Topic
Inertia
About: Inertia is a research topic. Over the lifetime, 12006 publications have been published within this topic receiving 164291 citations.
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TL;DR: A control method is proposed which completely decouples the motion of the manipulator into the task-space motion and the internal motion and enables the selection of dynamic characteristics in both subspaces separately.
Abstract: In this paper, a method for force control of redundant robots in an unstructured environment is proposed. We assume that the obstacles are not known in advance. Hence, the robot arm has to be compliant with the environment while tracking the desired position and force at the end-effector. First, the dynamic properties of the internal motion of redundant manipulators are considered. The motion is decoupled into the end-effector motion and the internal motion. Next, the dynamic model of a redundant manipulator is derived. Special attention is given to the inertial properties of the system in the space where internal motion is taking place; the authors define a null-space effective inertia and its inverse. Finally, a control method is proposed which completely decouples the motion of the manipulator into the task-space motion and the internal motion and enables the selection of dynamic characteristics in both subspaces separately. The proposed method is verified with simulation and with experimental results of a four-degrees-of-freedom planar redundant robot.
52 citations
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TL;DR: The method is coupled with a fluid dynamics solver for fluid-structure interaction, providing a viable alternative to the finite element method for structural dynamics calculations, and in good agreement with existing numerical data and analytical solutions.
52 citations
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TL;DR: In this paper, a numerical method is proposed to study the self-starting characteristics of a Darrieus wind turbine, considering the turbine moment of inertia, and the simulation starts from the initial stationary state and continues until the final steady-periodic condition.
52 citations
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TL;DR: In this article, the fluid flow in an open-ends squeeze-film dampers due to small-amplitude circular-centered motions is considered and the linear flow equations are solved exactly for arbitrary values of the Reynolds number, and exact damping and inertia force coefficient are then derived for open ends SFDs with arbitrary L/D ratios.
Abstract: Fluid-film forces generated by squeeze-film dampers (SFD) in response to small-amplitude centered motions are of special interest for stability analyses of rotating machinery employing SFDs with strong centering springs. They form the basis for calculation of linearized damping and inertia force coefficients obtained by subjecting the journal center to very small perturbations in velocity and acceleration. The analysis considers the fluid flow in an open-ends SFD due to small-amplitude circular-centered motions. Simplified governing equations are derived; and regarding the flow to be stable and laminar, the linear flow equations are solved exactly for arbitrary values of the Reynolds number. Exact damping and inertia force coefficient are then derived for open ends SFDs with arbitrary L/D ratios. Presented at the 41st Annual Meeting in Toronto, Ontario, Canada May 12–15, 1986
52 citations
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TL;DR: In this article, a Tuned Liquid Dampers (TLD) is proposed to mitigate the vibratory response of slender buildings by increasing the size of the perforated screen.
52 citations