Review of the performance optimization of parallel manipulators

Dynamic behaviour of a wind turbine gear system with uncertainties

Fault diagnosis of an internal combustion engine is proposed herein by means of vibration analysis; in order to show the reliability of it, this paper presents a comparative study of normal and faulty scenarios An engine test bench was used to acquire the vibration signals For this study, the fault considered on the bench was misfire, which was induced by removing the spark plug wire of a cylinder Fast Fourier Transform was used to obtain the frequency domain of the signal as a preliminary step to the subsequent identification process based on statistical characteristics extraction In order to validate previous works on misfire with pure gasoline, measurements included tests performed with ethanol-gasoline fuel blends, namely E30, E20 and commercially available E8 at three different speeds A simpler classification process was obtained with the extraction of several statistical characteristics from several frequency bands, based on the excited frequency components The presence of three peaks (at 075, 125, and 15 of the combustion frequency) in the vibration signal of the engine block in the transversal direction for the induced misfire condition, provided differentiation between normal and faulty conditions with all tested fuel blends According to results, changes in the fuel mix seem to have little impact on the performance and behavior of the engine vibration signals

http://www.diagnostyka.net.pl/pdf-78345-17617?filename=Engine diagnosis based on.pdf

Engine diagnosis based on vibration analysis using different fuel blends

In this study, the workspace volume of a 3R manipulator has been maximized using a biologically inspired optimization algorithm, namely Adaptive Cuckoo Search (ACS) algorithm. The proposed algorith...

An approach for design optimization of 3R manipulator using Adaptive Cuckoo Search algorithm

Strength and durability investigations of parallel-mechanism (PM) and robotic systems, used as integral part in modern manufacturing, are necessary at the virtual design stage. Nonetheless, because...

A geometrically accurate deformable-body approach for the analysis of robotic and parallel-mechanism systems

In this article, we propose a method for the optimal dimensional synthesis of planar parallel manipulators covering a specified workspace. The proposed method aims to reduce the dimensions of the l...

Synthesis of planar parallel manipulators including dexterity, force transmission and stiffness index

This paper presents the detection of failure in gears using, as a statistical indicator, the Root Mean Square value from the vibration residual signal. Models for three double stage gearboxes are considered on the analysis. The gear models are designed with different modules in order to preserve geometrical resemblance. This research shows the variation on gear mesh stiffness for different amounts of damage. This paper also describes the development of a model to simulate the vibration response from the double stage gearbox for conditions with and without failure. The variation on time of the gear mesh stiffness is taken into account on the dynamic simulation, and damping coefficient is considered proportional to gear mesh stiffness. Results obtained from dynamic simulation for both good state and with failure teeth are in accordance with the results reported on literature.

Design, modeling and dynamic simulation of three double stage gearboxes with different module, mesh stiffness fluctuation and different level tooth breakage

Pressure is one of the essential variables to give information about engine condition and monitoring. Direct recording of this signal is complex and invasive, while angular velocity can be measured. Nonetheless, the challenge is to predict the cylinder pressure using the shaft kinematics accurately. In this paper, a time-delay neural network (TDNN), interpreted as a finite pulse response (FIR) filter, is proposed to estimate the in-cylinder pressure of a single-cylinder internal combustion engine (ICE) from fluctuations in shaft angular velocity. The experiments are conducted over data obtained from an ICE operating in 12 different states by changing the angular velocity and load. The TDNN’s delay is adjusted to get the highest possible correlation-based score. Our methodology can predict pressure with an R2 >0.9, avoiding complicated pre-processing steps.

Tdnn-Based Engine In-Cylinder Pressure Estimation from Shaft Velocity Spectral Representation

En este trabajo se realiza la cinematica inversa de un robot redundante tipo Scorbot-ER VPlus, al que se le ha anadido un grado de libertad adicional, consistente en una base deslizante. Para la solucion del problema cinematico inverso se aplica un proceso iterativo de evaluacion del desempeno del manipulador en diferentes configuraciones. Se selecciona una coordenada de nodo como variable en el proceso y fijando su valor, se determinan las demas coordenadas a partir del modelo cinematico inverso del manipulador original. Para esta configuracion se evaluan diversos indices de desempeno aplicados a sistemas roboticos y se analiza el costo computacional de su inclusion en la solucion del problema cinematico inverso. Posteriormente se varia la coordenada seleccionada y se repite el proceso. De esta manera es posible evaluar para que indices de desempeno se logran menores tiempos de resolucion, buscando su aplicacion e inclusion dentro del control cinematico del robot redundante.

/pdf/inverse-kinematics-of-a-redundant-robot-type-scorbot-er-14pkdjx8gy.pdf

Inverse kinematics of a redundant robot type scorbot – ER Vplus: influence of performance indices

https://hal.archives-ouvertes.fr/hal-01907282/document

Héctor Fabio Quintero-Riaza

Papers

Synthesis of planar parallel manipulators including dexterity, force transmission and stiffness index

Design, modeling and dynamic simulation of three double stage gearboxes with different module, mesh stiffness fluctuation and different level tooth breakage

Tdnn-Based Engine In-Cylinder Pressure Estimation from Shaft Velocity Spectral Representation

Inverse kinematics of a redundant robot type scorbot – ER Vplus: influence of performance indices

Aplicación de los Robots Paralelos