocities of the elements of the boundaries of the half-spaces considered. It is shown that if the friction function depends non-monotonically on the relative velocity of displacement of the sides of a slit, then even when the profile of the incident wave is smooth, the reflected and refracted waves may contain strong discontinuities.     

A Unified Approach to Optimal Feedback in the Infinite-Dimensional Linear-Quadratic Control Problem with an Inequality Constraint on the Trajectory or Terminal State

This paper develops a unified approach to optimal feedback controlin the infinite-dimensional linear-quadratic control problemwith an inequality constraint on the trajectory or terminalstate. A general abstract Hilbert-space framework for the problemis provided, and then the results are specified to concreteoptimal problems for a linear infinite-dimensional system whichallows unboundedness in the input and output operators. In allcases, the same technique is used in order to obtain the optimalcontrol in feedback form; in some cases, the differential Riccatiequation is derived for the optimal cost operator.     

Auto-balancing of a rotor with an orthotropic elastic shaft

The self-balancing of a statically unbalanced orthotropic elastic rotor equipped with a ball auto-balancing device is investigated. Equations of motion in fixed and rotating systems of coordinates, as well as equations describing steady motions of the regular precession type, are derived using a simple model of a Jeffcott rotor. Formulae for calculating the amplitude-frequency and phase-frequency characteristics of the precessional motion of the rotor are obtained. It is established that the conditions for a steady balanced mode of motion for an orthotropic rotor to exist have the same form as for an isotropic rotor, but the stability region of such a mode for an orthotropic rotor is narrower than the stability region for an isotropic rotor. The unsteady modes of motion of the rotor in the case of rotation with constant angular velocity and in the case of passage through critical velocities with constant angular acceleration is investigated numerically. It is established that the mode of slow passage through the critical region for an orthotropic rotor is far more dangerous than the similar mode for an isotropic rotor.     

一般空间7R机构的运动分析

本文对一般空间7R机构进行位移、速度和加速度分析.在文[2]所述方法的基础上,导出输入输出16次代数方程,推导和计算比较简便.文中利用人工智能语言确定位移方程的系数,大大减轻人工劳动量.此外,在位移分析的基础上进行速度和加速度分析.文末以数字实例验证了计算结果.本文和文[5]的结果,为进一步应用人工智能语言,建立空间机构运动分析专家系统打下了基础.     

On asymptotic motions of robot-manipulator in homogeneous space

In this paper the notion of robot-manipulators in the Euclidean space is generalized to the case in a general homogeneous space with the Lie group G of motions. Some kinematic subspaces of the Lie algebra (the subspaces of velocity operators, of Coriolis acceleration operators, asymptotic subspaces) are ntroduced and by them asymptotic and geodesic motions are described.     

大垂度柔索的动力学建模与仿真

用多刚体-球铰模型对大垂度柔索进行离散化建模,利用多刚体系统动力学理论建立了该模型的动力学方程.采用矩阵广义逆理论对其位移和速度进行修正,以消除该微分-代数方程在数值分析中的违约现象.数值仿真证明了该方法的正确性.     

Scale-invariant asset pricing and consumption/portfolio choice with general attitudes toward risk and uncertainty

Motivated by notions of aversion to Knightian uncertainty, this paper develops the theory of competitive asset pricing and consumption/portfolio choice with homothetic recursive preferences that allow essentially any homothetic uncertainty averse certainty-equivalent form. The market structure is scale invariant but otherwise general, allowing any trading constraints that scale with wealth. Technicalities are minimized by assuming a finite information tree. Pricing restrictions in terms of consumption growth and market returns are derived and a simple recursive method for solving the corresponding optimal consumption/portfolio choice problem is established.     

Input, output and graph technical efficiency measures on non-convex FDH models with various scaling laws: An integrated approach based upon implicit enumeration algorithms

In a recent article, Briec, Kerstens and Vanden Eeckaut (2004) develop a series of nonparametric, deterministic non-convex technologies integrating traditional returns to scale assumptions into the non-convex FDH model. They show, among other things, how the traditional technical input efficiency measure can be analytically derived for these technology specifications. In this paper, we develop a similar approach to calculate output and graph measures of technical efficiency and indicate the general advantage of such solution strategy via enumeration. Furthermore, several analytical formulas are established and some algorithms are proposed relating the three measurement orientations to one another.     

Extended hybrid pressure and velocity boundary conditions for D3Q27 lattice Boltzmann model

The extended hybrid electronic-ionic, thermal, magnetic, electric and force couple fields pressure and velocity boundary conditions for D3Q27 lattice Boltzmann model is established. Then, the closed-form solutions of extended distribution functions are derived. Last, the Fukushima nuclear plant Cesium-137 penetration case is discussed.     

Lp-based combinatorial problem solving

A tutorial outline of the polyhedral theory that underlies linear programming (LP)-based combinatorial problem solving is given. Design aspects of a combinatorial problem solver are discussed in general terms. Three computational studies in combinatorial problem solving using the polyhedral theory developed in the past fifteen years are surveyed: one addresses the symmetric traveling salesman problem, another the optimal triangulation of input/output matrices, and the third the optimization of large-scale zero-one linear programming problems.     

Exact model matching of generalized state space systems

The problem of exact model matching for generalized state space (GSS) systems via pure proportional state and output feedback is studied. The following two major issues are resolved here for the first time: The necessary and sufficient conditions for the problem to have a solution and the general analytical expressions for the exact modelmatching controller matrices. The important case of left invertible systems is treated separately wherein simple solutions are established for the above two major issues and results on structural properties of the closed-loop system are reported. Known results on model matching of regular systems are derived as a special case of the GSS systems results, thus unifying the solution of the exact model-matching problem of regular and singular systems.The work described in this paper has been partially funded by the General Secretariat for Research and Technology of the Greek Ministry of Industry, Research, and Technology and by the Heracles General Cement Company of Greece.     

Solitary wave solutions for a general Boussinesq type fluid model

The possible solitary wave solutions for a general Boussinesq (GBQ) type fluid model are studied analytically. After proving the non-Painlevé integrability of the model, the first type of exact explicit travelling solitary wave with a special velocity selection is found by the truncated Painlevé expansion. The general solitary waves with different travelling velocities can be studied by casting the problems to the Newtonian quasi-particles moving in some proper one dimensional potential fields. For some special velocity selections, the solitary waves possess different shapes, say, the left moving solitary waves may possess different shapes and/or amplitudes with those of the right moving solitons. For some other velocities, the solitary waves are completely prohibited. There are three types of GBQ systems (GBQSs) according to the different selections of the model parameters. For the first type of GBQS, both the faster moving and lower moving solitary waves allowed but the solitary waves with“middle” velocities are prohibit. For the second type of GBQS all the slower moving solitary waves are completely prohibit while for the third type of GBQS only the slower moving solitary waves are allowed. Only the solitary waves with the almost unit velocities meet the weak non-linearity conditions.