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
Autor*in: |
Lianqing Yu [verfasserIn] Yong Zhang [verfasserIn] Na Feng [verfasserIn] Tiandu Zhou [verfasserIn] Xiaoshuang Xiong [verfasserIn] Yujin Wang [verfasserIn] |
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E-Artikel |
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Sprache: |
Englisch |
Erschienen: |
2022 |
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Übergeordnetes Werk: |
In: Applied Sciences - MDPI AG, 2012, 12(2022), 21, p 11164 |
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Übergeordnetes Werk: |
volume:12 ; year:2022 ; number:21, p 11164 |
Links: |
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DOI / URN: |
10.3390/app122111164 |
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Katalog-ID: |
DOAJ02892195X |
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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 |
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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 |
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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 |
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Energy Consumption Analysis of a Rolling Mechanism Based on a Five-Bow-Shaped-Bar Linkage |
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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. |
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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. 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