Open Access
Inertia transfer concept based general method for the determination of the base inertial parameters
(Springer, 2015) Ros Ganuza, Javier; Plaza Puértolas, Aitor; Iriarte Goñi, Xabier; Aginaga García, Jokin; Ingeniería; Ingeniaritza; Institute of Smart Cities - ISC
This paper presents a new algorithm to obtain the symbolic expressions of any of the possible base inertial parameter sets of a multibody system. Based on the ¿inertia transfer concept¿, a procedure is proposed to write a system of equations from which the base parameters are obtained. This leads to an automatizable and general method to obtain these parameters symbolically. The method can also be used to determine base inertial parameters numerically, and it can be even more straightforward to implement and use than the standard numerical methods. An example is presented to illustrate in detail the application of the algorithm, and to compare its results with those of a standard numerical procedure. The symbolic base inertial parameters can be of interest in symbolic simplification of the dynamic equations for real-time applications, design optimization, dynamic parameter identification, model reduction, and in other fields.
Open Access
Mode-displacement method for structural dynamic analysis of bio-inspired structures: a palm-tree stem subject to wind effects
(Taylor & Francis, 2022) Plaza Puértolas, Aitor; Vargas Silva, Gustavo Adolfo; Iriarte Goñi, Xabier; Ros Ganuza, Javier; Ingeniería; Ingeniaritza
Biological materials (orthotropic materials), like wood, can offer good mechanical properties with a minimum amount of material, making their internal structure the suitable one to be applied on bio-inspired structures. The knowledge of the exceptional structural performance of palm trees, and specially its response to different loading conditions, provides useful information when lightweight structures with high slenderness ratio are desired. Recent researches focused on the analysis of palm trees subject to static loading conditions, ignoring the fluctuating nature of the wind speed. The purpose of this study is to simulate in a computational efficient way the effect of dynamic loading conditions applied on palm trees. Using the mode displacement method, the number of degrees of freedom of a dynamic finite element analysis can be drastically reduced with a minimal loss of accuracy. It was applied to simulate the behavior of structures comprised of an orthotropic material subject to a stochastic dynamic load. The influence of the number of selected degrees of freedom has also been studied. In addition, an exponential integration method is proposed to perform the time integration procedure. The results obtained show that a properly reduced model suitably represents the full finite element model without any appreciable loss of accuracy; it is also shown that computational cost can be drastically reduced. This method could give an appropriate computational representation of the behavior of orthotropic structures, and it could be used for studying more complex bio-inspired structures.
Open Access
Symbolic multibody methods for real-time simulation of railway vehicles
(Springer, 2018) Ros Ganuza, Javier; Plaza Puértolas, Aitor; Iriarte Goñi, Xabier; Pintor Borobia, Jesús María; Ingeniería Mecánica, Energética y de Materiales; Mekanika, Energetika eta Materialen Ingeniaritza
In this work, recently developed state-of-the-art symbolic multibody methods are tested to accurately model a complex railway vehicle. The model is generated using a symbolic implementation of the principle of virtual power. Creep forces are modeled using a direct symbolic implementation of the standard linear Kalker model. No simplifications, such as base parameter reduction, partial-linearization or lookup tables for contact kinematics, are used. An Implicit–Explicit integration scheme is proposed to efficiently deal with the stiff creep dynamics. Real-time performance is achieved: the CPU time required for a very robust 1 ms integration time step is 203 µs.
Open Access
Mechanical sensitivity analysis of strain gauge configurations in the main shaft of wind turbines
(IOP Publishing, 2022) Bacaicoa Díaz, Julen; Iriarte Goñi, Xabier; Aginaga García, Jokin; Plaza Puértolas, Aitor; Ingeniaritza; Institute of Smart Cities - ISC; Ingeniería
Wind turbines are reaching their remaining useful life, thus it is important to guarantee the well status of its components. A common way to check the status is to measure the loads on the Low Speed Shaft with strain gauges, but not always are bonded perfectly. In this work a sensitivity analysis of strain gauge con gurations is carried out, where the infuence of geometric and material parameters, and misplacement and misalignment parameters is analyzed. An analytical model for a single gauge was developed, obtaining a relation between the exerted loads and the strain measured by the strain gauge. By means of Taylor approximations the estimated loads were approached in order to have into account the in uence of the uncertainty of parameters. Results shown that the sensitivities with respect to the geometric and material parameters did not depend on the secondary loads while in the sensitivities with respect to the gauge bonding parameters the cross-talk e ect was present. In order to obtain realistic numerical results, a horizontal-axis NREL 5-MW wind turbine was simulated in OpenFAST with two wind-speed scenarios. The uncertainty of the estimated loads by the strain gauge con gurations was calculated.
Open Access
Kinematic design of a new four degree-of-freedom parallel robot for knee rehabilitation
(ASME, 2018) Aginaga García, Jokin; Iriarte Goñi, Xabier; Plaza Puértolas, Aitor; Mata, Vicente; Ingeniería Mecánica, Energética y de Materiales; Mekanika, Energetika eta Materialen Ingeniaritza; Institute of Smart Cities - ISC
Rehabilitation robots are increasingly being developed in order to be used by injured people to perform exercise and training. As these exercises do not need wide range movements, some parallel robots with lower mobility architecture can be an ideal solution for this purpose. This paper presents the design of a new four degree-of-freedom (DOF) parallel robot for knee rehabilitation. The required four DOFs are two translations in a vertical plane and two rotations, one of them around an axis perpendicular to the vertical plane and the other one with respect to a vector normal to the instantaneous orientation of the mobile platform. These four DOFs are reached by means of two RPRR limbs and two UPS limbs linked to an articulated mobile platform with an internal DOF. Kinematics of the new mechanism are solved and the direct Jacobian is calculated. A singularity analysis is carried out and the gained DOFs of the direct singularities are calculated. Some of the singularities can be avoided by selecting suitable values of the geometric parameters of the robot. Moreover, among the found singularities, one of them can be used in order to fold up the mechanism for its transportation. It is concluded that the proposed mechanism reaches the desired output movements in order to carry out rehabilitation maneuvers in a singularity-free portion of its workspace.