Robotic system with viscoelastic element modeled via fractional Zener model
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2014
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Prikaz svih podataka o dokumentuApstrakt
In this communication, we propose a four-parameter fractional derivative Zener model for modeling of a viscoelastic element connected into a robotic system. We used force-displacement relation in order to obtain generalized forces of the element connected to two different bodies in the system. Generalized forces of the element are derived using the principle of virtual work. In order to obtain numerical results, we suggested a robotic system with three degrees of freedom. Behavior of generalized forces is examined for changes of fractional order parameter and relaxation time.
Ključne reči:
Zener model / Lagrange mechanics / generalized forces / fractional order viscoelasticityIzvor:
2014 International Conference on Fractional Differentiation and Its Applications, ICFDA 2014, 2014Izdavač:
- Institute of Electrical and Electronics Engineers Inc.
Finansiranje / projekti:
- Dinamika hibridnih sistema složenih struktura. Mehanika materijala (RS-MESTD-Basic Research (BR or ON)-174001)
- Održivost i unapređenje mašinskih sistema u energetici i transportu primenom forenzičkog inženjerstva, eko i robust dizajna (RS-MESTD-Technological Development (TD or TR)-35006)
- Povećanje energetske efikasnosti HE i TE EPS-a razvojem tehnologije i uređaja energetske elektronike za regulaciju i automatizaciju (RS-MESTD-Technological Development (TD or TR)-33020)
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Institucija/grupa
Mašinski fakultetTY - CONF AU - Cajić, Milan S. AU - Lazarević, Mihailo AU - Sekara, Tomislav B. PY - 2014 UR - https://machinery.mas.bg.ac.rs/handle/123456789/1977 AB - In this communication, we propose a four-parameter fractional derivative Zener model for modeling of a viscoelastic element connected into a robotic system. We used force-displacement relation in order to obtain generalized forces of the element connected to two different bodies in the system. Generalized forces of the element are derived using the principle of virtual work. In order to obtain numerical results, we suggested a robotic system with three degrees of freedom. Behavior of generalized forces is examined for changes of fractional order parameter and relaxation time. PB - Institute of Electrical and Electronics Engineers Inc. C3 - 2014 International Conference on Fractional Differentiation and Its Applications, ICFDA 2014 T1 - Robotic system with viscoelastic element modeled via fractional Zener model DO - 10.1109/ICFDA.2014.6967423 ER -
@conference{ author = "Cajić, Milan S. and Lazarević, Mihailo and Sekara, Tomislav B.", year = "2014", abstract = "In this communication, we propose a four-parameter fractional derivative Zener model for modeling of a viscoelastic element connected into a robotic system. We used force-displacement relation in order to obtain generalized forces of the element connected to two different bodies in the system. Generalized forces of the element are derived using the principle of virtual work. In order to obtain numerical results, we suggested a robotic system with three degrees of freedom. Behavior of generalized forces is examined for changes of fractional order parameter and relaxation time.", publisher = "Institute of Electrical and Electronics Engineers Inc.", journal = "2014 International Conference on Fractional Differentiation and Its Applications, ICFDA 2014", title = "Robotic system with viscoelastic element modeled via fractional Zener model", doi = "10.1109/ICFDA.2014.6967423" }
Cajić, M. S., Lazarević, M.,& Sekara, T. B.. (2014). Robotic system with viscoelastic element modeled via fractional Zener model. in 2014 International Conference on Fractional Differentiation and Its Applications, ICFDA 2014 Institute of Electrical and Electronics Engineers Inc... https://doi.org/10.1109/ICFDA.2014.6967423
Cajić MS, Lazarević M, Sekara TB. Robotic system with viscoelastic element modeled via fractional Zener model. in 2014 International Conference on Fractional Differentiation and Its Applications, ICFDA 2014. 2014;. doi:10.1109/ICFDA.2014.6967423 .
Cajić, Milan S., Lazarević, Mihailo, Sekara, Tomislav B., "Robotic system with viscoelastic element modeled via fractional Zener model" in 2014 International Conference on Fractional Differentiation and Its Applications, ICFDA 2014 (2014), https://doi.org/10.1109/ICFDA.2014.6967423 . .