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Abstract This paper introduces a new computational approach for the articulated joint/deformation actuation and motion control of robot manipulators with flexible components. Oscillations due to small deformations of relatively stiff robot components which cannot be ignored, are modeled in this study using the finite element (FE) floating frame of reference (FFR) formulation which employs two coupled sets of coordinates: the reference and elastic coordinates. The inverse dynamics, based on the FFR formulation, leads to driving forces associated with the deformation degrees of freedom. Because of the link flexibility, two approaches can be considered to determine the actuation forces required to achieve the desired motion trajectories. These two approaches are the partially constrained inverse dynamics (PCID) and the fully constrained inverse dynamics (FCID). The FCID approach, which will be considered in future investigations and allows for motion and shape control, can be used to achieve the desired motion trajectories and suppress undesirable oscillations. The new small-deformation PCID approach introduced in this study, on the other hand, allows for achieving the desired motion trajectories, determining systematically the actuation forces and moments associated with the robot joint and elastic degrees of freedom, and avoiding deteriorations in the vibration characteristics as measured by the differences between the inverse- and forward-dynamics solutions. A procedure for determining the actuation forces associated with the deformation degrees of freedom is proposed and is exemplified using piezoelectric actuators. The PCID solution is used to define a new set of algebraic equations that can be solved for the piezoelectric actuation voltages required to maintain the forward-dynamics oscillations within their inverse-dynamics limits. A planar two-link flexible-robot manipulator is presented to demonstrate the implementation of the joint/deformation actuation approach. The results obtained show deterioration in the robot precision if the deformation actuation is not considered.
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Numerical Study of Motion of Falling Conical Graupel
In the present study, the attitudes of freely-falling conical graupel with a realistic range of densities are investigated numerically by solving the transient Navier-Stokes equations and the body dynamics equations representing the 6-degrees-of-freedom motion. This framework allows us to determine the position and orientation of the graupel in response to the hydrodynamic force of the flow fields. The results show more significant horizontal movements than those cases with a fixed bulk density of ice assumed in our previous study. This is because the real graupel particles possess the density less than the bulk density of ice, which, in turn, leads to a relatively small mass and a relatively small set of moments of inertia. We demonstrate that, with the six degrees of freedom considered together, when Reynolds number is small, a typical damped oscillation occurs, whereas when Reynolds number is high, amplifying oscillation may occur which leads to more complicated and unpredictable flying attitudes such as tumbling. The drag coefficients obtained in the present study agree with the previous studies and can be approximated by that of spheres of the same Reynolds numbers. We also show that conical graupel can perform significant horizontal translations which can be on the order of 1 km in 1 h.
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- Award ID(s):
- 1633921
- PAR ID:
- 10063480
- Date Published:
- Journal Name:
- Atmospheric research
- Volume:
- 199
- ISSN:
- 0169-8095
- Page Range / eLocation ID:
- 82-92
- Format(s):
- Medium: X
- Sponsoring Org:
- National Science Foundation
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- Free Publicly Accessible Full Text
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Accepted Manuscript1.0
- Journal Article:
- https://doi.org/http://dx.doi.org/10.1016/j.atmosres.2017.09.008
