Modelling and Identification of a Highly Integrated Electro-hydraulic Energy Converter for Robotic Applications PDF Download
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Author: Elmira Amrollah
Publisher:
ISBN:
Category :
Languages : en
Pages : 238
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Book Description
The goal of the present work is to study the internal parameters of an integrated electro-hydraulic actuator (IEHA) for robotic applications, as well as identifying the influence of each parameter on the behaviour of the system, depending on the specified task to accomplish. Compactness of IEHA makes it difficult to measure the internal variables of the system, such as micro-pump's leakage, and internal pressure drop, while it is important to study the effect of configuring the internal variables on the behaviour and energy efficiency of the system, before modifying the latter in future prototypes. Hence, development of a model of the actuator will help us identify the different issues of the system and propose new solutions to improve its dynamic behaviour. The effectiveness of the developed virtual model allows for quick and accurate evaluation of the internal parameters early in the design and development stage. The mechanism and dynamic equations of IEHA are presented. The actuator is simulated firstly by implementing the dynamic models in MATLAB-Simulink environment, and secondly in MATLAB-SimHydraulics. The different parameters and hydraulic phenomena that play a crucial role in the performance of the system are discussed. Optimizing these parameters improves the mechanical energy efficiency, volumetric efficiency, and response time of the overall system. The concept of energy storage and its implementation in the architecture of IEHA is presented. Examples of periodic tasks (jumping, walking) are used to show how a good energy storage strategy could make the actuator autonomous and smaller in terms of necessary hydraulic sources.
Author: Elmira Amrollah
Publisher:
ISBN:
Category :
Languages : en
Pages : 238
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Book Description
The goal of the present work is to study the internal parameters of an integrated electro-hydraulic actuator (IEHA) for robotic applications, as well as identifying the influence of each parameter on the behaviour of the system, depending on the specified task to accomplish. Compactness of IEHA makes it difficult to measure the internal variables of the system, such as micro-pump's leakage, and internal pressure drop, while it is important to study the effect of configuring the internal variables on the behaviour and energy efficiency of the system, before modifying the latter in future prototypes. Hence, development of a model of the actuator will help us identify the different issues of the system and propose new solutions to improve its dynamic behaviour. The effectiveness of the developed virtual model allows for quick and accurate evaluation of the internal parameters early in the design and development stage. The mechanism and dynamic equations of IEHA are presented. The actuator is simulated firstly by implementing the dynamic models in MATLAB-Simulink environment, and secondly in MATLAB-SimHydraulics. The different parameters and hydraulic phenomena that play a crucial role in the performance of the system are discussed. Optimizing these parameters improves the mechanical energy efficiency, volumetric efficiency, and response time of the overall system. The concept of energy storage and its implementation in the architecture of IEHA is presented. Examples of periodic tasks (jumping, walking) are used to show how a good energy storage strategy could make the actuator autonomous and smaller in terms of necessary hydraulic sources.
Author: Thomas Heeger
Publisher:
ISBN: 9789180752442
Category : Electronic books
Languages : en
Pages : 0
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Book Description
Author: J. Jaidev Vyas
Publisher: Springer
ISBN: 9789811325465
Category : Technology & Engineering
Languages : en
Pages : 63
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Book Description
The book serves as a unique integrated platform, which not only describes the design methodology of electro-hydraulic actuation systems but also provides insights into the design of the servo valve, which is the most important component in the system. It presents a step-by-step design process, comparative tables, illustrative figures, and detailed explanations. The book focuses on the design and testing of electro-hydraulic actuation systems, which are increasingly being used in motion control applications, particularly in those where precision actuation at high operational rates is of prime importance. It describes in detail the design philosophy of such high-performance systems, presenting a system used as a physical test setup together with experimental results to corroborate the calculations. Of particular interest are the electro-hydraulic servo valves that form the heart of these actuations. These valves are complex and not much data is available in open literature due to OEM propriety issues. In this context, the book discusses the elaborate mathematical models that have been derived and an approach to validate the mathematical models with test results. Presenting the complex methodology in simple language, it will prove to be a valuable resource for students, researchers, and professional engineers alike.
Author:
Publisher:
ISBN:
Category : Direct energy conversion
Languages : en
Pages : 552
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Book Description
Author: Alper Erturk
Publisher: John Wiley & Sons
ISBN: 1119991358
Category : Technology & Engineering
Languages : en
Pages : 377
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Book Description
The transformation of vibrations into electric energy through the use of piezoelectric devices is an exciting and rapidly developing area of research with a widening range of applications constantly materialising. With Piezoelectric Energy Harvesting, world-leading researchers provide a timely and comprehensive coverage of the electromechanical modelling and applications of piezoelectric energy harvesters. They present principal modelling approaches, synthesizing fundamental material related to mechanical, aerospace, civil, electrical and materials engineering disciplines for vibration-based energy harvesting using piezoelectric transduction. Piezoelectric Energy Harvesting provides the first comprehensive treatment of distributed-parameter electromechanical modelling for piezoelectric energy harvesting with extensive case studies including experimental validations, and is the first book to address modelling of various forms of excitation in piezoelectric energy harvesting, ranging from airflow excitation to moving loads, thus ensuring its relevance to engineers in fields as disparate as aerospace engineering and civil engineering. Coverage includes: Analytical and approximate analytical distributed-parameter electromechanical models with illustrative theoretical case studies as well as extensive experimental validations Several problems of piezoelectric energy harvesting ranging from simple harmonic excitation to random vibrations Details of introducing and modelling piezoelectric coupling for various problems Modelling and exploiting nonlinear dynamics for performance enhancement, supported with experimental verifications Applications ranging from moving load excitation of slender bridges to airflow excitation of aeroelastic sections A review of standard nonlinear energy harvesting circuits with modelling aspects.
Author:
Publisher:
ISBN:
Category : Power (Mechanics)
Languages : en
Pages : 636
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Book Description
Author:
Publisher:
ISBN:
Category : Power (Mechanics)
Languages : en
Pages : 552
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Book Description
Author:
Publisher:
ISBN:
Category : Aeronautics
Languages : en
Pages : 602
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Book Description
Lists citations with abstracts for aerospace related reports obtained from world wide sources and announces documents that have recently been entered into the NASA Scientific and Technical Information Database.
Author: Prahlad Vadakkepat
Publisher: Springer
ISBN: 9789400760455
Category : Technology & Engineering
Languages : en
Pages : 0
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Book Description
Humanoid Robotics provides a comprehensive compilation of developments in the conceptualization, design and development of humanoid robots and related technologies. Human beings have built the environment they occupy (living spaces, instruments and vehicles) to suit two-legged systems. Building systems, especially in robotics, that are compatible with the well-established, human-based surroundings and which could naturally interact with humans is an ultimate goal for all researches and engineers. Humanoid Robots are systems (i.e. robots) which mimic human behavior. Humanoids provide a platform to study the construction of systems that behave and interact like humans. A broad range of applications ranging from daily housework to complex medical surgery, deep ocean exploration, and other potentially dangerous tasks are possible using humanoids. In addition, the study of humanoid robotics provides a platform to understand the mechanisms and offers a physical visual of how humans interact, think, and react with the surroundings and how such behaviors could be reassembled and reconstructed. Currently, the most challenging issue with bipedal humanoids is to make them balance on two legs, The purportedly simple act of finding the best balance that enables easy walking, jumping and running requires some of the most sophisticated development of robotic systems- those that will ultimately mimic fully the diversity and dexterity of human beings. Other typical human-like interactions such as complex thought and conversations on the other hand, also pose barriers for the development of humanoids because we are yet to understand fully the way in which we humans interact with our environment and consequently to replicate this in humanoids.
Author:
Publisher:
ISBN:
Category : Mechanics, Applied
Languages : en
Pages : 400
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Book Description
