Energy Consumption Analysis of a Rolling Mechanism Based on a Five-Bow-Shaped-Bar Linkage

To reveal the relationship between the center of mass (CoM) trajectory of a closed five-bow-shaped-bar linkage and its energy consumption, this paper presents a trajectory planning method based on the workspace of the CoM. Using different height points located on the symmetric centerline of the work...
Ausführliche Beschreibung

Gespeichert in:

Autor*in:	Lianqing Yu [verfasserIn] Yong Zhang [verfasserIn] Na Feng [verfasserIn] Tiandu Zhou [verfasserIn] Xiaoshuang Xiong [verfasserIn] Yujin Wang [verfasserIn]

Format:	E-Artikel
Sprache:	Englisch

Erschienen:	2022

Schlagwörter:	energy consumption workspace of the CoM trajectory planning dynamics Rayleigh dissipation function Lagrange’s equation

Übergeordnetes Werk:	In: Applied Sciences - MDPI AG, 2012, 12(2022), 21, p 11164
Übergeordnetes Werk:	volume:12 ; year:2022 ; number:21, p 11164

Links:	Link aufrufen Link aufrufen Link aufrufen Journal toc

DOI / URN:	10.3390/app122111164

Katalog-ID:	DOAJ02892195X

Internformat


LEADER	01000caa a22002652 4500
001	DOAJ02892195X
003	DE-627
005	20240414173133.0
007	cr uuu---uuuuu
008	230226s2022 xx \|\|\|\|\|o 00\| \|\|eng c
024	7		\|a 10.3390/app122111164 \|2 doi
035			\|a (DE-627)DOAJ02892195X
035			\|a (DE-599)DOAJf06d4d1091f140bab3b3e4cf5dd972be
040			\|a DE-627 \|b ger \|c DE-627 \|e rakwb
041			\|a eng
050		0	\|a TA1-2040
050		0	\|a QH301-705.5
050		0	\|a QC1-999
050		0	\|a QD1-999
100	0		\|a Lianqing Yu \|e verfasserin \|4 aut
245	1	0	\|a Energy Consumption Analysis of a Rolling Mechanism Based on a Five-Bow-Shaped-Bar Linkage
264		1	\|c 2022
336			\|a Text \|b txt \|2 rdacontent
337			\|a Computermedien \|b c \|2 rdamedia
338			\|a Online-Ressource \|b cr \|2 rdacarrier
520			\|a To reveal the relationship between the center of mass (CoM) trajectory of a closed five-bow-shaped-bar linkage and its energy consumption, this paper presents a trajectory planning method based on the workspace of the CoM. Using different height points located on the symmetric centerline of the workspace of the CoM as via points, the CoM trajectory is planned by combining cubic polynomials with Bézier curves based on quadratic Bernstein polynomials. Herein, the system energy consumption is obtained by integrating the product of generalized velocity and generalized force versus time, where the generalized force is calculated by Lagrange’s equation including the Rayleigh dissipation function. Then, two schemes of dynamic rolling are proposed to compare, and the theoretical results show that the system consumes less energy under the sinusoid scheme when the via point height is lower and the via point of higher height is more suitable under the modified trapezoidal curve scheme. Furthermore, this paper combines the locomotion simulation software to design the locomotion of the mechanism’s CoM trajectory under two schemes in detail and verifies the correctness of the theoretical results.
650		4	\|a energy consumption
650		4	\|a workspace of the CoM
650		4	\|a trajectory planning
650		4	\|a dynamics
650		4	\|a Rayleigh dissipation function
650		4	\|a Lagrange’s equation
653		0	\|a Technology
653		0	\|a T
653		0	\|a Engineering (General). Civil engineering (General)
653		0	\|a Biology (General)
653		0	\|a Physics
653		0	\|a Chemistry
700	0		\|a Yong Zhang \|e verfasserin \|4 aut
700	0		\|a Na Feng \|e verfasserin \|4 aut
700	0		\|a Tiandu Zhou \|e verfasserin \|4 aut
700	0		\|a Xiaoshuang Xiong \|e verfasserin \|4 aut
700	0		\|a Yujin Wang \|e verfasserin \|4 aut
773	0	8	\|i In \|t Applied Sciences \|d MDPI AG, 2012 \|g 12(2022), 21, p 11164 \|w (DE-627)737287640 \|w (DE-600)2704225-X \|x 20763417 \|7 nnns
773	1	8	\|g volume:12 \|g year:2022 \|g number:21, p 11164
856	4	0	\|u https://doi.org/10.3390/app122111164 \|z kostenfrei
856	4	0	\|u https://doaj.org/article/f06d4d1091f140bab3b3e4cf5dd972be \|z kostenfrei
856	4	0	\|u https://www.mdpi.com/2076-3417/12/21/11164 \|z kostenfrei
856	4	2	\|u https://doaj.org/toc/2076-3417 \|y Journal toc \|z kostenfrei
912			\|a GBV_USEFLAG_A
912			\|a SYSFLAG_A
912			\|a GBV_DOAJ
912			\|a GBV_ILN_11
912			\|a GBV_ILN_20
912			\|a GBV_ILN_22
912			\|a GBV_ILN_23
912			\|a GBV_ILN_24
912			\|a GBV_ILN_39
912			\|a GBV_ILN_40
912			\|a GBV_ILN_60
912			\|a GBV_ILN_62
912			\|a GBV_ILN_63
912			\|a GBV_ILN_65
912			\|a GBV_ILN_69
912			\|a GBV_ILN_70
912			\|a GBV_ILN_73
912			\|a GBV_ILN_95
912			\|a GBV_ILN_105
912			\|a GBV_ILN_110
912			\|a GBV_ILN_151
912			\|a GBV_ILN_161
912			\|a GBV_ILN_170
912			\|a GBV_ILN_171
912			\|a GBV_ILN_213
912			\|a GBV_ILN_230
912			\|a GBV_ILN_285
912			\|a GBV_ILN_293
912			\|a GBV_ILN_370
912			\|a GBV_ILN_602
912			\|a GBV_ILN_2014
912			\|a GBV_ILN_2055
912			\|a GBV_ILN_4012
912			\|a GBV_ILN_4037
912			\|a GBV_ILN_4112
912			\|a GBV_ILN_4125
912			\|a GBV_ILN_4126
912			\|a GBV_ILN_4249
912			\|a GBV_ILN_4305
912			\|a GBV_ILN_4306
912			\|a GBV_ILN_4307
912			\|a GBV_ILN_4313
912			\|a GBV_ILN_4322
912			\|a GBV_ILN_4323
912			\|a GBV_ILN_4324
912			\|a GBV_ILN_4325
912			\|a GBV_ILN_4335
912			\|a GBV_ILN_4338
912			\|a GBV_ILN_4367
912			\|a GBV_ILN_4700
951			\|a AR
952			\|d 12 \|j 2022 \|e 21, p 11164

Indexfelder

author_variant	l y ly y z yz n f nf t z tz x x xx y w yw
matchkey_str	article:20763417:2022----::nryosmtoaayioaolnmcaimaeoai
hierarchy_sort_str	2022
callnumber-subject-code	TA
publishDate	2022
allfields	10.3390/app122111164 doi (DE-627)DOAJ02892195X (DE-599)DOAJf06d4d1091f140bab3b3e4cf5dd972be DE-627 ger DE-627 rakwb eng TA1-2040 QH301-705.5 QC1-999 QD1-999 Lianqing Yu verfasserin aut Energy Consumption Analysis of a Rolling Mechanism Based on a Five-Bow-Shaped-Bar Linkage 2022 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier To reveal the relationship between the center of mass (CoM) trajectory of a closed five-bow-shaped-bar linkage and its energy consumption, this paper presents a trajectory planning method based on the workspace of the CoM. Using different height points located on the symmetric centerline of the workspace of the CoM as via points, the CoM trajectory is planned by combining cubic polynomials with Bézier curves based on quadratic Bernstein polynomials. Herein, the system energy consumption is obtained by integrating the product of generalized velocity and generalized force versus time, where the generalized force is calculated by Lagrange’s equation including the Rayleigh dissipation function. Then, two schemes of dynamic rolling are proposed to compare, and the theoretical results show that the system consumes less energy under the sinusoid scheme when the via point height is lower and the via point of higher height is more suitable under the modified trapezoidal curve scheme. Furthermore, this paper combines the locomotion simulation software to design the locomotion of the mechanism’s CoM trajectory under two schemes in detail and verifies the correctness of the theoretical results. energy consumption workspace of the CoM trajectory planning dynamics Rayleigh dissipation function Lagrange’s equation Technology T Engineering (General). Civil engineering (General) Biology (General) Physics Chemistry Yong Zhang verfasserin aut Na Feng verfasserin aut Tiandu Zhou verfasserin aut Xiaoshuang Xiong verfasserin aut Yujin Wang verfasserin aut In Applied Sciences MDPI AG, 2012 12(2022), 21, p 11164 (DE-627)737287640 (DE-600)2704225-X 20763417 nnns volume:12 year:2022 number:21, p 11164 https://doi.org/10.3390/app122111164 kostenfrei https://doaj.org/article/f06d4d1091f140bab3b3e4cf5dd972be kostenfrei https://www.mdpi.com/2076-3417/12/21/11164 kostenfrei https://doaj.org/toc/2076-3417 Journal toc kostenfrei GBV_USEFLAG_A SYSFLAG_A GBV_DOAJ GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_170 GBV_ILN_171 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_2014 GBV_ILN_2055 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 12 2022 21, p 11164
spelling	10.3390/app122111164 doi (DE-627)DOAJ02892195X (DE-599)DOAJf06d4d1091f140bab3b3e4cf5dd972be DE-627 ger DE-627 rakwb eng TA1-2040 QH301-705.5 QC1-999 QD1-999 Lianqing Yu verfasserin aut Energy Consumption Analysis of a Rolling Mechanism Based on a Five-Bow-Shaped-Bar Linkage 2022 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier To reveal the relationship between the center of mass (CoM) trajectory of a closed five-bow-shaped-bar linkage and its energy consumption, this paper presents a trajectory planning method based on the workspace of the CoM. Using different height points located on the symmetric centerline of the workspace of the CoM as via points, the CoM trajectory is planned by combining cubic polynomials with Bézier curves based on quadratic Bernstein polynomials. Herein, the system energy consumption is obtained by integrating the product of generalized velocity and generalized force versus time, where the generalized force is calculated by Lagrange’s equation including the Rayleigh dissipation function. Then, two schemes of dynamic rolling are proposed to compare, and the theoretical results show that the system consumes less energy under the sinusoid scheme when the via point height is lower and the via point of higher height is more suitable under the modified trapezoidal curve scheme. Furthermore, this paper combines the locomotion simulation software to design the locomotion of the mechanism’s CoM trajectory under two schemes in detail and verifies the correctness of the theoretical results. energy consumption workspace of the CoM trajectory planning dynamics Rayleigh dissipation function Lagrange’s equation Technology T Engineering (General). Civil engineering (General) Biology (General) Physics Chemistry Yong Zhang verfasserin aut Na Feng verfasserin aut Tiandu Zhou verfasserin aut Xiaoshuang Xiong verfasserin aut Yujin Wang verfasserin aut In Applied Sciences MDPI AG, 2012 12(2022), 21, p 11164 (DE-627)737287640 (DE-600)2704225-X 20763417 nnns volume:12 year:2022 number:21, p 11164 https://doi.org/10.3390/app122111164 kostenfrei https://doaj.org/article/f06d4d1091f140bab3b3e4cf5dd972be kostenfrei https://www.mdpi.com/2076-3417/12/21/11164 kostenfrei https://doaj.org/toc/2076-3417 Journal toc kostenfrei GBV_USEFLAG_A SYSFLAG_A GBV_DOAJ GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_170 GBV_ILN_171 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_2014 GBV_ILN_2055 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 12 2022 21, p 11164
allfields_unstemmed	10.3390/app122111164 doi (DE-627)DOAJ02892195X (DE-599)DOAJf06d4d1091f140bab3b3e4cf5dd972be DE-627 ger DE-627 rakwb eng TA1-2040 QH301-705.5 QC1-999 QD1-999 Lianqing Yu verfasserin aut Energy Consumption Analysis of a Rolling Mechanism Based on a Five-Bow-Shaped-Bar Linkage 2022 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier To reveal the relationship between the center of mass (CoM) trajectory of a closed five-bow-shaped-bar linkage and its energy consumption, this paper presents a trajectory planning method based on the workspace of the CoM. Using different height points located on the symmetric centerline of the workspace of the CoM as via points, the CoM trajectory is planned by combining cubic polynomials with Bézier curves based on quadratic Bernstein polynomials. Herein, the system energy consumption is obtained by integrating the product of generalized velocity and generalized force versus time, where the generalized force is calculated by Lagrange’s equation including the Rayleigh dissipation function. Then, two schemes of dynamic rolling are proposed to compare, and the theoretical results show that the system consumes less energy under the sinusoid scheme when the via point height is lower and the via point of higher height is more suitable under the modified trapezoidal curve scheme. Furthermore, this paper combines the locomotion simulation software to design the locomotion of the mechanism’s CoM trajectory under two schemes in detail and verifies the correctness of the theoretical results. energy consumption workspace of the CoM trajectory planning dynamics Rayleigh dissipation function Lagrange’s equation Technology T Engineering (General). Civil engineering (General) Biology (General) Physics Chemistry Yong Zhang verfasserin aut Na Feng verfasserin aut Tiandu Zhou verfasserin aut Xiaoshuang Xiong verfasserin aut Yujin Wang verfasserin aut In Applied Sciences MDPI AG, 2012 12(2022), 21, p 11164 (DE-627)737287640 (DE-600)2704225-X 20763417 nnns volume:12 year:2022 number:21, p 11164 https://doi.org/10.3390/app122111164 kostenfrei https://doaj.org/article/f06d4d1091f140bab3b3e4cf5dd972be kostenfrei https://www.mdpi.com/2076-3417/12/21/11164 kostenfrei https://doaj.org/toc/2076-3417 Journal toc kostenfrei GBV_USEFLAG_A SYSFLAG_A GBV_DOAJ GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_170 GBV_ILN_171 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_2014 GBV_ILN_2055 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 12 2022 21, p 11164
allfieldsGer	10.3390/app122111164 doi (DE-627)DOAJ02892195X (DE-599)DOAJf06d4d1091f140bab3b3e4cf5dd972be DE-627 ger DE-627 rakwb eng TA1-2040 QH301-705.5 QC1-999 QD1-999 Lianqing Yu verfasserin aut Energy Consumption Analysis of a Rolling Mechanism Based on a Five-Bow-Shaped-Bar Linkage 2022 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier To reveal the relationship between the center of mass (CoM) trajectory of a closed five-bow-shaped-bar linkage and its energy consumption, this paper presents a trajectory planning method based on the workspace of the CoM. Using different height points located on the symmetric centerline of the workspace of the CoM as via points, the CoM trajectory is planned by combining cubic polynomials with Bézier curves based on quadratic Bernstein polynomials. Herein, the system energy consumption is obtained by integrating the product of generalized velocity and generalized force versus time, where the generalized force is calculated by Lagrange’s equation including the Rayleigh dissipation function. Then, two schemes of dynamic rolling are proposed to compare, and the theoretical results show that the system consumes less energy under the sinusoid scheme when the via point height is lower and the via point of higher height is more suitable under the modified trapezoidal curve scheme. Furthermore, this paper combines the locomotion simulation software to design the locomotion of the mechanism’s CoM trajectory under two schemes in detail and verifies the correctness of the theoretical results. energy consumption workspace of the CoM trajectory planning dynamics Rayleigh dissipation function Lagrange’s equation Technology T Engineering (General). Civil engineering (General) Biology (General) Physics Chemistry Yong Zhang verfasserin aut Na Feng verfasserin aut Tiandu Zhou verfasserin aut Xiaoshuang Xiong verfasserin aut Yujin Wang verfasserin aut In Applied Sciences MDPI AG, 2012 12(2022), 21, p 11164 (DE-627)737287640 (DE-600)2704225-X 20763417 nnns volume:12 year:2022 number:21, p 11164 https://doi.org/10.3390/app122111164 kostenfrei https://doaj.org/article/f06d4d1091f140bab3b3e4cf5dd972be kostenfrei https://www.mdpi.com/2076-3417/12/21/11164 kostenfrei https://doaj.org/toc/2076-3417 Journal toc kostenfrei GBV_USEFLAG_A SYSFLAG_A GBV_DOAJ GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_170 GBV_ILN_171 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_2014 GBV_ILN_2055 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 12 2022 21, p 11164
allfieldsSound	10.3390/app122111164 doi (DE-627)DOAJ02892195X (DE-599)DOAJf06d4d1091f140bab3b3e4cf5dd972be DE-627 ger DE-627 rakwb eng TA1-2040 QH301-705.5 QC1-999 QD1-999 Lianqing Yu verfasserin aut Energy Consumption Analysis of a Rolling Mechanism Based on a Five-Bow-Shaped-Bar Linkage 2022 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier To reveal the relationship between the center of mass (CoM) trajectory of a closed five-bow-shaped-bar linkage and its energy consumption, this paper presents a trajectory planning method based on the workspace of the CoM. Using different height points located on the symmetric centerline of the workspace of the CoM as via points, the CoM trajectory is planned by combining cubic polynomials with Bézier curves based on quadratic Bernstein polynomials. Herein, the system energy consumption is obtained by integrating the product of generalized velocity and generalized force versus time, where the generalized force is calculated by Lagrange’s equation including the Rayleigh dissipation function. Then, two schemes of dynamic rolling are proposed to compare, and the theoretical results show that the system consumes less energy under the sinusoid scheme when the via point height is lower and the via point of higher height is more suitable under the modified trapezoidal curve scheme. Furthermore, this paper combines the locomotion simulation software to design the locomotion of the mechanism’s CoM trajectory under two schemes in detail and verifies the correctness of the theoretical results. energy consumption workspace of the CoM trajectory planning dynamics Rayleigh dissipation function Lagrange’s equation Technology T Engineering (General). Civil engineering (General) Biology (General) Physics Chemistry Yong Zhang verfasserin aut Na Feng verfasserin aut Tiandu Zhou verfasserin aut Xiaoshuang Xiong verfasserin aut Yujin Wang verfasserin aut In Applied Sciences MDPI AG, 2012 12(2022), 21, p 11164 (DE-627)737287640 (DE-600)2704225-X 20763417 nnns volume:12 year:2022 number:21, p 11164 https://doi.org/10.3390/app122111164 kostenfrei https://doaj.org/article/f06d4d1091f140bab3b3e4cf5dd972be kostenfrei https://www.mdpi.com/2076-3417/12/21/11164 kostenfrei https://doaj.org/toc/2076-3417 Journal toc kostenfrei GBV_USEFLAG_A SYSFLAG_A GBV_DOAJ GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_170 GBV_ILN_171 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_2014 GBV_ILN_2055 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 12 2022 21, p 11164
language	English
source	In Applied Sciences 12(2022), 21, p 11164 volume:12 year:2022 number:21, p 11164
sourceStr	In Applied Sciences 12(2022), 21, p 11164 volume:12 year:2022 number:21, p 11164
format_phy_str_mv	Article
institution	findex.gbv.de
topic_facet	energy consumption workspace of the CoM trajectory planning dynamics Rayleigh dissipation function Lagrange’s equation Technology T Engineering (General). Civil engineering (General) Biology (General) Physics Chemistry
isfreeaccess_bool	true
container_title	Applied Sciences
authorswithroles_txt_mv	Lianqing Yu @@aut@@ Yong Zhang @@aut@@ Na Feng @@aut@@ Tiandu Zhou @@aut@@ Xiaoshuang Xiong @@aut@@ Yujin Wang @@aut@@
publishDateDaySort_date	2022-01-01T00:00:00Z
hierarchy_top_id	737287640
id	DOAJ02892195X
language_de	englisch
fullrecord	<?xml version="1.0" encoding="UTF-8"?><collection xmlns="http://www.loc.gov/MARC21/slim"><record><leader>01000caa a22002652 4500</leader><controlfield tag="001">DOAJ02892195X</controlfield><controlfield tag="003">DE-627</controlfield><controlfield tag="005">20240414173133.0</controlfield><controlfield tag="007">cr uuu---uuuuu</controlfield><controlfield tag="008">230226s2022 xx \|\|\|\|\|o 00\| \|\|eng c</controlfield><datafield tag="024" ind1="7" ind2=" "><subfield code="a">10.3390/app122111164</subfield><subfield code="2">doi</subfield></datafield><datafield tag="035" ind1=" " ind2=" "><subfield code="a">(DE-627)DOAJ02892195X</subfield></datafield><datafield tag="035" ind1=" " ind2=" "><subfield code="a">(DE-599)DOAJf06d4d1091f140bab3b3e4cf5dd972be</subfield></datafield><datafield tag="040" ind1=" " ind2=" "><subfield code="a">DE-627</subfield><subfield code="b">ger</subfield><subfield code="c">DE-627</subfield><subfield code="e">rakwb</subfield></datafield><datafield tag="041" ind1=" " ind2=" "><subfield code="a">eng</subfield></datafield><datafield tag="050" ind1=" " ind2="0"><subfield code="a">TA1-2040</subfield></datafield><datafield tag="050" ind1=" " ind2="0"><subfield code="a">QH301-705.5</subfield></datafield><datafield tag="050" ind1=" " ind2="0"><subfield code="a">QC1-999</subfield></datafield><datafield tag="050" ind1=" " ind2="0"><subfield code="a">QD1-999</subfield></datafield><datafield tag="100" ind1="0" ind2=" "><subfield code="a">Lianqing Yu</subfield><subfield code="e">verfasserin</subfield><subfield code="4">aut</subfield></datafield><datafield tag="245" ind1="1" ind2="0"><subfield code="a">Energy Consumption Analysis of a Rolling Mechanism Based on a Five-Bow-Shaped-Bar Linkage</subfield></datafield><datafield tag="264" ind1=" " ind2="1"><subfield code="c">2022</subfield></datafield><datafield tag="336" ind1=" " ind2=" "><subfield code="a">Text</subfield><subfield code="b">txt</subfield><subfield code="2">rdacontent</subfield></datafield><datafield tag="337" ind1=" " ind2=" "><subfield code="a">Computermedien</subfield><subfield code="b">c</subfield><subfield code="2">rdamedia</subfield></datafield><datafield tag="338" ind1=" " ind2=" "><subfield code="a">Online-Ressource</subfield><subfield code="b">cr</subfield><subfield code="2">rdacarrier</subfield></datafield><datafield tag="520" ind1=" " ind2=" "><subfield code="a">To reveal the relationship between the center of mass (CoM) trajectory of a closed five-bow-shaped-bar linkage and its energy consumption, this paper presents a trajectory planning method based on the workspace of the CoM. Using different height points located on the symmetric centerline of the workspace of the CoM as via points, the CoM trajectory is planned by combining cubic polynomials with Bézier curves based on quadratic Bernstein polynomials. Herein, the system energy consumption is obtained by integrating the product of generalized velocity and generalized force versus time, where the generalized force is calculated by Lagrange’s equation including the Rayleigh dissipation function. Then, two schemes of dynamic rolling are proposed to compare, and the theoretical results show that the system consumes less energy under the sinusoid scheme when the via point height is lower and the via point of higher height is more suitable under the modified trapezoidal curve scheme. Furthermore, this paper combines the locomotion simulation software to design the locomotion of the mechanism’s CoM trajectory under two schemes in detail and verifies the correctness of the theoretical results.</subfield></datafield><datafield tag="650" ind1=" " ind2="4"><subfield code="a">energy consumption</subfield></datafield><datafield tag="650" ind1=" " ind2="4"><subfield code="a">workspace of the CoM</subfield></datafield><datafield tag="650" ind1=" " ind2="4"><subfield code="a">trajectory planning</subfield></datafield><datafield tag="650" ind1=" " ind2="4"><subfield code="a">dynamics</subfield></datafield><datafield tag="650" ind1=" " ind2="4"><subfield code="a">Rayleigh dissipation function</subfield></datafield><datafield tag="650" ind1=" " ind2="4"><subfield code="a">Lagrange’s equation</subfield></datafield><datafield tag="653" ind1=" " ind2="0"><subfield code="a">Technology</subfield></datafield><datafield tag="653" ind1=" " ind2="0"><subfield code="a">T</subfield></datafield><datafield tag="653" ind1=" " ind2="0"><subfield code="a">Engineering (General). Civil engineering (General)</subfield></datafield><datafield tag="653" ind1=" " ind2="0"><subfield code="a">Biology (General)</subfield></datafield><datafield tag="653" ind1=" " ind2="0"><subfield code="a">Physics</subfield></datafield><datafield tag="653" ind1=" " ind2="0"><subfield code="a">Chemistry</subfield></datafield><datafield tag="700" ind1="0" ind2=" "><subfield code="a">Yong Zhang</subfield><subfield code="e">verfasserin</subfield><subfield code="4">aut</subfield></datafield><datafield tag="700" ind1="0" ind2=" "><subfield code="a">Na Feng</subfield><subfield code="e">verfasserin</subfield><subfield code="4">aut</subfield></datafield><datafield tag="700" ind1="0" ind2=" "><subfield code="a">Tiandu Zhou</subfield><subfield code="e">verfasserin</subfield><subfield code="4">aut</subfield></datafield><datafield tag="700" ind1="0" ind2=" "><subfield code="a">Xiaoshuang Xiong</subfield><subfield code="e">verfasserin</subfield><subfield code="4">aut</subfield></datafield><datafield tag="700" ind1="0" ind2=" "><subfield code="a">Yujin Wang</subfield><subfield code="e">verfasserin</subfield><subfield code="4">aut</subfield></datafield><datafield tag="773" ind1="0" ind2="8"><subfield code="i">In</subfield><subfield code="t">Applied Sciences</subfield><subfield code="d">MDPI AG, 2012</subfield><subfield code="g">12(2022), 21, p 11164</subfield><subfield code="w">(DE-627)737287640</subfield><subfield code="w">(DE-600)2704225-X</subfield><subfield code="x">20763417</subfield><subfield code="7">nnns</subfield></datafield><datafield tag="773" ind1="1" ind2="8"><subfield code="g">volume:12</subfield><subfield code="g">year:2022</subfield><subfield code="g">number:21, p 11164</subfield></datafield><datafield tag="856" ind1="4" ind2="0"><subfield code="u">https://doi.org/10.3390/app122111164</subfield><subfield code="z">kostenfrei</subfield></datafield><datafield tag="856" ind1="4" ind2="0"><subfield code="u">https://doaj.org/article/f06d4d1091f140bab3b3e4cf5dd972be</subfield><subfield code="z">kostenfrei</subfield></datafield><datafield tag="856" ind1="4" ind2="0"><subfield code="u">https://www.mdpi.com/2076-3417/12/21/11164</subfield><subfield code="z">kostenfrei</subfield></datafield><datafield tag="856" ind1="4" ind2="2"><subfield code="u">https://doaj.org/toc/2076-3417</subfield><subfield code="y">Journal toc</subfield><subfield code="z">kostenfrei</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_USEFLAG_A</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">SYSFLAG_A</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_DOAJ</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_11</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_20</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_22</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_23</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_24</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_39</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_40</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_60</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_62</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_63</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_65</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_69</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_70</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_73</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_95</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_105</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_110</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_151</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_161</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_170</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_171</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_213</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_230</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_285</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_293</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_370</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_602</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_2014</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_2055</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_4012</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_4037</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_4112</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_4125</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_4126</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_4249</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_4305</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_4306</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_4307</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_4313</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_4322</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_4323</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_4324</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_4325</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_4335</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_4338</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_4367</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_4700</subfield></datafield><datafield tag="951" ind1=" " ind2=" "><subfield code="a">AR</subfield></datafield><datafield tag="952" ind1=" " ind2=" "><subfield code="d">12</subfield><subfield code="j">2022</subfield><subfield code="e">21, p 11164</subfield></datafield></record></collection>
callnumber-first	T - Technology
author	Lianqing Yu
spellingShingle	Lianqing Yu misc TA1-2040 misc QH301-705.5 misc QC1-999 misc QD1-999 misc energy consumption misc workspace of the CoM misc trajectory planning misc dynamics misc Rayleigh dissipation function misc Lagrange’s equation misc Technology misc T misc Engineering (General). Civil engineering (General) misc Biology (General) misc Physics misc Chemistry Energy Consumption Analysis of a Rolling Mechanism Based on a Five-Bow-Shaped-Bar Linkage
authorStr	Lianqing Yu
ppnlink_with_tag_str_mv	@@773@@(DE-627)737287640
format	electronic Article
delete_txt_mv	keep
author_role	aut aut aut aut aut aut
collection	DOAJ
remote_str	true
callnumber-label	TA1-2040
illustrated	Not Illustrated
issn	20763417
topic_title	TA1-2040 QH301-705.5 QC1-999 QD1-999 Energy Consumption Analysis of a Rolling Mechanism Based on a Five-Bow-Shaped-Bar Linkage energy consumption workspace of the CoM trajectory planning dynamics Rayleigh dissipation function Lagrange’s equation
topic	misc TA1-2040 misc QH301-705.5 misc QC1-999 misc QD1-999 misc energy consumption misc workspace of the CoM misc trajectory planning misc dynamics misc Rayleigh dissipation function misc Lagrange’s equation misc Technology misc T misc Engineering (General). Civil engineering (General) misc Biology (General) misc Physics misc Chemistry
topic_unstemmed	misc TA1-2040 misc QH301-705.5 misc QC1-999 misc QD1-999 misc energy consumption misc workspace of the CoM misc trajectory planning misc dynamics misc Rayleigh dissipation function misc Lagrange’s equation misc Technology misc T misc Engineering (General). Civil engineering (General) misc Biology (General) misc Physics misc Chemistry
topic_browse	misc TA1-2040 misc QH301-705.5 misc QC1-999 misc QD1-999 misc energy consumption misc workspace of the CoM misc trajectory planning misc dynamics misc Rayleigh dissipation function misc Lagrange’s equation misc Technology misc T misc Engineering (General). Civil engineering (General) misc Biology (General) misc Physics misc Chemistry
format_facet	Elektronische Aufsätze Aufsätze Elektronische Ressource
format_main_str_mv	Text Zeitschrift/Artikel
carriertype_str_mv	cr
hierarchy_parent_title	Applied Sciences
hierarchy_parent_id	737287640
hierarchy_top_title	Applied Sciences
isfreeaccess_txt	true
familylinks_str_mv	(DE-627)737287640 (DE-600)2704225-X
title	Energy Consumption Analysis of a Rolling Mechanism Based on a Five-Bow-Shaped-Bar Linkage
ctrlnum	(DE-627)DOAJ02892195X (DE-599)DOAJf06d4d1091f140bab3b3e4cf5dd972be
title_full	Energy Consumption Analysis of a Rolling Mechanism Based on a Five-Bow-Shaped-Bar Linkage
author_sort	Lianqing Yu
journal	Applied Sciences
journalStr	Applied Sciences
callnumber-first-code	T
lang_code	eng
isOA_bool	true
recordtype	marc
publishDateSort	2022
contenttype_str_mv	txt
author_browse	Lianqing Yu Yong Zhang Na Feng Tiandu Zhou Xiaoshuang Xiong Yujin Wang
container_volume	12
class	TA1-2040 QH301-705.5 QC1-999 QD1-999
format_se	Elektronische Aufsätze
author-letter	Lianqing Yu
doi_str_mv	10.3390/app122111164
author2-role	verfasserin
title_sort	energy consumption analysis of a rolling mechanism based on a five-bow-shaped-bar linkage
callnumber	TA1-2040
title_auth	Energy Consumption Analysis of a Rolling Mechanism Based on a Five-Bow-Shaped-Bar Linkage
abstract	To reveal the relationship between the center of mass (CoM) trajectory of a closed five-bow-shaped-bar linkage and its energy consumption, this paper presents a trajectory planning method based on the workspace of the CoM. Using different height points located on the symmetric centerline of the workspace of the CoM as via points, the CoM trajectory is planned by combining cubic polynomials with Bézier curves based on quadratic Bernstein polynomials. Herein, the system energy consumption is obtained by integrating the product of generalized velocity and generalized force versus time, where the generalized force is calculated by Lagrange’s equation including the Rayleigh dissipation function. Then, two schemes of dynamic rolling are proposed to compare, and the theoretical results show that the system consumes less energy under the sinusoid scheme when the via point height is lower and the via point of higher height is more suitable under the modified trapezoidal curve scheme. Furthermore, this paper combines the locomotion simulation software to design the locomotion of the mechanism’s CoM trajectory under two schemes in detail and verifies the correctness of the theoretical results.
abstractGer	To reveal the relationship between the center of mass (CoM) trajectory of a closed five-bow-shaped-bar linkage and its energy consumption, this paper presents a trajectory planning method based on the workspace of the CoM. Using different height points located on the symmetric centerline of the workspace of the CoM as via points, the CoM trajectory is planned by combining cubic polynomials with Bézier curves based on quadratic Bernstein polynomials. Herein, the system energy consumption is obtained by integrating the product of generalized velocity and generalized force versus time, where the generalized force is calculated by Lagrange’s equation including the Rayleigh dissipation function. Then, two schemes of dynamic rolling are proposed to compare, and the theoretical results show that the system consumes less energy under the sinusoid scheme when the via point height is lower and the via point of higher height is more suitable under the modified trapezoidal curve scheme. Furthermore, this paper combines the locomotion simulation software to design the locomotion of the mechanism’s CoM trajectory under two schemes in detail and verifies the correctness of the theoretical results.
abstract_unstemmed	To reveal the relationship between the center of mass (CoM) trajectory of a closed five-bow-shaped-bar linkage and its energy consumption, this paper presents a trajectory planning method based on the workspace of the CoM. Using different height points located on the symmetric centerline of the workspace of the CoM as via points, the CoM trajectory is planned by combining cubic polynomials with Bézier curves based on quadratic Bernstein polynomials. Herein, the system energy consumption is obtained by integrating the product of generalized velocity and generalized force versus time, where the generalized force is calculated by Lagrange’s equation including the Rayleigh dissipation function. Then, two schemes of dynamic rolling are proposed to compare, and the theoretical results show that the system consumes less energy under the sinusoid scheme when the via point height is lower and the via point of higher height is more suitable under the modified trapezoidal curve scheme. Furthermore, this paper combines the locomotion simulation software to design the locomotion of the mechanism’s CoM trajectory under two schemes in detail and verifies the correctness of the theoretical results.
collection_details	GBV_USEFLAG_A SYSFLAG_A GBV_DOAJ GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_170 GBV_ILN_171 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_2014 GBV_ILN_2055 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700
container_issue	21, p 11164
title_short	Energy Consumption Analysis of a Rolling Mechanism Based on a Five-Bow-Shaped-Bar Linkage
url	https://doi.org/10.3390/app122111164 https://doaj.org/article/f06d4d1091f140bab3b3e4cf5dd972be https://www.mdpi.com/2076-3417/12/21/11164 https://doaj.org/toc/2076-3417
remote_bool	true
author2	Yong Zhang Na Feng Tiandu Zhou Xiaoshuang Xiong Yujin Wang
author2Str	Yong Zhang Na Feng Tiandu Zhou Xiaoshuang Xiong Yujin Wang
ppnlink	737287640
callnumber-subject	TA - General and Civil Engineering
mediatype_str_mv	c
isOA_txt	true
hochschulschrift_bool	false
doi_str	10.3390/app122111164
callnumber-a	TA1-2040
up_date	2024-07-03T20:09:24.674Z
_version_	1803589899702501376
fullrecord_marcxml	<?xml version="1.0" encoding="UTF-8"?><collection xmlns="http://www.loc.gov/MARC21/slim"><record><leader>01000caa a22002652 4500</leader><controlfield tag="001">DOAJ02892195X</controlfield><controlfield tag="003">DE-627</controlfield><controlfield tag="005">20240414173133.0</controlfield><controlfield tag="007">cr uuu---uuuuu</controlfield><controlfield tag="008">230226s2022 xx \|\|\|\|\|o 00\| \|\|eng c</controlfield><datafield tag="024" ind1="7" ind2=" "><subfield code="a">10.3390/app122111164</subfield><subfield code="2">doi</subfield></datafield><datafield tag="035" ind1=" " ind2=" "><subfield code="a">(DE-627)DOAJ02892195X</subfield></datafield><datafield tag="035" ind1=" " ind2=" "><subfield code="a">(DE-599)DOAJf06d4d1091f140bab3b3e4cf5dd972be</subfield></datafield><datafield tag="040" ind1=" " ind2=" "><subfield code="a">DE-627</subfield><subfield code="b">ger</subfield><subfield code="c">DE-627</subfield><subfield code="e">rakwb</subfield></datafield><datafield tag="041" ind1=" " ind2=" "><subfield code="a">eng</subfield></datafield><datafield tag="050" ind1=" " ind2="0"><subfield code="a">TA1-2040</subfield></datafield><datafield tag="050" ind1=" " ind2="0"><subfield code="a">QH301-705.5</subfield></datafield><datafield tag="050" ind1=" " ind2="0"><subfield code="a">QC1-999</subfield></datafield><datafield tag="050" ind1=" " ind2="0"><subfield code="a">QD1-999</subfield></datafield><datafield tag="100" ind1="0" ind2=" "><subfield code="a">Lianqing Yu</subfield><subfield code="e">verfasserin</subfield><subfield code="4">aut</subfield></datafield><datafield tag="245" ind1="1" ind2="0"><subfield code="a">Energy Consumption Analysis of a Rolling Mechanism Based on a Five-Bow-Shaped-Bar Linkage</subfield></datafield><datafield tag="264" ind1=" " ind2="1"><subfield code="c">2022</subfield></datafield><datafield tag="336" ind1=" " ind2=" "><subfield code="a">Text</subfield><subfield code="b">txt</subfield><subfield code="2">rdacontent</subfield></datafield><datafield tag="337" ind1=" " ind2=" "><subfield code="a">Computermedien</subfield><subfield code="b">c</subfield><subfield code="2">rdamedia</subfield></datafield><datafield tag="338" ind1=" " ind2=" "><subfield code="a">Online-Ressource</subfield><subfield code="b">cr</subfield><subfield code="2">rdacarrier</subfield></datafield><datafield tag="520" ind1=" " ind2=" "><subfield code="a">To reveal the relationship between the center of mass (CoM) trajectory of a closed five-bow-shaped-bar linkage and its energy consumption, this paper presents a trajectory planning method based on the workspace of the CoM. Using different height points located on the symmetric centerline of the workspace of the CoM as via points, the CoM trajectory is planned by combining cubic polynomials with Bézier curves based on quadratic Bernstein polynomials. Herein, the system energy consumption is obtained by integrating the product of generalized velocity and generalized force versus time, where the generalized force is calculated by Lagrange’s equation including the Rayleigh dissipation function. Then, two schemes of dynamic rolling are proposed to compare, and the theoretical results show that the system consumes less energy under the sinusoid scheme when the via point height is lower and the via point of higher height is more suitable under the modified trapezoidal curve scheme. Furthermore, this paper combines the locomotion simulation software to design the locomotion of the mechanism’s CoM trajectory under two schemes in detail and verifies the correctness of the theoretical results.</subfield></datafield><datafield tag="650" ind1=" " ind2="4"><subfield code="a">energy consumption</subfield></datafield><datafield tag="650" ind1=" " ind2="4"><subfield code="a">workspace of the CoM</subfield></datafield><datafield tag="650" ind1=" " ind2="4"><subfield code="a">trajectory planning</subfield></datafield><datafield tag="650" ind1=" " ind2="4"><subfield code="a">dynamics</subfield></datafield><datafield tag="650" ind1=" " ind2="4"><subfield code="a">Rayleigh dissipation function</subfield></datafield><datafield tag="650" ind1=" " ind2="4"><subfield code="a">Lagrange’s equation</subfield></datafield><datafield tag="653" ind1=" " ind2="0"><subfield code="a">Technology</subfield></datafield><datafield tag="653" ind1=" " ind2="0"><subfield code="a">T</subfield></datafield><datafield tag="653" ind1=" " ind2="0"><subfield code="a">Engineering (General). Civil engineering (General)</subfield></datafield><datafield tag="653" ind1=" " ind2="0"><subfield code="a">Biology (General)</subfield></datafield><datafield tag="653" ind1=" " ind2="0"><subfield code="a">Physics</subfield></datafield><datafield tag="653" ind1=" " ind2="0"><subfield code="a">Chemistry</subfield></datafield><datafield tag="700" ind1="0" ind2=" "><subfield code="a">Yong Zhang</subfield><subfield code="e">verfasserin</subfield><subfield code="4">aut</subfield></datafield><datafield tag="700" ind1="0" ind2=" "><subfield code="a">Na Feng</subfield><subfield code="e">verfasserin</subfield><subfield code="4">aut</subfield></datafield><datafield tag="700" ind1="0" ind2=" "><subfield code="a">Tiandu Zhou</subfield><subfield code="e">verfasserin</subfield><subfield code="4">aut</subfield></datafield><datafield tag="700" ind1="0" ind2=" "><subfield code="a">Xiaoshuang Xiong</subfield><subfield code="e">verfasserin</subfield><subfield code="4">aut</subfield></datafield><datafield tag="700" ind1="0" ind2=" "><subfield code="a">Yujin Wang</subfield><subfield code="e">verfasserin</subfield><subfield code="4">aut</subfield></datafield><datafield tag="773" ind1="0" ind2="8"><subfield code="i">In</subfield><subfield code="t">Applied Sciences</subfield><subfield code="d">MDPI AG, 2012</subfield><subfield code="g">12(2022), 21, p 11164</subfield><subfield code="w">(DE-627)737287640</subfield><subfield code="w">(DE-600)2704225-X</subfield><subfield code="x">20763417</subfield><subfield code="7">nnns</subfield></datafield><datafield tag="773" ind1="1" ind2="8"><subfield code="g">volume:12</subfield><subfield code="g">year:2022</subfield><subfield code="g">number:21, p 11164</subfield></datafield><datafield tag="856" ind1="4" ind2="0"><subfield code="u">https://doi.org/10.3390/app122111164</subfield><subfield code="z">kostenfrei</subfield></datafield><datafield tag="856" ind1="4" ind2="0"><subfield code="u">https://doaj.org/article/f06d4d1091f140bab3b3e4cf5dd972be</subfield><subfield code="z">kostenfrei</subfield></datafield><datafield tag="856" ind1="4" ind2="0"><subfield code="u">https://www.mdpi.com/2076-3417/12/21/11164</subfield><subfield code="z">kostenfrei</subfield></datafield><datafield tag="856" ind1="4" ind2="2"><subfield code="u">https://doaj.org/toc/2076-3417</subfield><subfield code="y">Journal toc</subfield><subfield code="z">kostenfrei</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_USEFLAG_A</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">SYSFLAG_A</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_DOAJ</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_11</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_20</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_22</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_23</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_24</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_39</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_40</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_60</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_62</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_63</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_65</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_69</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_70</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_73</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_95</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_105</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_110</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_151</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_161</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_170</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_171</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_213</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_230</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_285</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_293</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_370</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_602</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_2014</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_2055</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_4012</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_4037</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_4112</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_4125</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_4126</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_4249</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_4305</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_4306</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_4307</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_4313</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_4322</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_4323</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_4324</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_4325</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_4335</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_4338</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_4367</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_4700</subfield></datafield><datafield tag="951" ind1=" " ind2=" "><subfield code="a">AR</subfield></datafield><datafield tag="952" ind1=" " ind2=" "><subfield code="d">12</subfield><subfield code="j">2022</subfield><subfield code="e">21, p 11164</subfield></datafield></record></collection>
score	7.3982077

Nicht das Richtige dabei?

Schreiben Sie uns!

Energy Consumption Analysis of a Rolling Mechanism Based on a Five-Bow-Shaped-Bar Linkage

Nicht das Richtige dabei?

Zugang & Verfügbarkeit

Vorhandene Bände

Nicht das Richtige dabei?