Robotic system with viscoelastic element modeled via fractional Zener model
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.
Keywords:
Zener model / Lagrange mechanics / generalized forces / fractional order viscoelasticitySource:
2014 International Conference on Fractional Differentiation and Its Applications, ICFDA 2014, 2014Publisher:
- Institute of Electrical and Electronics Engineers Inc.
Funding / projects:
- Dynamics of hybrid systems with complex structures. Mechanics of materials. (RS-MESTD-Basic Research (BR or ON)-174001)
- Sustainability and improvement of mechanical systems in energetic, material handling and conveying by using forensic engineering, environmental and robust design (RS-MESTD-Technological Development (TD or TR)-35006)
- Energy efficiency Improvement of Hydro and Thermal power plants in EPS by development and implementation of power electronics based regulation and automation equipment (RS-MESTD-Technological Development (TD or TR)-33020)
Collections
Institution/Community
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 . .