Dynamic Modeling and Analysis of Propulsion effect of 3 DoF robot

Dynamical Modeling of robots is commonly first important step of Modeling, Analysis and Control of robotic systems. This paper is focused on using Denavit-Hartenberg (DH) convention for kinematics and Newton- Euler Formulations for dynamic modeling of 3 DoF - Degree of Freedom of 3D robot. The process of deriving of dynamical model is done using Software Maple. Simulations are done using Matlab/Simulink for analysis of propulsion effect under Earth gravity when First Link rotates with 1000 rpm, second Link can move free in vertical direction and Third Link can rotates free around their rotations axle. Simulations results shows very good propulsion of proposed 3 DoF robot. Results are verified-compared with constructed model of 3 DoF robot using Working Model 3D Software

Dynamic Modeling and Analysis of Propulsion effect of 3 DoF robot

Dynamical Modeling of robots is commonly first important step of Modeling, Analysis and Control of robotic systems. This paper is focused on using Denavit-Hartenberg (DH) convention for kinematics and Newton-Euler Formulations for dynamic modeling of 3 DoF - Degree of Freedom of 3D robot. The process of deriving of dynamical model is done using Software Maple. Simulations are done using Matlab/Simulink for analysis of propulsion effect under Earth gravity when First Link rotates with 1000 rpm, second Link can move free in vertical direction and Third Link can rotates free around their rotations axle. Simulations results shows very good propulsion of proposed 3 DoF robot. Results are verified-compared with constructed model of 3 DoF robot using Working Model 3D Software

Communication and Interaction between Humanoid Robots and Humans

This paper deals with future robots that will be developed to assist and/or partially replace human activities that would provide for humans very much and frequently needed general-types of repetitive services for their daily tasks and engagements. As indeed the very name of humanoid robots intensely suggests, these engagements despite being routinely self-understood by implication as necessities of daily life, their frequency and repetitiveness, alongside other necessities of distributed elements of an increasingly intelligent daily environment, impose the need for deployment of various kinds of robots. It is to be assumed that there will be middle grounds between different types of humanoid robots, depending on the strength of their field of application. Collaborative robots that are conceived and intended to work i.e., collaborate safely with humans in a joint and shared workspace will expand and develop and be applied in increasingly diverse functions and working environments. Nowadays, intelligent robots are of course widely feasible and also increasingly available, but needless to say, even in the long run they will and cannot surpass the people in their creativity, their ability to learn in their differentiation, and maybe not even manage to catch up with all human complex requirements and needs. People will understandably continue to have a firm grip on the main switch

Material Research for the Production of Outdoor and Kitchen Knife Blades at Low Costs

In today’s modern times, consumers have changed the idea of shopping. They want a functional product with performance at a low price. On the other hand, the consumer demands a variety of products in the market in terms of dimensions and usability. As the requirements are different, the engineers are challenged with different tasks related to the design of production systems, process design, organization and marketing. In this research, we will present some of the special materials used for knife blades manufactured worldwide. The proper selection of materials and their thickness significantly affects the production price, processing method, corrosion resistance, mass. Special emphasis in the work is devoted to the design of the knife blade for household requirements, model ARIA22, made of EN 1.4028 stainless steel material. It describes the work of the die block, blanking punch, the necessary energy parameters for the realization of the processing process with piercing and punching, as well as the profitability of the production

Propulsion Effect Analysis of 3Dof Robot Under Gravity

AbstractModeling, Analysis and Control of robotic systems usually requires that initially the Dynamical Modeling to be carried out. In this paper is used Denavit-Hartenberg (DH) convention for kinematics and Newton-Euler formulations for dynamical modeling of 3DOF robot (3 degree of freedom). Dynamical model is derived by using Software Maple. Simulations for the analysis of propulsion effect under gravity are done using Matlab/Simulink, where Link 1 rotates with 1000rpm, Link 2 can move freely in vertical direction and Link 3 can rotate freely around its rotation axle. Simulation results show that propulsion of the proposed 3DOF robot is very good. Results are verified-compared with the constructed model of 3DOF robot by using Working Model 3D

Mathematical Model for Velocity Calculation of Three Types of Vehicles in the Case of Pedestrian Crash

This paper treats influencing factors in the determination of vehicles speed on the pedestrian crash moment according to pedestrian throw distance and formulates a mathematical model for vehicle speed determination. Vehicle speed is one of the highest causes of accidents. The mathematical model formulation (as the target of this paper) for velocity calculation, in the case of pedestrian accidents, presents great help and guidance to experts of this field when dealing with accident analysis that through accurate determination of this parameter to find other circumstances as close as possible to the technical process of pedestrian accidents. The target of this paper is to define a mathematical model formulation for vehicle velocity calculation in pedestrian crash moment depending on relevant parameters. For the purpose of model formulating, we have selected three cases of real accidents that involved vehicles (“Peugeot 307”, “VW Golf ” and “Mercedes E 220”) with different geometrical parameters of the front profile and pedestrians with different heights and weights. For regression analysis we used “R” and “SPSS” software, which enables the statistical analysis of the data and mathematical model formulation. Also, for analysis of impact of relevant factors, model formulation and model testing have used “Virtual Crash” and “PC Crash” software, which enables pedestrian-vehicle crash simulation using vehicles with real technical characteristics and various pedestrian characteristics. Inductive, comparative, and deductive methods are part of the research methods in this paper

Dynamic Modelling and Analyzing of a Walking of Humanoid Robot

This paper focuses on the walking improvement of a biped robot. The zero-moment point (ZMP) method is used to stabilise the walking process of robot. The kinematic model of the humanoid robot is based on Denavit- Hartenberg’s (D-H) method, as presented in this paper. This work deals with the stability analysis of a two-legged robot during double and single foot walking. It seems more difficult to analyse the dynamic behaviour of a walking robot due to its mathematical complexity. In this context most humanoid robots are based on the control model. This method needs to design not only a model of the robot itself but also the surrounding environment. In this paper, a kinematic simulation of the robotic system is performed in MATLAB. Driving torque of the left and right ankle is calculated based on the trajectory of joint angle, the same as angular velocity and angular acceleration. During this process an elmo motion controller is used for all joints. The validity of the dynamic model is tested by comparing obtained results with the simulation results

Control Theory Application for Swing Up and Stabilisation of Rotating Inverted Pendulum

This paper introduces a new scheme for sliding mode control using symmetry principles for a rotating inverted pendulum, with the possibility of extension of this control scheme to other dynamic systems. This was proven for swing up and stabilisation control problems via the new sliding mode control scheme using both simulations and experiments of rotary inverted pendulum (RIP) underactuated systems. According to the Lyapunov theory, a section of the pendulum was compensated with a scale error in the upright position, as the desired trajectory was followed by the pendulum arm section. As the RIP’s dynamic equations were nonlinearly complex and coupled, the complex internal dynamics made the task of controller design difficult. The system control for the pathway of the reference model of the rotational actuator with the application of the sliding mode technique for moving back and forth up the inverted pendulum’s structure, till the arm to reach the linear range round the vertical upright position, was created and tested in an existent device. The stabilisation scheme was switched on in the sliding mode as soon as the arm reached the linear range. A comparison of the stabilisation performance for the same rotating inverted pendulum as discussed by other authors revealed that the proposed controller was more flexible and reliable in terms of the swing up and stabilisation time