Development of Dynamic Model of a 7
نویسنده
چکیده
In this paper the problem of system integration and dynamic modeling of a hydraulically actuated manipulator with seven degrees of freedom, i.e. HydroLek HLK-7W is investigated. The arm is fitted on Multi-Arm mobile Robot System for Nuclear Decommissioning (MARS–ND) applications purposes. This is a step forward with respect to the previous works where only kinematics of the robot was taking into account. As the decommissioning robot has to perform precise and complex tasks autonomously using effective model-based nonlinear control algorithms having an accurate dynamic model of the arm which is reliable enough to predict the behavior of the manipulator under different operating conditions would be crucial. To this end the symbolic, and numerical model of the dynamic of robot is developed and a first attempt for model validation and tuning the parameters of the model is taken forward.
منابع مشابه
Development of a New Dynamic Friction Model for Analytical Modeling of Elliptical Vibration Assisted Turning Process
A new dynamic friction model for modeling of elliptical vibration assisted turning (EVAT) was developed in this research. The periodic change of the friction force direction is known to be one of the most important causes of this phenomenon. In modeling of machining processes (including the EVAT process), static Coulomb friction model was employed by most of the researchers. Because of the peri...
متن کاملDevelopment of a New Dynamic Friction Model for Analytical Modeling of Elliptical Vibration Assisted Turning Process
A new dynamic friction model for modeling of elliptical vibration assisted turning (EVAT) was developed in this research. The periodic change of the friction force direction is known to be one of the most important causes of this phenomenon. In modeling of machining processes (including the EVAT process), static Coulomb friction model was employed by most of the researchers. Because of the peri...
متن کاملDevelopment of a compression system dynamic simulation code for testing and designing of anti-surge control system
In recent years, several research activities have been conducted to develop knowledge in analysis, design and optimization of compressor anti-surge control system. Since the anti-surge control testing on a full-scale compressor is limited to possible consequences of failure, and also the experimental facility can be expensive to set up control strategies and logic, design process often involves...
متن کاملModeling dynamic factors affecting fine motor development milestone of 9-12 months old infants using structural equation model
Introduction: Investigating the factors affecting motor development is very important in identifying the causes of motor developmental delay for parents and occupational therapists in the development of pediatric treatment. This study aims to model dynamic factors affecting fine motor development milestones of 9-12 months old infants. Method: in this study 283 children were screened by age and ...
متن کاملDevelopment of a Hybrid Model for the Evaluation of Sustainable Supply Chains using Dynamic Network Data Envelopment Analysis
Developing realistic models for the evaluation of sustainable supply chains has turned into a major challenge facing managers. The decision-making approaches proposed here consist of two stages. At the first stage, a dynamic-network data envelopment analysis (DNDEA) model is established for the first time, wherein the current efficiency of a business can be influenced by its prior social and en...
متن کاملDynamic Modeling of Economic System in Iran
The long term goal attaining of economic system management requires the establishment of a dynamic framework to integrate multiple perspectives. This article considers the problem of economic development in macro level. As economic systems are complex adaptive systems composed of numerous numbers of components of dynamic and multidimensional nature, dynamics method is applied in this research. ...
متن کامل