Looking for breakthrough ideas for innovation challenges? Try Patsnap Eureka!

Kinematics and dynamics solving method of underactuated mechanism with flexible kinematic pair

A technique of dynamic equations and kinematics, used in special data processing applications, instruments, electrical digital data processing, etc.

Inactive Publication Date: 2017-02-22
HEBEI UNIV OF TECH
View PDF5 Cites 2 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] Aiming at the deficiencies of the prior art, the technical problem to be solved by the present invention is to provide an iterative algorithm for solving kinematics and dynamics of an underactuated mechanism with a flexible motion pair. The principle of constant acceleration is used to iterate and solve, that is, it is directly considered that the velocity and acceleration in different time intervals are step changes, and there is no need to solve the velocity and acceleration through the integral method, which overcomes the problem of the second-order non-holonomic constraints in the current underactuated mechanism. Defects that cannot perform integral iteration

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Kinematics and dynamics solving method of underactuated mechanism with flexible kinematic pair
  • Kinematics and dynamics solving method of underactuated mechanism with flexible kinematic pair
  • Kinematics and dynamics solving method of underactuated mechanism with flexible kinematic pair

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0073] This embodiment takes the planar two-degree-of-freedom underactuated mechanism with flexible moving pairs as the research object, such as figure 1 As shown, establish the coordinate system of the mechanism, take point A as the coordinate origin, take the line AD as the x-axis, the direction pointing to D is the positive direction of the x-axis, and the vertical x-axis is the positive direction of the y-axis. The parameters of each component of the mechanism See Table 1.

[0074] Table 1 Component parameters of the underactuated mechanism with flexible kinematic pairs

[0075]

[0076] Define the mechanism parameters, establish the kinematics and dynamics models of the underactuated mechanism, select the iteration time step as 0.05s, and the number of iterations as 40 times. The specific modeling steps are as follows:

[0077] (2a) Use the closed vector method to establish the kinematic position equation of the mechanism:

[0078]

[0079] (2b) Deriving the kine...

Embodiment 2

[0106] This embodiment takes the underactuated mechanism with three degrees of freedom as the research object, such as Figure 6 As shown, establish the coordinate system of the mechanism, take point A as the coordinate origin, take the line AD as the x-axis, the direction pointing to D is the positive direction of the x-axis, the vertical x-axis is the positive direction of the y-axis, and the AB rod and BC rods are all moving parts. The solution process is the same as in Example 1.

[0107] What is not mentioned in the present invention is applicable to the prior art.

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention relates to a kinematics and dynamics solving iterative algorithm of an underactuated mechanism with a flexible kinematic pair. The algorithm includes the following steps: 1) establishing a coordinate system of the mechanism; 2) defining mechanism parameters, establishing a kinematic model and a dynamic model of the underactuated mechanism, and obtaining a kinematic position equation, a kinematic speed equation, a kinematic accelerated velocity equation and a dynamic equation of the mechanism; 3) giving initial condition of each component and a motion law of an original dynamic object, solving the kinematic equations and the dynamic equation of the mechanism at the time of t0, and obtaining the motion law of each component and the driving force of the original dynamic object at t0; 4) solving the kinematic equations and the dynamic equation of the mechanism at the time of tj, and obtaining the motion law of each component and the driving force of the original dynamic object at tj; 5) repeating the step 4 for n times so as to obtain the motion law of all components of the mechanism and the driving force of the original dynamic object in a whole motion cycle, drawing point by point by MATLAB, and obtaining motion raw curve of each component and a driving force change curve of the original dynamic object.

Description

technical field [0001] The invention relates to a numerical iterative algorithm, in particular to an iterative algorithm for solving kinematics and dynamic equations of an underactuated mechanism with a flexible motion pair. Background technique [0002] The underactuated mechanism has the advantages of low energy consumption, light weight, and low cost due to the reduction of the driver, but its kinematics and dynamics constraints are incomplete, and the movement of the mechanism is uncertain. In the underactuated mechanism with flexible kinematic pairs , the elastic reaction force of the flexible kinematic pair can play the role of driving force, which can make up for the incompleteness of the dynamic constraints of the underactuated mechanism to a certain extent, but the addition of the flexible kinematic pair also makes the kinematics and dynamics of the mechanism more complicated. It is difficult to solve, but the solution of the kinematics and dynamic equations of the ...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
IPC IPC(8): G06F17/50
CPCG06F30/20
Inventor 张建军杜春翠杨高炜杨飞飞
Owner HEBEI UNIV OF TECH
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Patsnap Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Patsnap Eureka Blog
Learn More
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic, Popular Technical Reports.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap|About US| Contact US: help@patsnap.com