Recent Developments in Multibody Dynamics
Proceedings of IMSD-ACMD 2020
- 2025
- Book
- Editors
- Subir Kumar Saha
- K Rama Krishna
- Book Series
- Lecture Notes in Mechanical Engineering
- Publisher
- Springer Nature Singapore
About this book
This book contains papers presented during the 10th Asian Conference on Multibody Systems (ACMD) and 6th Joint International Conference on Multibody System Dynamics (IMSD). The papers cover the state-of-the-art research relating to multibody dynamics, including the development of algorithms, computational efficiency, and analytical outlooks. It focuses on the utilization of multibody systems for social application, with sections catering to the field of flexible body dynamics and vehicle dynamics as well. This book can be a valuable resource to professionals, academics, automotive engineers, and machine tool manufacturers.
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Table of Contents
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Frontmatter
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Analytical Method for Determining the Collision-Free Workspace of an Over-Constrained Planar Cable-Driven 3D Printer
Ishan Chawla, Pushparaj Mani PathakThis chapter delves into the intricate world of cable-driven parallel robots, specifically focusing on their application in 3D printing. The document explores the unique advantages of cable-driven parallel robots (CDPRs), such as their larger workspace and higher payload-to-weight ratio, which make them ideal for various large-scale applications, including 3D printing. The chapter distinguishes between suspended and over-constrained CDPRs, highlighting the challenges and benefits of each configuration. The primary focus is on over-constrained CDPRs, which, despite their higher stiffness, face significant cable-structure collisions during 3D printing. The chapter introduces an analytical method to determine the collision-free workspace of a planar over-constrained CDPR, addressing the computational intensity of traditional iterative or optimization approaches. The proposed method provides analytical expressions for both zero and variable platform orientations, enabling rapid computation and insightful design optimization. Simulation results demonstrate a substantial increase in the collision-free workspace when considering variable platform orientation, along with a significant reduction in computational time. The chapter also addresses the design optimization of the cable-driven 3D printer (CD3P) using a genetic algorithm, highlighting the impact of geometrical parameters on the printable workspace and the potential for minimizing installation space. The conclusions underscore the efficiency and effectiveness of the proposed analytical approach, recommending it for the design of cable-driven 3D printers and suggesting future extensions to spatial robots.AI Generated
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AbstractCable-driven parallel robots (CDPRs) have larger workspace, simple design, are easy to transport, assemble and disassemble, and hence, possess a great potential in on-site 3D printing of large structures. However, they are prone to collision of cables with the preceding layers of structures being 3D printed. Therefore, this work proposes an analytical approach to determine the boundary of the collision-free workspace of planar over-constrained cable robots. This workspace is composed of poses that can be reached while avoiding the collision of lower cables with the structure being printed. The analytical expressions of the collision-free workspace have been obtained for both cases, i.e., considering zero platform orientation and variable platform orientation. These analytical expressions have been utilized for rapid computation of collision-free workspace. Simulation results have been obtained for both cases, and the effect of orientation on the collision-free workspace is analyzed. Additionally, the optimal design problem of CDPR is presented to achieve the desired collision-free workspace while minimizing the installation space of the robot. The results show a significant reduction in installation space by considering the variable orientation of the platform. -
Modeling, Simulation, Optimization of the DLR Scout Rover to Enable Extraterrestrial Cave Exploration
Antoine Pignède, Roy LichtenheldtThe chapter explores the cutting-edge development of a rover designed for extraterrestrial cave exploration, focusing on the innovative use of rimless wheels to navigate challenging terrains. The rover's design incorporates compliant spokes and modular segments, enabling it to traverse steep slopes, soft sand, and high obstacles with remarkable agility. The development process is driven by advanced modeling and simulation techniques, utilizing tools like Dymola and the Rover Simulation Toolkit to create detailed digital models. These models are optimized through genetic algorithms to enhance performance metrics such as energy efficiency and torque demands. The chapter also delves into the optimization of vertebra stiffness and the determination of maximum drop heights, providing a comprehensive overview of the rover's capabilities and resilience. Through rigorous simulation and optimization, the rover demonstrates unprecedented maneuverability and robustness, making it a pioneering solution for future planetary exploration missions. The detailed analysis and practical applications presented in the chapter offer a deep dive into the intricacies of rover design and optimization, highlighting the potential for groundbreaking advancements in extraterrestrial exploration.AI Generated
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AbstractIn-situ exploration of extraterrestrial area of scientific interest remains largely impossible with the state-of-the-art wheeled rovers. To combine the advantages of wheeled and legged robots, DLR’s Institute of System Dynamics and Control is developing a modular rover with rimless wheels, called Scout. To save time and money, the development of the Scout rover makes extensive usage of modeling and simulation. A detailed multibody model of the Scout rover accompanies the system through all phases following the V-shaped development process. This starts with the detailed modeling, analysis, and optimization of the rimless wheels and other central parts. It continues with simulation tests on the full system along with optimizations. For example, the properties of the “vertebrae” that connect segments together have been laid out following a digital optimization campaign. Subjects of this text are the details of the multibody Scout rover model, optimization on the rover and simulation analyses. A first prototype of the Scout rover has been built 1.5 years after the start of the project. It is already exceeding the requirements and expectations. Such good results would not have been possible this fast without simulation and optimization. Refinement of the simulation model and validation against the hardware are the next steps. -
Simulation and Control of Shape Memory Alloy Spring Actuator in a Flexible Tube Manipulator
Nisha Bhatt, Vedanshu Seedwan, Samyak Jain, Sanjeev Soni, Ashish SinglaThis chapter presents a detailed exploration of the simulation and control of shape memory alloy (SMA) spring actuators within flexible tube manipulators. The study begins by highlighting the advantages of continuum robots over traditional rigid-link robots, emphasizing their flexibility, dexterity, and increased degrees of freedom. The focus then shifts to the use of SMA springs as actuators, which are favored for their large recoverable strains and unique phase transformations between martensite and austenite phases. The chapter delves into the mathematical modeling of a flexible tube manipulator actuated by antagonistic SMA springs, simulating the system in MATLAB to predict the temporal variation of bending angles. Experimental results are discussed, showcasing the manipulator's ability to follow a series of points via a calibration-based control algorithm. The findings demonstrate the manipulator's capability to trace 2D trajectories with a maximum positional error of 4.9 mm and 1.37 mm in the X and Y directions, respectively. The chapter concludes with a discussion on potential applications and future refinements of the control algorithm, making it a compelling read for those interested in the cutting-edge developments in robotic manipulation.AI Generated
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AbstractThe current article describes the modeling and positional control of a flexible tube manipulator intended for medical applications. The flexible tube is made of polyamide material and its tip is controlled via a calibration-based controller. The configuration is made compact with Shape Memory Alloy (SMA) spring pair as the prime actuators. Two antagonistically connected SMA spring pairs manipulate the flexible tube in 2D and the amount of current required to control the spring is delivered via the controller. The dynamics of the SMA spring pair along with the flexible tube dynamics are presented and the simulation predicts the force transmission capability of the actuator. Thereafter, experimental analysis shows the positional tracking ability of a flexible tube manipulator. -
Design and Control of All Pneumatic Virtual Motion Simulator
Ashish Siddharth, Arun Dayal Udai, Sourabh KhemkaThe chapter explores the design and control of a virtual motion simulator that utilizes pneumatic actuators, offering a cost-effective and safe alternative to traditional hydraulic or electrical systems. The simulator, based on a Stewart platform, is designed to provide six degrees of freedom, enabling precise and dynamic motion simulation. The development process is meticulously detailed, from the initial design specifications to the final assembly and testing phases. The chapter highlights the use of advanced control algorithms, including Proportional Integral Derivative (PID) and Continuous Integral Sliding Mode Control (CISMC) with Linear Quadratic Regulator (LQR), to achieve accurate position control and stability. The hardware integration section discusses the components and setup required for position-controlling pneumatic cylinders, emphasizing the use of custom-designed data acquisition systems and safety features. The results and discussion section presents simulation and experimental outcomes, demonstrating the simulator's capability to achieve precise motion control and its potential applications in gaming, driving simulation, and research. The chapter concludes by underscoring the simulator's potential for commercialization and its contributions to the field of motion simulation technology.AI Generated
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AbstractVirtual Motion Simulators are electro-mechanical systems that are used to create an immersive environment for virtual reality applications, like gaming platforms for the entertainment industry, flight training simulators, vehicle testing systems, etc. A Gough-Stewart parallel manipulator is one of the most widely used platforms to support these applications’ human handling cockpits, along with its integrated controls. Most of these motion platforms were originally proposed with hydraulic jacks [7], which later on, with advancement in electrical controls, were reported with electrical actuators [8]. Hydraulic actuators find their application in robust and huge load capacity moving platforms, whereas electrical actuators are applied mainly for applications with high stiffness and precision, like telescope mounts [14]. Both hydraulic and electrical actuators pose a trade-off of being expensive for non-critical applications like gaming platforms or training simulators where a high degree of precision is not much of a concern. On the contrary, pneumatic actuators are inexpensive, fast and offer a long linear actuation. Reckoning this, we propose using pneumatic piston linear actuators for all six legs of a Gough-Stewart platform for a Virtual Motion Simulator. However, due to the compressibility of air in the linear cylinder, the actuators are prone to external disturbances in their position due to the dynamically varying load while the platform is moving. The paper proposes to use Continuous Integral Sliding Mode Control for the precise positioning of six pneumatic actuators of the Virtual Motion Simulator. The first part of the paper will discuss the mechanical design, the kinematics and physical assembly of the motion platform. Secondly, the paper will discuss the hardware integration of the electro-pneumatic system, which implements the controller for all the six linear actuators of the Gough-Stewart platform. Next, the paper will discuss the control approaches for precise positioning of the pneumatic actuator, namely, the continuous integral sliding mode control technique. Finally, the hardware integration to the PC-based gaming engine is discussed, and the methods for extracting the data, pose, velocity and acceleration from the gaming engine are discussed. The paper will conclude with results and a discussion on the performance of the motion simulator as a whole. -
Design of Flexure Robotic Hand for Teleoperation
Mohammad Zubair, Shubham Bhandari, Indranath ChatterjeeThis chapter presents a groundbreaking approach to the design of robotic hands for teleoperation, focusing on the integration of flexure mechanisms to enhance dexterity and precision. The study begins by addressing the limitations of traditional robotic hand designs, particularly in dynamic and unstructured environments. It introduces the concept of flexure mechanisms, which eliminate the need for bearings and springs, thereby reducing friction losses and wear and tear. The design of the robotic hand features three curved flexures connected in series, driven by a tendon system, ensuring that the fingers return to their original configuration once the load is removed. The chapter delves into the design process, utilizing Castigliano’s theory to model the flexure and determine its stiffness. Finite Element (FE) simulations are conducted to evaluate the performance of the flexure system under various loads, providing a comprehensive analysis of its linear and torsional stiffness. The results highlight the flexibility and stiffness characteristics of the flexure mechanism, demonstrating its superiority over conventional designs. The chapter concludes with a discussion on the practical implications and future potential of the flexure robotic hand, particularly in applications requiring precise and intuitive teleoperation, such as bomb disposal and handling radioactive substances. The detailed design, simulation, and performance evaluation make this chapter an essential read for anyone interested in advancing the field of robotic teleoperation.AI Generated
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AbstractRobots are getting deployed at home and in industries, becoming an integral part of our daily lives. Sophisticated mechanisms are required to make the joints of the robots compact and simple. In this paper, we have developed a flexure joint for the fingers of the robotic hand. The flexure joint is arranged in series to make a three-DOF underactuated finger. Five fingers are arranged to make a robotic hand. Castigliano’s theorem is used to develop the deformation related to the applied loads, using the equation the flexure mechanism was designed. Pseudo-rigid model is developed to determine the stiffness of the flexure mechanism. A virtual model of the flexure mechanism is developed in a CAD environment. Finite Element (FE) simulation is conducted to the different loading conditions to evaluate the performance of the flexure mechanism. It was seen that the flexure mechanism is flexible about the rotational axis and stiff about the other axes. The stiffness model developed using the pseudo-rigid model has a good correlation with the FE simulation model. -
Design and Development of a Novel Rotary Actuator Based on Shape Memory Alloy and Permanent Magnet System
Deep Singh, Rutupurna Choudhury, Yogesh Singh, Santhakumar MohanThe chapter delves into the design and development of an innovative rotary actuator that leverages the unique properties of shape memory alloys (SMAs) and permanent magnets. The actuator consists of active and passive cylindrical discs connected by NiTi SMA springs, enabling bi-directional rotation through the controlled contraction of the SMA springs. The experimental setup and results demonstrate the actuator's capability to achieve precise angular rotation, with the direction and magnitude of rotation controlled by the activation of specific SMA springs. The study highlights the importance of design parameters such as the distance between magnets, the radius of the cylindrical discs, and the contraction rate of the SMA springs in determining the actuator's precision, accuracy, and sensitivity. The chapter also discusses the potential for improving the actuator's performance by using multiple smaller permanent magnets and explores the actuator's ability to operate in diverse environmental conditions. Furthermore, the chapter provides a comprehensive overview of the experimental setup, including the use of an Arduino microcontroller and Baumer ultrasonic sensor for measuring the SMA spring's displacement and temperature. The results demonstrate the actuator's ability to achieve micron-level precision, making it a promising candidate for applications requiring high-precision rotational control.AI Generated
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AbstractThis paper presents a novel rotary actuator's design concept based on shape memory alloy (SMA) springs and permanent magnet systems. The proposed actuator is so designed that it can operate even in a vacuum. The presence of permanent magnets leads to efficient and quick rotation motion without any direct contact between the actuation system and passive disc rotation. The presence of a smart actuator (SMA) system helps build a lightweight actuator. The presented actuator converts the translational motion of the SMA springs in the bi-directional rotation of the passive disc. The contraction of the SMA could directly control the rate of rotation. -
UAV Landing on General Moving Platforms Without Markers
Sagar Dalai, Kanishk Vishwakarma, Kaushal Kishore, Dhruv Potdar, Manan AroraThe rapid advancement of UAV technology has expanded their applications in monitoring, exploration, and disaster management. However, the limited endurance and payload capacity of UAVs pose significant challenges. Precision landing on moving platforms, such as ground vehicles or vessel decks, is crucial for minimizing downtime and enabling autonomous operations. This chapter addresses the complexities of landing UAVs on moving targets without relying on visual markers. The proposed method leverages computer vision techniques, including optical flow and contour detection, to identify and track moving platforms. Visual servoing and a PID-based controller are employed to ensure precise and robust landings, even in the presence of disturbances like wind and occlusions. The chapter presents a comprehensive overview of the proposed system, including simulation results in a Gazebo-based 3D environment. The method demonstrates a high level of precision, with an error of around 20 cm on a moving platform traveling at 10 m/s. The chapter also discusses the advantages of the proposed approach over existing marker-based methods, highlighting its generalization and computational efficiency. Furthermore, it provides insights into the challenges and future directions for UAV landing technology.AI Generated
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AbstractMultirotor Unmanned Aerial Vehicles (UAVs) and their ability to hover and maneuver in the air make them the best vehicle for applications requiring quick package deliveries. Our assumed example system is a collaboration of a UAV and a land vehicle capable of storing multiple packages and charging the UAV’s batteries. Another example is quickly exploring some unknown region where the UAV scans the unexplored region and returns to the moving vehicle when required knowledge is gathered. An active research problem in such systems is about takeoff and landing the UAV on the moving vehicle. The landing problem, however, is quite challenging without unique markers like visual tags, hard-coded trajectory targets, etc. We present a markerless controller that uses only computer vision and calculates the optimum trajectory to land the UAV on the moving platform. This paper presents the work in a two-stage implementation process. First, the detection of a moving vehicle and finding the centroid by applying optical flow and contour technique on image feed from an RGB camera, and secondly, following the ground vehicle by matching the velocity by utilizing a visual servoing process followed by simple PID controller to descend in the smooth trajectory towards the landing point. -
Innovative Two-Axle Vehicle with Improved Ride Comfort via Blended Active Vibration Control
Rocco Libero Giossi, Rickard Persson, Sebastian StichelThe chapter delves into the development of an innovative two-axle vehicle designed to significantly reduce weight and costs by featuring a single axle running gear and one suspension step. To compensate for the reduced vibration attenuation, the vehicle incorporates active suspension control, with a focus on comparing standard modal control and a novel blended control approach. The blended control method integrates additional frame acceleration measurements to enhance passenger comfort, demonstrating a 5.4% improvement over the modal control. The chapter presents detailed simulation results, highlighting the performance of both control strategies in terms of comfort, force utilization, actuator displacement, and energy consumption. It also discusses the practical implications of implementing blended control, including the need for additional sensors and knowledge of vehicle behavior. The findings underscore the potential of active vibration control to enable the introduction of lightweight, cost-effective rail vehicles without compromising passenger comfort.AI Generated
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AbstractA mechatronic two-axle rail vehicle with only one suspension step is introduced in the Shift2Rail project Pivot2. This vehicle design reduces the vehicle weight in comparison to standard bogie vehicles. However, having only one suspension step drastically decreases passenger comfort. Thus, hydraulic actuators are introduced instead of passive dampers and active modal sky-hook control is applied. Due to the strong interaction between the running gear frame and the carbody, a blended modal solution is applied where a percentage of the acceleration of the frame is used in the feedback loop in addition to the acceleration of the carbody. To assess the performance of the controllers, simulations are carried out with the vehicle running at constant speeds from 10 km/h to 120 km/h on tangent track with high level of track irregularities. First, multiplicative dimensional reduction method (M-DRM) sensitivity analysis is applied to determine the importance of the control variables and subsequently a genetic algorithm (GA) optimization is performed to identify the control gains for each speed. The blended control proposed here can improve passenger comfort with respect to a standard modal control while maintaining similar energy and force usage. -
A Linear Frequency Domain Solver Workflow for Fast Simulation of Transmission Systems
K. D. Bauer, J. Haslinger, G. OffnerThe chapter presents a linear frequency domain solver workflow designed to accelerate the simulation of transmission systems, particularly in the early design phases. By leveraging a linearized model, the solver achieves significant speed advantages over standard transient time integration methods, which can be time-consuming due to slow-decaying transient oscillations. The core of the chapter is the detailed workflow for obtaining fast solutions, assuming a first-order Taylor approximation that leads to a second-order ordinary differential equation (ODE) with constant, time-independent coefficient matrices. This approach is particularly suited for models where nonlinear effects are minimal, ensuring meaningful results. The chapter also addresses the theoretical background of the equations of motion, their linearization, and the solution process in the frequency domain. A practical application to a simple gearbox model illustrates the solver's efficiency, demonstrating how it can rapidly compute steady-state results. The comparison with time domain solutions highlights the solver's ability to provide quick overviews of dynamic properties, making it an invaluable tool for initial design evaluations. The chapter concludes with an outlook on extending the solver to more complex models, including gear meshing effects, and discusses potential future developments in iterative frequency domain approaches.AI Generated
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AbstractThe contribution presents a complete frequency solver workflow applied to automotive transmissions modeled as multi-body systems consisting of mechanical components like rotating rigid and elastic shafts interconnected by gear contacts and supported by bearing joints. Solving the equations of motion in frequency domain based on a linearized model yields the periodic steady-state results very fast compared to transient time integration methods, where fast oscillating components may decay slowly. The frequency domain solver workflow is described in detail from getting a loaded state of the model, which is used for linearization, up to solving linear equation systems for each non-negligible frequency load component. The presented solver workflow is applied to a simple gearbox model. Resulting vibrations from the linear frequency domain solution are compared against results of a transient time domain solution, where the frequency domain solution matches well the time domain results but is obtained within a fraction of CPU time. -
Multibody Dynamic Study of Subassembly Transfer Flask Under Seismic Excitation
Sasidhar Inakollu, S. D. Sajish, Jose VargheseThis chapter presents a meticulous study of the dynamic responses of a subassembly transfer flask (STF) under seismic excitation, utilizing advanced multiflexible body dynamics (MFBD) analysis. The investigation focuses on the critical components and interactions within the STF, including the gripper hoist, locking pin assembly, and transfer pot, to assess their behavior during seismic events. The study employs a detailed 3D model of the STF, incorporating realistic material properties and contact parameters derived from Hertzian contact theory. Key findings include the loss of contact between the wheels and rails due to vertical seismic acceleration, the dynamic forces acting on the locking pin, and the oscillatory motion of the transfer pot within the flask body. The analysis highlights the importance of the locking pin's structural bending and the contact forces generated during seismic excitation, providing essential data for design verification and potential modifications. The chapter concludes with a thorough examination of the STF's stability and functionality during an Operating Basis Earthquake (OBE), ensuring the system's reliability and safety under extreme conditions.AI Generated
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AbstractThe proposed fuel handling scheme of the future Indian fast reactors (FBR 1 and 2) envisages the use of a dedicated flask called subassembly transfer flask (STF) for handling of subassemblies out of the reactor vessel. The STF transfers the fuel subassembly (SA) between fuel transfer port (FTP-I) on roof slab and fuel transfer position 2 (FTP-2) on RCB floor and vice versa. This machine consists of a flask mounted over a self-propelled carriage, which moves between the fuel transfer port of reactor vessel at one end and fuel transfer port of inert gas filled SA transfer carriage cell (STC cell) at another end. STF transfer/receives transfer pot holding irradiated/FSA (Fresh Subassembly) to/from the transfer carriage through the transfer ports. STF traverse between the two ports on rails and raises/lowers the transfer pot by wire ropes, Multibody dynamics approach is used to study the dynamic behavior of the STF under an earthquake loading. The present work is a detailed MBD investigation of the performance of STF under seismic events to evaluate the forces experienced by the different components of the machine and to study the motion of SA inside STF during a seismic excitation. Rigid body dynamic behaviour is considered for the docked STF at FTP loaded with SA, but the locking pins are modelled as flexible elements. Nonlinear contact behaviour between STF and rails during seismic excitation is observed and the functionality effectiveness of locking mechanism provided for the machine is verified through MBD investigation using RecurDyn solver for analysis. -
A Finite Element Analysis Study on the Effect of Tool Stiffness in Incremental Forming Process
Eldho Paul, Hariharan Krishnaswamy, Riby Abraham Boby, Sahil BhartiIncremental sheet metal forming (ISF) is a versatile technique for creating complex geometries, traditionally achieved through dieless processes controlled by CNC machines or robots. This chapter explores the often-neglected factor of tool stiffness and its significant impact on the geometric accuracy of formed components. Through finite element analysis (FEA), the study compares the use of rigid and deformable tools in forming a truncated cone, revealing critical deviations in the deformed profiles. The research highlights how tool compliance influences contact forces, sheet thinning, and the overall geometric precision of the final component. By systematically varying the tool's Young's modulus, the study provides a comprehensive analysis of how tool stiffness affects forming accuracy, offering valuable insights for enhancing the precision of ISF processes. The findings underscore the importance of considering tool compliance in FEA simulations, paving the way for more accurate predictions and real-time corrections in incremental forming.AI Generated
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AbstractRecent developments in the area of single-point incremental forming process deal with the study of forming accuracy. In general, the forming tool is assumed to be rigid, contrary to what exists in real experiments. This paper presents the simulation results of the effect of tool stiffness in the single-point sheet incremental forming process. A finite element method-based analysis was adopted for this study. The analysis is carried out using tools having different compliance. The nodal displacement of the deformed profile of the truncated cone was measured and compared with the results from the numerical trials with a rigid and deformable tool. The study indicates that using a deformable tool results in considerable geometric errors in the formed component. -
Mobile Haptic Device for Large Virtual Environments
P. Abinaya, K. S. Sasivarnan, Prasanna Kumar Routray, M. ManivannanThe chapter addresses the limitations of current haptic feedback devices, which often have restricted workspaces unsuitable for human-scale interactions in virtual environments. It introduces a groundbreaking method that leverages mobile robotics to expand the workspace of small, grounded haptic devices without compromising their existing characteristics. The proposed solution involves a mobile robot that moves the haptic device's base, coupled with a position-based workspace drifting algorithm to seamlessly extend the virtual workspace. The effectiveness of this approach is validated through psychophysical experiments measuring stiffness Just Noticeable Difference (JND), demonstrating that the workspace expansion does not significantly affect user perception. Additionally, the chapter conducts a thorough stability analysis to ensure the haptic device's performance and usability are maintained. The innovative design is cost-effective, portable, and scalable to three axes, making it a versatile solution for enhancing haptic feedback in virtual reality applications. The detailed experimental protocols and results provide valuable insights into the practical implementation and potential of this technology, making it a compelling read for those interested in advancing haptic and virtual reality technologies.AI Generated
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AbstractVirtual Environments (VE) need large workspaces. On the other hand, haptic devices are mostly grounded and typically have small workspaces compared to the VE. The main objective of this work is to extend the smaller workspace of haptic devices for Virtual Reality (VR) applications without affecting the haptic perception of the user. A position drift-based robotic approach has been proposed in which a redundant kinematic Degree of freedom (DOF) is added to the haptic device by moving its base using a mobile robot to expand the workspace of the haptic interface point (HIP) in the VE. In order to validate the proposed approach, a psychophysical study measuring stiffness Just Noticeable Difference (JND) has been conducted to compare the user perception before (Stationary Robot) and after the proposed approach (Moving Robot). Two experiments were conducted separately, one for a single axis (Experiment I) and another for a two-axis (Experiment II). The %JND for Experiment I is 21.08% and 24.59% for stationary and moving haptic devices. The %JND for Experiment II is 20.55% and 26.56% for stationary and moving haptic devices. One-way ANOVA was performed to test whether the difference in the %JND between the two cases is insignificant. With the insignificant %JND difference (p = 0.32 for Experiment I, p = 0.34 for Experiment II), the proposed method could be considered as not affecting the user haptic perception while expanding the haptic workspace for the interactions in VE. The stability of the haptic device has been analyzed, including robot dynamics. The current study implements up to two axes of workspace expansions for the 3D systems Touch haptic device; however, the algorithm is extensible to three axes and any grounded haptic devices. -
Multibody Dynamics Software-Based Simulation of a Game for a Robotics Competition
Sandeep Kumar, Subir Kumar Saha, Satinder Paul SinghThis chapter presents a comprehensive analysis of using multibody dynamics software to simulate a traditional Indian game, Pithu or Lagori, adapted for the ABU Robocon 2022 competition. The study focuses on two critical tasks: breaking a pyramid of discs (Lagori) and hitting a ball placed on a robot. By employing ADAMS software, the authors simulate various scenarios, varying parameters such as ball speed, height, and disc placement, to optimize game strategies and robotic performance. The simulations are validated against real-game data, demonstrating the effectiveness of the approach. The chapter also explores the material properties and contact models used in the simulations, providing a detailed framework for establishing a modeling environment for game rule planning. Furthermore, it discusses the potential for developing robotic systems capable of playing Lagori and the future scope of incorporating more realistic factors like ball spinning and air drag forces. The insights gained from these simulations can also be leveraged to create more immersive and authentic physics-based video games, enhancing the overall gaming experience.AI Generated
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AbstractDue to advancements in the area of robotics and automation, there is a need of skills for engineers. They are obtained through various workshops, seminars, conferences and participating in various competitions. Apart from the practical work skills, there is a requirement of proper software-based skills to get an idea of the performance of final tasks on the field. This paper presents the use of such a multi-body dynamics software for simulating the game of a robotics competition to check the effectiveness and completeness of the intended tasks. In this work, MSC ADAMS, a multi-body dynamics software, has been used for simulations. The tasks that have been performed are the tasks for ABU Robocon 2022. The theme was “Lagori” that is based on Indian game called as “Pithu”. Two tasks of the game were considered here to demonstrate the use of a software. One is Lagori breaking and the other is hitting the Ball on Head. The simulation was performed for several speeds and angles at which the ball was thrown. The effectiveness of the tasks was checked with the real situations when the games were actually played. -
Modelling and Diagnosis of Defects in Spur Gear Under Constant Speed Operation
Rajeev Kumar, Ranjan Gouda, Samrat Mandal, Chintamani MishraThis chapter presents a detailed investigation into the modeling and diagnosis of defects in spur gear systems operating at constant speeds. It begins by emphasizing the critical role of gearboxes in various rotating machinery and the potential consequences of gear faults, such as catastrophic failures and economic losses. The study adopts a vibration-based condition monitoring technique to identify faults, utilizing numerical modeling and finite element methods to reduce experimental costs and material wastage. The focus is on pinion gears with increasing levels of broken teeth, analyzing the time-varying mesh stiffness (TVMS) of both healthy and defective gears. The chapter reviews various analytical and FEM-based methods for calculating TVMS, highlighting their respective merits and demerits. It then introduces a potential energy-based analytical method to calculate the TVMS of healthy and faulty gear trains, incorporating this data into a 9-DOF spur gear system to compute vibration responses. The dynamic models of healthy and faulty gear systems are used to study vibration responses under constant speed and load conditions. The analysis includes time-domain and frequency-domain examinations, revealing how different levels of tooth damage affect the system's dynamic behavior. The results demonstrate that as the severity of the tooth damage increases, so do the magnitudes of peaks in the vibration response and the amplitude of gear mesh frequencies and their harmonics. This chapter provides a thorough exploration of the dynamic interactions within spur gear systems, offering valuable insights for the development of more robust and reliable gearbox designs.AI Generated
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AbstractGearbox is frequently utilized as a power transmitting device due to its adaptability to operate at a wide range of speed and loads. Any gearbox defect may lead to total failure or even seizure of the machine. Therefore, predictive maintenance is adopted to find the health state of gear train. Modelling of a physical system is economical due to the cost involved in experiments. In the current work, a dynamic model of 9-degrees of freedom (DOFs) spur gear model is taken into consideration to determine the status of gear in both healthy and faulty conditions. In modelling, a high contact ratio spur gear system is considered for analysis. The model comprises of a loader, a motor, and a gear-pinion pair. The equations of motion from the planer block diagram model of the gear pinion system are solved in the MATLAB-Simulink environment. Time and frequency domain analysis is used to compare the health of gear train under different operating conditions.
- Title
- Recent Developments in Multibody Dynamics
- Editors
-
Subir Kumar Saha
K Rama Krishna
- Copyright Year
- 2025
- Publisher
- Springer Nature Singapore
- Electronic ISBN
- 978-981-9775-25-5
- Print ISBN
- 978-981-9775-24-8
- DOI
- https://doi.org/10.1007/978-981-97-7525-5
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