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Yao, Jiafeng
- Dynamic Modelling and Parameter Identification for Cable-Driven Manipulator
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Authors
Affiliations
1 College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, CN
2 State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310027, CN
1 College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, CN
2 State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310027, CN
Source
Current Science, Vol 116, No 8 (2019), Pagination: 1331-1345Abstract
Cable-driven manipulators (CDMs) have several advantages, but unknown dynamic characters restrict their control performance. The motors of CDMs are placed at the base and power is transmitted by cables between the motors and driving pulleys. These cables interact with the links of the manipulator, which poses a challenge for obtaining the dynamic model. In this study, the interaction between cables and manipulators is analysed, and a dynamic model is derived based on Newton–Euler method. To eliminate excessive variance in recursive equations, the impact of pretension force is considered and some equivalent assumptions are proposed. To improve the accuracy of parameter identification, limited terms of Fourier series are adopted for the identification trajectory. Considering various limitations of CDMs, such as maximum joint angle, speed and acceleration, artificial bee colony algorithm is used to optimize the coefficients of the identification trajectory. Simulations verify that the dynamic model can precisely calculate the driving torque of CDMs. Moreover, parameter identification experiment affirms the efficiency of the proposed parameter identification method.Keywords
Artificial Bee Colony Algorithm, Cable-Driven Manipulator, Dynamics, Parameter Identification.Full Text
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- Numerical Analysis of the Gas-Particle Two-Phase Flow in a Multistep Dust Collector
Abstract Views :295 |
PDF Views:86
Authors
Affiliations
1 College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, 210016, CN
2 Xi’an University of Technology, Xi’an 710048, CN
1 College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, 210016, CN
2 Xi’an University of Technology, Xi’an 710048, CN
Source
Current Science, Vol 117, No 12 (2019), Pagination: 1999-2005Abstract
The gas-particle two-phase flow in a multistep dust collector has been numerically analysed for the improvement of particle separation efficiency under several typical industrial conditions. Moreover, the calculated results are validated by experiments with a maximum error emax = 4.6%. The results indicate the influence of the geometrical dimensions of the multistep dust collector on particle separation efficiency and pressure drop. The present study proposes an effective approach to optimize a dust collector, which can improve particle separation efficiency at low cost and in a short development cycle.Keywords
Gas-Particle, Multistep Dust Collector, Numerical Analysis, Pressure Drop, Separation Efficiency.Full Text
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