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A special issue of Applied Sciences (ISSN 2076-3417). This special issue belongs to the section "Mechanical Engineering".

Deadline for manuscript submissions: closed (30 October 2019) | Viewed by 57549

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Special Issue Editors

Prof. Dr. Alberto Doria

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Department of Industrial Engineering, University of Padova, 35131 Padova, Italy
Interests: mechanical vibrations and identification; energy harvesting; robot vibrations; multiphysics systems
Special Issues, Collections and Topics in MDPI journals

Prof. Dr. Giovanni Boschetti

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Guest Editor

Department of Industrial Engineering, University of Padova, 35131 Padova, Italy
Interests: industrial and collaborative robotics; robot and mechanism design; performance evaluation; cable-driven robots
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Prof. Dr. Matteo Massaro

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Guest Editor

Department of Industrial Engineering, University of Padova, 35131 Padova, Italy
Interests: vehicle dynamics; multibody dynamics; optimal control; road vehicles; mechanical vibrations
Special Issues, Collections and Topics in MDPI journals

Special Issue Information

Nowadays, mechanical systems are increasingly integrated with electronic, electrical, and fluidic systems. This trend is present not only in the industrial environment, which will be characterized soon by the cyber-physical systems of industry 4.0, but also in other environments like automotive technology, rehabilitation and bio-engineering, smart materials and domotics. In this context, purely mechanical systems with quasi-static behavior will become less common and the state-of-the-art will be represented soon by integrated mechanical systems, which need accurate dynamic models to predict their behavior. Therefore, mechanical systems dynamics is going to play an increasingly central role. Significant research efforts are needed to improve the identification of the mechanical properties of the systems, to develop models taking into account non-linearity and to develop efficient simulation tools. This Special Issue aims at disseminating the latest research achievements, findings, and ideas in mechanical systems dynamics, with particular emphasis on applications that are strongly integrated with other systems and require a multi-physical approach.

Papers are welcome on topics that are related to the theory, practice, and applications of mechanical systems dynamics, including but not limited to the following:

The identification and dynamics of multi-body systems;
The dynamics of automatic machinery;
Dynamics stability and control of vehicles;
The dynamics of connected and autonomous vehicles;
The dynamics and control of robots;
Innovative robots;
Medical robotics (surgery, rehabilitation);
The dynamics of multi-physics systems for energy harvesting.

Prof. Dr. Alberto Doria
Prof. Giovanni Boschetti
Prof. Matteo Massaro
Guest Editors

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Keywords

dynamics
multi-physics systems
vehicle dynamics
robot
multi-body

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Published Papers (13 papers)

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Editorial

Jump to: Research, Review

5 pages, 171 KiB

Open AccessEditorial

Advances in Mechanical Systems Dynamics

by Alberto Doria, Giovanni Boschetti and Matteo Massaro

Appl. Sci. 2020, 10(1), 61; https://doi.org/10.3390/app10010061 - 20 Dec 2019

Cited by 1 | Viewed by 1953

Abstract

Modern dynamics was established many centuries ago by Galileo and Newton before the beginning of the industrial era [...] Full article

(This article belongs to the Special Issue Advances in Mechanical Systems Dynamics)

Research

Jump to: Editorial, Review

25 pages, 14825 KiB

Open AccessArticle

Study of Personal Mobility Vehicle (PMV) with Active Inward Tilting Mechanism on Obstacle Avoidance and Energy Efficiency

by Tetsunori Haraguchi, Ichiro Kageyama and Tetsuya Kaneko

Appl. Sci. 2019, 9(22), 4737; https://doi.org/10.3390/app9224737 - 6 Nov 2019

Cited by 8 | Viewed by 3866

Abstract

Traffic congestion and lack of parking spaces in urban areas etc. may lessen the original benefits of cars, and now new ultra-small mobility concepts called personal mobility vehicles (PMVs) are receiving attention. Among them, PMVs with an inward tilting mechanism in order to avoid overturning on turning, as in motorcycles, look realistic in new, innovative traffic systems. In this study, PMVs with an active inward tilting mechanism with three wheels, double front wheels and single rear wheel, were studied regarding front inner wheel lifting phenomena, capability of obstacle avoidance and energy balance of active tilting mechanism. Based on a comprehensive study of inner wheel lifting and obstacle avoidance, PMVs with a front wheel steering system as the most realistic specification were compared on capability of obstacle avoidance with passenger cars and motorcycles with those that have current market experience, and showed better capability. Although the energy consumption of an active inward tilting mechanism might be in conflict with the energy efficiency of small PMV concepts, the energy needed to tilt PMVs was very little compared with the general energy consumption of driving. It was clarified that the new PMV concepts with inward tilting mechanism have sufficient social acceptability from both mandatory points of safety and efficiency. Full article

(This article belongs to the Special Issue Advances in Mechanical Systems Dynamics)

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16 pages, 3828 KiB

Open AccessArticle

A Multi-Physics Modeling-Based Vibration Prediction Method for Switched Reluctance Motors

by Xiao Ling, Jianfeng Tao, Bingchu Li, Chengjin Qin and Chengliang Liu

Appl. Sci. 2019, 9(21), 4544; https://doi.org/10.3390/app9214544 - 25 Oct 2019

Cited by 10 | Viewed by 5403

Abstract

Currently, vibration has been one crucial factor hindering the application of switched reluctance motor (SRM). Hence, it is of crucial importance to predict and suppress this undesirable vibration. This paper proposes a multi-physics analysis-based vibration prediction approach for SRM. It consists of three modules: digital controller and drive circuit module, electromagnetic field module, and mechanical module. In the mechanical module, it not only includes the influence of the stator, but also fully considers the influence of rotor, end cover, bearing, and other components of the motor on the system modal. Moreover, the vibration data under different control strategies are obtained in real time, and data dynamic interaction between the three segments can also be achieved. By combining the electromagnetic forces and the system structure modal, the vibration of SRM can be predicted. Finally, the effectiveness of the proposed method was verified on 12/8 poles, 1.5KW SRM drive system test bench. The results demonstrate that the modal simulation method based on static pre-calculation achieves high accuracy, and the vibration spectrums predicted by the proposed method shows good agreement with the experimental results. Full article

(This article belongs to the Special Issue Advances in Mechanical Systems Dynamics)

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14 pages, 2181 KiB

Open AccessArticle

Study on the Dynamic Characteristics of a Hydraulic Continuous Variable Compression Ratio System

by Jiadui Chen, Bo Wang, Dan Liu and Kai Yang

Appl. Sci. 2019, 9(21), 4484; https://doi.org/10.3390/app9214484 - 23 Oct 2019

Cited by 7 | Viewed by 4365

Abstract

Variable compression ratio (VCR) technology has long been recognized as a method for improving the engine performance, efficiency, and fuel economy of automobiles, with reduced emissions. In this paper, a novel hydraulic continuous VCR system based on the principle of an adjustable hydraulic volume is introduced. The continuous variable compression ratio of the VCR system is realized by the hydraulic system controlling the rotation of the eccentric pin to change the positions of the top dead center (TDC) and the bottom dead center (BDC). The construction of the mathematical model and simulation model of the VCR system is also presented in this paper. The piston motion characteristics, flow characteristics, and pressure characteristics of the hydraulic system of the VCR system at different engine speeds and adjustment quantities are studied by simulation in this paper. The simulation results show that the VCR system has a fast response and good dynamic characteristics, and can achieve continuous adjustment of the compression ratio. Full article

(This article belongs to the Special Issue Advances in Mechanical Systems Dynamics)

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16 pages, 3298 KiB

Open AccessArticle

Dynamics of a Turbine Blade with an Under-Platform Damper Considering the Bladed Disc’s Rotation

by Shangwen He, Wenzhen Jia, Zhaorui Yang, Bingbing He and Jun Zhao

Appl. Sci. 2019, 9(19), 4181; https://doi.org/10.3390/app9194181 - 7 Oct 2019

Cited by 7 | Viewed by 3262

Abstract

High-cycle fatigue (HCF) failure of the turbine blades of aero-engines caused by high vibrational stresses is one of the main causes of aero-engine incidents [...] Full article

(This article belongs to the Special Issue Advances in Mechanical Systems Dynamics)

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19 pages, 3511 KiB

Open AccessArticle

Control Technology of Ground-Based Laser Communication Servo Turntable via a Novel Digital Sliding Mode Controller

by Jianqiang Zhang, Yongkai Liu, Shijie Gao and Chengshan Han

Appl. Sci. 2019, 9(19), 4051; https://doi.org/10.3390/app9194051 - 27 Sep 2019

Cited by 6 | Viewed by 2520

Abstract

In this study, a sliding mode control (SMC) algorithm was proposed based on a novel reaching law to solve the nonlinear disturbance problem of a ground-based laser communication turntable. This algorithm is a chatter-free method, in which the coefficient of sliding mode variable structure function is designed as an adaptive function, so the chattering of the sliding mode approaches zero. For any perturbed system, this algorithm can ensure a finite time for the system state to reach the sliding mode surface from any initial state. Additionally, the system will stabilize in the quasi-sliding mode domain (QSMD) with O(T³) width, where a narrower QSMD width corresponds to stronger robustness toward nonlinear disturbances. Both mathematical calculations and simulations verified the sliding mode and stability of this control algorithm. Experimental results of the velocity closed-loop of pitch axis show that the proposed algorithm effectively improved the anti-nonlinear disturbance ability of the control system compared with the effects of the traditional digital PID and the existing chatter-reduced SMC algorithms, for smooth system operation. Full article

(This article belongs to the Special Issue Advances in Mechanical Systems Dynamics)

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14 pages, 3983 KiB

Open AccessArticle

Validating the Model of a No-Till Coulter Assembly Equipped with a Magnetorheological Damping System

by Galibjon M. Sharipov, Dimitrios S. Paraforos and Hans W. Griepentrog

Appl. Sci. 2019, 9(19), 3969; https://doi.org/10.3390/app9193969 - 21 Sep 2019

Cited by 6 | Viewed by 2773

Abstract

Variability in soil conditions has a significant influence on the performance of a no-till seeder in terms of an inconsistency in the depth of seeding. This occurs due to the inappropriate dynamic responses of the coulter to the variable soil conditions. In this work, the dynamics of a coulter assembly, designed with a magnetorheological (MR) damping system, were simulated, in terms of vertical movement and ground impact. The developed model used measured inputs from previously performed experiments, i.e., surface profiles and vertical forces. Subsequently, the actual coulter was reassembled with an MR damping system. Multiple sensors were attached to the developed coulter in order to capture its motion behavior together with the profiles, which were followed by the packer wheel. With the aim to validate the correctness of the simulation model, the simulation outputs, i.e., pitch angles and damper forces, were compared to the measured ones. The comparison was based on the root-mean-squared error (RMSE) in percentage, the root-mean-squared deviation (RMSD), and the correlation coefficient. The average value of the RMSE for the pitch angle, for all currents applied on the MR damper, was below 10% and 8% for the speeds of 10 km h⁻¹ and 12 km h⁻¹, respectively. For the damper force, these figures were 15% and 13%. The RMSD was below 0.5 deg and 1.3 N for the pitch angle and the damper force, respectively. The correlation coefficient for all datasets was above 0.95 and 0.7 for the pitch angle and the damper force, respectively. Since the damper force indicated a comparatively lower correlation in the time domain, its frequency domain and coherence were investigated. The coherence value was above 0.9 for all datasets. Full article

(This article belongs to the Special Issue Advances in Mechanical Systems Dynamics)

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16 pages, 4131 KiB

Open AccessArticle

Efficient Driving Plan and Validation of Aircraft NLG Emergency Extension System via Mixture of Reliability Models and Test Bench

by Zhengzheng Zhu, Yunwen Feng, Cheng Lu and Chengwei Fei

Appl. Sci. 2019, 9(17), 3578; https://doi.org/10.3390/app9173578 - 1 Sep 2019

Cited by 9 | Viewed by 4750

Abstract

The emergence extension system (a mechanical system) of nose landing gear (NLG) seriously influences the reliability, safety and airworthiness of civil aircrafts. To efficiently realize the NLG emergence extension, a promising driving plan of emergence extension is proposed in respect of the reliability sensitivity analyses with a mixture of models. The working principle, fault tree analysis and four reliability models are firstly discussed for NLG emergence extension. In respect of the mixture of models, the reliability sensitivity analyses of emergence extension are then performed under different flight speeds (270 Kts, 250 Kts, 220 Kts, and 180 Kts). We find dimpling torque and aerodynamic torques of forward and after doors are the top three failure factors and the start reliability is the most in emergence extension failures. Regarding the results, feasible driving plans of NLG emergence extension are developed by adjusting the aerodynamic torque of NLG forward door, and are validated by the aerodynamic torque experiment of forward door with regard to strut rotational angle under the flight speed 270 Kts. It is indicated that (1) the adverse torque generated by the new driving mechanism obviously reduces by about 24.8% from 1462.8 N·m to 1099.6 N·m, and the transmission ratio of aerodynamic torque (force) is greatly improved when the NLG strut is lowered near to 100°; (2) under different flight speeds (180 Kts, 220 Kts, 250 Kts, and 270 Kts), the new driving mechanism realizes the lower tasks of emergence extension which cannot be completed by the initial driving mechanism; and (3) the lowering time of the new driving mechanism shortens with the increasing flight speed. The proposed new driving mechanism is verified to be reliable for emergence extension of aircraft NLG besides normal extension and to be a promising feasible driving plan with high lowering reliability. The efforts of the paper provide an efficient driving mechanism for the design of NLG in civil and military aircrafts. Full article

(This article belongs to the Special Issue Advances in Mechanical Systems Dynamics)

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14 pages, 7156 KiB

Open AccessArticle

Numerical Investigation on Unsteady Separation Flow Control in an Axial Compressor Using Detached-Eddy Simulation

by Mingming Zhang and Anping Hou

Appl. Sci. 2019, 9(16), 3298; https://doi.org/10.3390/app9163298 - 12 Aug 2019

Cited by 3 | Viewed by 2768

Abstract

Unsteady excitation has proved its effectiveness in separation flow control and has been extensively studied. It is observed that disordered shedding vortices in compressors can be controlled by unsteady excitation, especially when the excitation frequency coincides with the frequency of the shedding vortex. Furthermore, former experimental results indicated that unsteady excitation at other frequencies also had an impact on the structure of shedding vortices. To investigate the impact of excitation frequency on vortex shedding structure, the Detached-Eddy Simulation (DES) method was applied in the simulation of shedding vortex structure under unsteady excitations at different frequencies in an axial compressor. Effectiveness of the DES method was proved by comparison with URANS results. The simulation results showed a good agreement with the former experiment. The numerical results indicated that the separation flow can be partly controlled when the excitation frequency coincided with the unsteady flow inherent frequency. It showed an increase in stage performance under the less-studied separation flow control by excitation at a certain frequency of pressure side shedding vortex. Compared with other frequencies of shedding vortices, the frequency of pressure side shedding vortex was less sensitive to mass-flow variation. Therefore, it has potential for easier application on flow control in industrial compressors. Full article

(This article belongs to the Special Issue Advances in Mechanical Systems Dynamics)

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15 pages, 2157 KiB

Open AccessArticle

Study on Low-Speed Stability of a Motorcycle

by Sharad Singhania, Ichiro Kageyama and Venkata M Karanam

Appl. Sci. 2019, 9(11), 2278; https://doi.org/10.3390/app9112278 - 3 Jun 2019

Cited by 10 | Viewed by 4573

Abstract

The increased number of vehicles and poor road conditions in many countries result in slow moving traffic. At low-speeds, riding a motorcycle requires continuous input from a rider to achieve stability, which causes fatigue to the rider. Therefore, in this research, the low-speed stability of a motorcycle is studied using a theoretical and experimental approach to identify the parameters that can reduce the rider’s effort. Initially, a linear mathematical model of the motorcycle and rider system is presented; wherein, the equation of motion for the stability of the system in roll direction is derived. The open-loop and closed-loop poles from the equation are calculated to determine the regions for the low-speed stability. Subsequently, experiments are conducted on the motorcycle instrumented with the required sensors, on a straight path at speeds below 10 km/h. The input and output parameters from the experimental data are analyzed using a statistical method. Steering angle and steering torque are the input parameters; roll and yaw angles and their corresponding velocities are the output parameters selected for the analysis. Correlation and lead time between the input and output parameters are compared to identify the parameters useful for the rider to attain the low-speed stability. The results obtained from the experimental analysis validate the mathematical model. In addition, these findings also validate that the input parameters required to control the motorcycle to achieve low-speed stability can be estimated using the identified output parameters. Full article

(This article belongs to the Special Issue Advances in Mechanical Systems Dynamics)

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21 pages, 8522 KiB

Open AccessArticle

Leg Trajectory Planning for Quadruped Robots with High-Speed Trot Gait

by Xuanqi Zeng, Songyuan Zhang, Hongji Zhang, Xu Li, Haitao Zhou and Yili Fu

Appl. Sci. 2019, 9(7), 1508; https://doi.org/10.3390/app9071508 - 11 Apr 2019

Cited by 27 | Viewed by 10158

Abstract

In this paper, a single leg platform for quadruped robots is designed based on the motivation of high-speed locomotion. The leg is designed for lightweight and low inertia with a structure of three joints by imitating quadruped animals. Because high acceleration and extensive loadings will be involved on the legs during the high-speed locomotion, the trade-off between the leg mass and strength is specifically designed and evaluated with the finite element analysis. Moreover, quadruped animals usually increase stride frequency and decrease contact time as the locomotion speed increases, while maintaining the swing duration during trot gait. Inspired by this phenomenon, the foot-end trajectory for quadruped robots with a high-speed trot gait is proposed. The gait trajectory is planned for swing and stance phase; thus the robot can keep its stability with adjustable trajectories while following a specific gait pattern. Especially for the swing phase, the proposed trajectory can minimize the maximum acceleration of legs and ensure the continuity of position, speed, and acceleration. Then, based on the kinematics analysis, the proposed trajectory is compared with the trajectory of Bézier curve for the power consumption. Finally, a simulation with Webots software is carried out for verifying the motion stability with two trajectory planning schemes respectively. Moreover, a motion capture device is used for evaluating the tracking accuracy of two schemes for obtaining an optimal gait trajectory suitable for high-speed trot gait. Full article

(This article belongs to the Special Issue Advances in Mechanical Systems Dynamics)

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25 pages, 8469 KiB

Open AccessArticle

Application of Multiple-Scales Method for the Dynamic Modelling of a Gear Coupling

by Enrico Pipitone, Christian Maria Firrone and Stefano Zucca

Appl. Sci. 2019, 9(6), 1225; https://doi.org/10.3390/app9061225 - 23 Mar 2019

Cited by 6 | Viewed by 3084

Abstract

Thin-walled gears, designed for aeronautical applications, have shown very rich dynamics that must be investigated in advance of the design phase. One of the signatures of their dynamics is coupling due to the meshing teeth which stand-alone gear models cannot capture. This paper aims to investigate the dynamics of thin-walled gears considering time-varying coupling due to the gear meshing. Each gear is modelled with lumped parameters according to a local rotating reference system and the coupling is modelled by a traveling meshing stiffness. The set of equations of motion is solved by the non-linear Method of Multiple-Time-Scales (MMTS). MMTS is a very powerful technique that is widely used to solve perturbation problems in many fields of mathematic and physics. In the analyzed numerical test case, the relevance of gear coupling is demonstrated as well as the capability of the MMTS to capture the fundamental features of the system dynamics. In this study the analytical methodology, which uses MMTS, allows for the calculation of the forced response of the system made of two meshing gears despite the presence of a parametric quantity, i.e., the mesh stiffness. The calculation is performed in the frequency domain using modal coordinates, which ensures a fast computation. The result is compared with time domain analysis for validation purposes. Full article

(This article belongs to the Special Issue Advances in Mechanical Systems Dynamics)

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Review

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26 pages, 1360 KiB

Open AccessReview

Natural Motion for Energy Saving in Robotic and Mechatronic Systems

by Lorenzo Scalera, Ilaria Palomba, Erich Wehrle, Alessandro Gasparetto and Renato Vidoni

Appl. Sci. 2019, 9(17), 3516; https://doi.org/10.3390/app9173516 - 27 Aug 2019

Cited by 34 | Viewed by 6146

Abstract

Energy saving in robotic and mechatronic systems is becoming an evermore important topic in both industry and academia. One strategy to reduce the energy consumption, especially for cyclic tasks, is exploiting natural motion. We define natural motion as the system response caused by the conversion of potential elastic energy into kinetic energy. This motion can be both a forced response assisted by a motor or a free response. The application of the natural motion concepts allows for energy saving in tasks characterized by repetitive or cyclic motion. This review paper proposes a classification of several approaches to natural motion, starting from the compliant elements and the actuators needed for its implementation. Then several approaches to natural motion are discussed based on the trajectory followed by the system, providing useful information to the researchers dealing with natural motion. Full article

(This article belongs to the Special Issue Advances in Mechanical Systems Dynamics)

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