• Structural Engineering and Mechanics
• /
• v.62 no.5
• /
• pp.619-629
• /
• 2017

This paper focuses on the study of complete dynamic modeling and maximum dynamic load carrying capacity computation of N-flexible links and N-flexible joints mobile manipulator undergoing large deformation. Nonlinear dynamic analysis relies on the Timoshenko theory of beams. In order to model the system completely and precisely, structural and joint flexibility, nonlinear strain-displacement relationship, payload, and non-holonomic constraints will be considered to. A finite element solution method based on mixed method is applied to model the shear deformation. This procedure is considerably more involved than displacement based element and shear deformation can be readily included without inducing the shear locking in the element. Another goal of this paper is to present a computational procedure for determination of the maximum dynamic load of geometrically nonlinear manipulators with structural and joint flexibility. An effective measure named as Moment-Height Stability (MHS) measure is applied to consider the dynamic stability of a wheeled mobile manipulator. Simulations are performed for mobile base manipulator with two flexible links and joints. The results represent that dynamic stability constraint is sensitive when calculating the maximum carrying load. Furthermore, by changing the trajectory of end effector, allowable load also changes. The effect of torsional spring parameter on the joint deformation is investigated in a parametric sensitivity study. The findings show that, by the increase of torsional stiffness, the behavior of system approaches to a system with rigid joints and allowable load of robot is also enhanced. A comparison is also made between the results obtained from small and large deformation models. Fluctuation range in obtained figures for angular displacement of links and end effector path is bigger for large deformation model. Experimental results are also provided to validate the theoretical model and these have good agreement with the simulated results.

• Journal of the Korean Institute of Intelligent Systems
• /
• v.15 no.6
• /
• pp.720-729
• /
• 2005

In this paper, we design the indirect adaptive controller using Wavelet Neural Network(WNN) for unknown nonlinear systems. The proposed indirect adaptive controller using WNN consists of identification model and controller. Here, the WNN is used in both Identification model and controller The WNN has advantage of indicating the location in both time and frequency simultaneously, and has faster convergence than MLPN and RBFN. There are several training methods for WNN, such as GD, GA, DNA, etc. In this paper, we present the Extended Kalman Filter(EKF) based training method. Although it is computationally complex, this algorithm updates parameters consistent with previous data and usually converges in a few iterations. Finally, ore illustrate the effectiveness of our method through computer simulations for the Buffing system and the one-link rigid robot manipulator. From the simulation results, we show that the indirect adaptive controller using the EKF method has better performance than the GD method.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.37 no.8
• /
• pp.1035-1041
• /
• 2013

To evaluate the structural integrity and dynamic characteristic of the knuckle part of a KTX anti-roll bar, an experimental and a numerical approach were used in this study. In the experimental approach, the acceleration and strain data for the knuckle parts of the KTX and KTX-SANCHUN anti-roll bar were respectively measured to evaluate and compare its structural dynamic characteristics under the operating environments of the Honam line. In the numerical approach, the evaluation of its structural integrity was conducted using LS-DYNA 3D, and then, the reliability of the finite element model used was ensured by a comparative evaluation with the experiment. The numerical results showed that the stress and velocity field of the knuckle part composed of a layered structure of a thin steel plate and rubber were more moderate than those of the knuckle part made of only a thick steel block owing to the reduction of relative contact between the knuckle and the connecting rod. It was found that the knuckle part made of a thin steel plate and rubber was recommended as the best solution to improve its structural integrity resulting from the elastic behavior of the KTX anti-roll bar being enabled under a repeating external force.