Wydział Mechaniczny / Faculty of Mechanical Engineering / W1

Stały URI zbioruhttp://hdl.handle.net/11652/1

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20152

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Autorsearch.filters.applied.operator.equals: search.filters.author.Grzelczyk, DariuszTematsearch.filters.applied.operator.equals: search.filters.subject.dynamical systems - conference

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  • Pozycja
    Power consumption analysis of different hexapod robot gaits.
    (Politechnika Łódzka. Wydział Mechaniczny. Katedra Automatyki, Biomechaniki i Mechatroniki., 2015) Grzelczyk, Dariusz; Stańczyk, Bartosz; Awrejcewicz, Jan
    The paper is focused on the power consumption analysis of different gaits of our constructed hexapod robot controlled by different Central Pattern Generator (CPG) models. There are a lot of gait patterns in the literature constructed either by different CPG models or using a series of oscillations with adjustable phase lag. The mentioned models, as well as those proposed in our previous paper are used and compared from the viewpoint of energy demand. In general, power consumption of the constructed hexapod robot is experimentally analyzed based on the current consumption in the applied servo motors, which drive the robot limbs. For this purpose the suitable drivers allowing a simple measurement of electric energy consumption of servo motors are used. The obtained experimental results show different energy demand for different robot gaits. Because power consumption is one of the main operational restrictions imposed on autonomous walking robots, we show that the performed energy efficiency analysis and the choice of the appropriate robot gaits depending on the actual situation can reduce the energy costs.
  • Pozycja
    Dynamics of two coupled 4-DOF mechanical linear sliding systems with dry friction.
    (Politechnika Łódzka. Wydział Mechaniczny. Katedra Automatyki, Biomechaniki i Mechatroniki., 2015) Kosińska, Angelika; Grzelczyk, Dariusz; Awrejcewicz, Jan
    The paper introduces a model of two identical coupled 4-DOF mechanical linear sliding systems with dry friction coupled with each other by a linear torsional spring. The appropriate components (bodies) of the coupled systems are riding on two separated driving belts, which are driven at constant velocities, and stick-slip vibrations can be observed. In this case the physical interpretation of the considered model could be two rows of carriages laying on the guideways and coupled by an elastic shaft, which are moving at constant velocity with respect to the guideways as a foundation. From a mathematical point of view the analyzed problem is governed by eight nonlinear ordinary second order differential equations of motion yielded by the second kind Lagrange equations. Numerical analysis is performed in Mathematica software using the qualitative and quantitative theories of differential equations. Some interesting non-linear system dynamics are detected and reported using the phase portraits and the Poincaré maps. Next, power spectra obtained by the FFT technique are reported. The presented results show periodic, quasi-periodic, chaotic and hyperchaotic orbits. Moreover, synchronization effects between the coupled systems are also detected and studied.