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Control Performance Evaluation of Serial Urology Manipulator by virtual prototyping

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Chinese Journal of Mechanical Engineering 2021年第1期34卷 30-44页

作者： Hu Shi Jiajie Li Lianjie Guo Xuesong Mei School of Mechanical Engineering Xi'an Jiaotong UniversityXi'an 710049China

Prostatic hyperplasia and tumor are common diseases,and the minimally invasive surgery inserting the instruments through the urethra into the prostate is commonly *** the robotic manipulator for such surgery into consideration,this paper analyses the workspace of the end effector,and proposes the distribution error of the fixed point and the tracking error of manipulator end effector on the cone bottom surface of the workspace as the basis for control implementation of the *** D-H coordinate system of the manipulator is established and the trajectory planning of the end effector in the Cartesian space is carried *** digital model was established,and dynamics simulation was performed in Solidworks and Matlab/Simulink environment to guide the manipulator *** mapping and synchronization control between virtual model and the actual manipulator are realized based on digital twin *** virtual manipulator can reflect the real-time state of the manipulator with data interaction by comparing the dynamics simulation results with the motor current values obtained by *** was carried out with PD feedback control and Newton-Euler dynamics based feedforward control to get the trajectory tracking characteristic of each motor,errors of the fixed point and tracking performance of the end effector of the *** results show that compared with PD feedback control,feed forward control implementation can achieve a reduction of 30.0%in the average error of the fixed point of the manipulator and a reduction of 33.3%in the maximum error.

关键词： Urology robot Dynamic simulation virtual prototyping Serial manipulator Feedforward control

A virtual prototyping Approach for Development of PMSM on Real‑Time Platforms: A Case Study on Temperature Sensitivity

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Automotive Innovation 2022年第3期5卷 285-298页

作者： René Scheer Yannick Bergheim Simon Aleff Daniel Heintges Niclas Rahner Rafael Gries Jakob Andert Teaching and Research Area Mechatronics in Mobile Propulsion RWTH Aachen UniversityForckenbeckstr.4Aachen 52074Germany DENSO Automotive Deutschland GmbH Friedrich‑List‑Allee 42Wegberg 41844Germany

This paper presents a comprehensive evaluation of system interactions in a battery electric vehicle caused by temperature sensitivity of permanent magnet synchronous machines(PMSM).An analytical model of a PMSM considering iron losses and thermal impact is implemented on a field programmable gate array suitable for hardware-in-the-loop *** the presented virtual prototyping approach,different machine characteristics defined by the design are used to parameterize the analytical *** investigated temperature effect is understood as an interacting influence between machine character-istics and control,which are investigated in terms of torque generation,voltage utilization and efficiency under closed-loop condition in a vehicle *** particular,using a surface permanent magnet rotor and an interior permanent magnet rotor,the performance of both machine designs is analyzed by varying temperature-adjusted feedforward control strategies on the basis of a driving cycle from a *** comparison shows that the machine design with surface-mounted mag-nets is associated with higher temperature *** this case,the temperature consideration in the feedforward control provides a14%loss reduction in closed-loop vehicle test *** can be summarized that the electromagnetic torque is less sensitive to a temperature variation with increasing *** presented development approach demonstrates the impact of interactions in electric powertrains without the need of real prototypes.

关键词： FPGA PMSM Iron loss FEM Spatial harmonics RT-MIL virtual prototyping Frontloading Closed-

Modeling and simulation of ocean mining subsystem based on virtual prototyping technology

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Journal of Central South University of Technology 2005年第2期12卷 176-180页

作者：夏毅敏卜英勇马治国赵海鸣罗柏文 School of Mechanical and Electrical Engineering Central South University Changsha 410083 China

According to the virtual prototyping technology and the theory of dynamics of multi-rigid-body system, a virtual prototyping of ocean mining vehicle was constructed by using 3-dimensional entity modeling software ((Pro/E),) automatic dynamic analysis of mechanical systems(ADAMS) and advanced visual software(AVS). After 32 new modules were developed with C++ at AVS platform, the interface problems of the 3 types of software were solved effectively and a visual environment for ocean mining subsystem was constructed. Based on the similarity (theory) and similarity experiments, the validity and reliability of the virtual prototyping were verified. By using the (constructed) virtual prototyping, the relevant parameters, such as cutting depth, rotation speed of roller,marching speed of mining vehicle can be adjusted one by one. After repeatable virtual tests and analysis its corresponding dynamic characteristics, the structure parameter of mining vehicle and the parameter of mining process can be optimized fast and accurately. The experiment and simulation results show that, under the controlled mining parameters, 4 function expressions between the average force of single pick,average torque,average cutting power,energy consumption ratio and cutting depth are obtained. The maximum force of a single pick is less than (11090N) and the maximum torque of the roller is less than 3600N·m.

关键词： ocean mining virtual prototyping visualization similarity experiment

virtual prototyping OF KEY PARTS OF PRINTING PRESS

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VIRTUAL PROTOTYPING OF KEY PARTS OF PRINTING PRESS

Advances in virtual prototyping Techniques for Design of Compact Cyclotrons

2006年中国机械工程学会年会暨中国工程院机械与运载工程学部首届年会

作者： QI Yuansheng, LI Haixiang, WANG Xiaohua, ZHAO Shiying School of Mechanical & Electronic Engineering, Beijing Institute of Graphic Communication, Bejing 102600, China

Printing press is one kind of complex mechatronic *** on analysing traditional design methodology ofprinting press, this paper presents a methodology of virtualprototyping. This method based

关键词： Printing press virtual prototyping finite elementanalysis kinematics and dynamics analysis.

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Chinese Physics C 2008年第z1期32卷 234-236页

作者：樊明武秦斌熊永前储诚节余调琴杨军冯仪章李冬刘开锋华中科技大学武汉430074 中国原子能科学研究院北京104213

As a novel technique in engineering,virtual prototyping(VP)was applied to the design of cyclotrons with the purpose of shortening the development period and reducing the costs for physical *** advances in VP techniques for compact cyclotron design in HUST are *** idea of multi-domain collaborative design was *** paper describes the pythonic mixed language programming approach to develop the VP integrate *** this platform,the optimization design of main magnet,RF cavity and central region of cyclotrons is to be achieved.

关键词： cyclotron virtual prototyping collaborative design

Development of a Special Machine Rotating Cutter Based on virtual prototyping

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International Journal of Plant Engineering and Management 2008年第2期13卷 96-100页

作者： SU Xiao-ping XU Lian HUANG Xiao-diao WANG Liang-mo School of Mechanical ＆ Power Engineering Nanjing University of Technology Nanjing 210009 P. R. China School of Mechanical Engineering Nanjing University of Science and Technology Nanjing 210094 P. R. China

We first describe the fundamental concept of virtual prototyping（ VP ） technology and discuss the differences among VP, computer aided design, computer aided engineering and computer aided manufacture. Then we present the application flow of virtual prototyping technology to the development of mechanical products. Based on ADAMS/VIEW, a new kind of special machine rotating cutter has been developed. The simulation results show that the rotating cutter meets the design requirements. It is concluded that virtual prototyping technology is quite valuable in designing and manufacturing mechanical product.

关键词： virtual prototyping computer simulation special machine rotating cutter

The Research on Model Updating Technology of Complex Multibody System virtual prototyping

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The Research on Model Updating Technology of Complex Multibo...

An Exploration of the virtual prototypingin Mechanical Product Designing

The International Conference on Recent Trends in Materials and Mechanical Engineering(ICRTMME 2011)

作者： Han Bing Liu Geng Wang Haiwei Northwestern Polytechnical University

In this paper, the concept and application of virtual prototype technology are simply introduced, and analyses the veracity program in course of complex multi-body system simulationThe rigid-flexible couple virtual prototype model of complex multi-body system including collision is built, and the veracity of virtual prototype simulation is evaluated combining limited test dataUpdating some typical system parameters by sensitivity method and perturbation method, it makes the simulation results have better consistency with test results, and improves the simulation precision of virtual prototype model.

关键词： virtual prototyping model updating collision multibody system degree of scatter

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武汉理工大学学报(交通科学与工程版) 1999年第4期 449-451页

作者： Jin Shengping 1) Zhu Youbo 2) Chen Dingfang 3) (Department of Basic Courses 1) , Department of Port Machinery Engineering 3) Wuhan Transportation University, Wuhan 430063) (Shantou Broadcast University, Shantou 515041 2)

Traditional CAD in mechanical product designing is discussed. The main problems are given. virtual reality and virtual environment have their important role in mechanical product designing. The basic method is virtual prototyping which is discussed in detail. Three stages in virtual prototyping are listed. Finally, we report some explorations and research directions in virtual prototyping.

关键词： CAD virtual reality virtual prototyping directed acyclic graph

TRAP:trace runtime analysis of properties

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Frontiers of Computer Science 2020年第3期14卷 15-29页

作者： Daian YUE Vania JOLOBOFF Frederic MALLET MOE Trustworthy Software International Joint Lab East China Normal UniversityShanghai 200062China INRIA Rennes 35042France Universite Cote d'Azur CNRSINRIAI3SSophia Antipolis 06900France

We present a method and a tool for the verification of causal and temporal properties for embedded *** analyze trace streams resulting from the execution of virtual prototypes that combine simulated hardware and embedded *** main originality lies in the use of logical clocks to abstract away irrelevant information from the *** propose a model-based approach that relies on domain specific languages(DSL).A first DSL,called TISL(trace item specification language),captures the relevant data structures.A second DSL,called STML(simulation trace mapping language),abstracts the simulation raw data into logical clocks,abstracting simulation data into relevant observation probes and thus reducing the trace streams *** third DSL,called TPSL,defines a set of behavioral patterns that include widely used temporal *** is meant for users who are not familiar with temporal *** pattern is transformed into an *** the automata are executed concurrently and each one raises an error if and when the related TPSL property is *** contribution is the integration of this pattern-based property specification language into the SimSoC virtual prototyping framework without requiring to recompile all the simulation models when the properties *** illustrate our approach with experiments that show the possibility to use multi-core platforms to parallelize the simulation and verification processes,thus reducing the verification time.

关键词： runtime verification trace analysis property specification logical clocks simulation virtual prototyping