Towards an Energetic Modeling of Rotorcraft Using Bond-Graphs

Presented at the AHS 69th Annual Forum, Phoenix, Arizona, May 21 –23, 2013. Copyright © 2013 by the American Helicopter Society International, Inc. All rights reserved.The paper presents an energetic method of helicopters dynamics analysis to study the air resonance (AR) phenomena. First, a brief state of art of AR phenomena is presented and a simple energetic explanation is given. Then part of the state of art is devoted to the Bond Graph (BG) and Multi-Bond Graphs (MBG) modeling method showing several advantages of the tool and few examples of MBG researches applications. This work proposes a macroscopic energetic description of a helicopter through the Word Bond Graph representation. The MBG is then used for Rotor/fuselage structure modeling in order to study the AR phenomena instability. The MBG model results are presented and show the potential of the MBG method to predict such a complex phenomenon.“Complex Mechanical Systems Dynamics” project - EADS Foundation - Arts et Metiers Paritec

Proceedings of the ECCOMAS Thematic Conference on Multibody Dynamics 2015

This volume contains the full papers accepted for presentation at the ECCOMAS Thematic Conference on Multibody Dynamics 2015 held in the Barcelona School of Industrial Engineering, Universitat Politècnica de Catalunya, on June 29 - July 2, 2015. The ECCOMAS Thematic Conference on Multibody Dynamics is an international meeting held once every two years in a European country. Continuing the very successful series of past conferences that have been organized in Lisbon (2003), Madrid (2005), Milan (2007), Warsaw (2009), Brussels (2011) and Zagreb (2013); this edition will once again serve as a meeting point for the international researchers, scientists and experts from academia, research laboratories and industry working in the area of multibody dynamics. Applications are related to many fields of contemporary engineering, such as vehicle and railway systems, aeronautical and space vehicles, robotic manipulators, mechatronic and autonomous systems, smart structures, biomechanical systems and nanotechnologies. The topics of the conference include, but are not restricted to: ● Formulations and Numerical Methods ● Efficient Methods and Real-Time Applications ● Flexible Multibody Dynamics ● Contact Dynamics and Constraints ● Multiphysics and Coupled Problems ● Control and Optimization ● Software Development and Computer Technology ● Aerospace and Maritime Applications ● Biomechanics ● Railroad Vehicle Dynamics ● Road Vehicle Dynamics ● Robotics ● Benchmark ProblemsPostprint (published version

Advances in Robot Kinematics : Proceedings of the 15th international conference on Advances in Robot Kinematics

International audienceThe motion of mechanisms, kinematics, is one of the most fundamental aspect of robot design, analysis and control but is also relevant to other scientific domains such as biome- chanics, molecular biology, . . . . The series of books on Advances in Robot Kinematics (ARK) report the latest achievement in this field. ARK has a long history as the first book was published in 1991 and since then new issues have been published every 2 years. Each book is the follow-up of a single-track symposium in which the participants exchange their results and opinions in a meeting that bring together the best of world’s researchers and scientists together with young students. Since 1992 the ARK symposia have come under the patronage of the International Federation for the Promotion of Machine Science-IFToMM.This book is the 13th in the series and is the result of peer-review process intended to select the newest and most original achievements in this field. For the first time the articles of this symposium will be published in a green open-access archive to favor free dissemination of the results. However the book will also be o↵ered as a on-demand printed book.The papers proposed in this book show that robot kinematics is an exciting domain with an immense number of research challenges that go well beyond the field of robotics.The last symposium related with this book was organized by the French National Re- search Institute in Computer Science and Control Theory (INRIA) in Grasse, France

MUSME 2011 4 th International Symposium on Multibody Systems and Mechatronics

El libro de actas recoge las aportaciones de los autores a través de los correspondientes artículos a la Dinámica de Sistemas Multicuerpo y la Mecatrónica (Musme). Estas disciplinas se han convertido en una importante herramienta para diseñar máquinas, analizar prototipos virtuales y realizar análisis CAD sobre complejos sistemas mecánicos articulados multicuerpo. La dinámica de sistemas multicuerpo comprende un gran número de aspectos que incluyen la mecánica, dinámica estructural, matemáticas aplicadas, métodos de control, ciencia de los ordenadores y mecatrónica. Los artículos recogidos en el libro de actas están relacionados con alguno de los siguientes tópicos del congreso: Análisis y síntesis de mecanismos ; Diseño de algoritmos para sistemas mecatrónicos ; Procedimientos de simulación y resultados ; Prototipos y rendimiento ; Robots y micromáquinas ; Validaciones experimentales ; Teoría de simulación mecatrónica ; Sistemas mecatrónicos ; Control de sistemas mecatrónicosUniversitat Politècnica de València (2011). MUSME 2011 4 th International Symposium on Multibody Systems and Mechatronics. Editorial Universitat Politècnica de València. http://hdl.handle.net/10251/13224Archivo delegad

Development of a simulation model of a backhoe excavator

The recent pattern of record-high fuel prices has motivated a trend towards reducing the fuel consumption of today’s equipment, while still maintaining the capability and performance offered in previous models. One opportunity to improve fuel economy that has been relatively unexplored in the literature is to understand the effect an operator has on a machine’s efficiency for a given task. Understanding the relationship between an operator’s skill level and the machine’s response poses new opportunities to improve the fuel consumption of a given piece of equipment. The focus of this thesis is to lay the framework for future studies to investigate the operator’s effect on a machine. As a first step in this project, a simulation model of a John Deere 410G backhoe is developed to be used as a future tool in incorporating and reproducing the effects of various operator skill levels and techniques on a machine. The simulation model contains three main sub-models, namely: the kinematics to recreate the motion of the system, the kinetics to predict the loads experienced by the system, and the hydraulics to drive the motion of the system. The simulation model was developed in the MATLAB Simulink environment, and allowed for both computer coding and object-oriented modeling to be used in a single package. The results from the simulation model were examined and compared to data collected from the John Deere 410G backhoe. The comparison shows that the simulation and experimental data correlate very well during steady-state actuator extensions, but future work is required to improve the simulation dynamics, and steady-state results predicted as the hydraulic actuators travel in the retraction direction