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...
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| Format: | Article |
| Language: | English |
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MDPI AG
2022-11-01
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| Series: | Applied Sciences |
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| Online Access: | https://www.mdpi.com/2076-3417/12/21/11164 |
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| author | Lianqing Yu Yong Zhang Na Feng Tiandu Zhou Xiaoshuang Xiong Yujin Wang |
| author_facet | Lianqing Yu Yong Zhang Na Feng Tiandu Zhou Xiaoshuang Xiong Yujin Wang |
| author_sort | Lianqing Yu |
| collection | DOAJ |
| description | 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. |
| first_indexed | 2024-03-09T19:17:37Z |
| format | Article |
| id | doaj.art-f06d4d1091f140bab3b3e4cf5dd972be |
| institution | Directory Open Access Journal |
| issn | 2076-3417 |
| language | English |
| last_indexed | 2024-03-09T19:17:37Z |
| publishDate | 2022-11-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Applied Sciences |
| spelling | doaj.art-f06d4d1091f140bab3b3e4cf5dd972be2023-11-24T03:39:04ZengMDPI AGApplied Sciences2076-34172022-11-0112211116410.3390/app122111164Energy Consumption Analysis of a Rolling Mechanism Based on a Five-Bow-Shaped-Bar LinkageLianqing Yu0Yong Zhang1Na Feng2Tiandu Zhou3Xiaoshuang Xiong4Yujin Wang5School of Mechanical Engineering & Automation, Wuhan Textile University, Wuhan 430200, ChinaSchool of Mechanical Engineering & Automation, Wuhan Textile University, Wuhan 430200, ChinaSchool of Mechanical Engineering & Automation, Wuhan Textile University, Wuhan 430200, ChinaSchool of Mechanical Engineering & Automation, Wuhan Textile University, Wuhan 430200, ChinaSchool of Mechanical Engineering & Automation, Wuhan Textile University, Wuhan 430200, ChinaSchool of Mechanical Engineering, Chongqing University of Technology, Chongqing 400054, ChinaTo 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.https://www.mdpi.com/2076-3417/12/21/11164energy consumptionworkspace of the CoMtrajectory planningdynamicsRayleigh dissipation functionLagrange’s equation |
| spellingShingle | Lianqing Yu Yong Zhang Na Feng Tiandu Zhou Xiaoshuang Xiong Yujin Wang Energy Consumption Analysis of a Rolling Mechanism Based on a Five-Bow-Shaped-Bar Linkage Applied Sciences energy consumption workspace of the CoM trajectory planning dynamics Rayleigh dissipation function Lagrange’s equation |
| title | Energy Consumption Analysis of a Rolling Mechanism Based on a Five-Bow-Shaped-Bar Linkage |
| title_full | Energy Consumption Analysis of a Rolling Mechanism Based on a Five-Bow-Shaped-Bar Linkage |
| title_fullStr | Energy Consumption Analysis of a Rolling Mechanism Based on a Five-Bow-Shaped-Bar Linkage |
| title_full_unstemmed | Energy Consumption Analysis of a Rolling Mechanism Based on a Five-Bow-Shaped-Bar Linkage |
| title_short | Energy Consumption Analysis of a Rolling Mechanism Based on a Five-Bow-Shaped-Bar Linkage |
| title_sort | energy consumption analysis of a rolling mechanism based on a five bow shaped bar linkage |
| topic | energy consumption workspace of the CoM trajectory planning dynamics Rayleigh dissipation function Lagrange’s equation |
| url | https://www.mdpi.com/2076-3417/12/21/11164 |
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