A Glossary of Hydraulics
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Glossary Physics (I-Introduction)
1 Glossary Physics (I-introduction) - Efficiency: The percent of the work put into a machine that is converted into useful work output; = work done / energy used [-]. = eta In machines: The work output of any machine cannot exceed the work input (<=100%); in an ideal machine, where no energy is transformed into heat: work(input) = work(output), =100%. Energy: The property of a system that enables it to do work. Conservation o. E.: Energy cannot be created or destroyed; it may be transformed from one form into another, but the total amount of energy never changes. Equilibrium: The state of an object when not acted upon by a net force or net torque; an object in equilibrium may be at rest or moving at uniform velocity - not accelerating. Mechanical E.: The state of an object or system of objects for which any impressed forces cancels to zero and no acceleration occurs. Dynamic E.: Object is moving without experiencing acceleration. Static E.: Object is at rest.F Force: The influence that can cause an object to be accelerated or retarded; is always in the direction of the net force, hence a vector quantity; the four elementary forces are: Electromagnetic F.: Is an attraction or repulsion G, gravit. const.6.672E-11[Nm2/kg2] between electric charges: d, distance [m] 2 2 2 2 F = 1/(40) (q1q2/d ) [(CC/m )(Nm /C )] = [N] m,M, mass [kg] Gravitational F.: Is a mutual attraction between all masses: q, charge [As] [C] 2 2 2 2 F = GmM/d [Nm /kg kg 1/m ] = [N] 0, dielectric constant Strong F.: (nuclear force) Acts within the nuclei of atoms: 8.854E-12 [C2/Nm2] [F/m] 2 2 2 2 2 F = 1/(40) (e /d ) [(CC/m )(Nm /C )] = [N] , 3.14 [-] Weak F.: Manifests itself in special reactions among elementary e, 1.60210 E-19 [As] [C] particles, such as the reaction that occur in radioactive decay. -
Actuator Product Guide
About Moog Multi-purpose Actuators and Servoactuators Moog’s multi-purpose actuators and servoactuators can be used for a variety of high performance applications and are standard building blocks used in ruggedized systems. We utilize our expertise in DC electromagnetics, gearing, rate and position loop servo electronics and mechanical design in these assemblies. Moog rotary and linear electromechancial actuators are used in: • Fixed and Rotary Wing Aircrafts • Unmanned Vehicles / Remotely Operated Vehicles • Ground Vehicles • Radar Systems • Remote Weapon Stations • SATCOM Pedestals • EO / IR Sensor Pods • Cockpit Door Locks • Valve / Damper Actuators Capability Moog has been developing specialized high technology and utility electromechanical actuators for over 25 years. Our capability includes in-house design, manufacturing expertise, engineering support and qualification for these products. Product Range Products range from 25 to 2,500 in-lbt for rotary and 100 to 2,000 lbf for linear configurations. We can offer our assemblies with integral servo control electronics. Moog offers a variety of communication interfaces including analog, (+/- 10 VDC for example), RS232 / 422 / 485, R/C PWM and CAN Bus. We design for redundancy as required by the customer. Moog is a FAA certified repair station and can offer hardware in support of AOG services. FAA / EASA Approved Repair Station Location, Springfield, PA FAA Repair Station: L17R251Y 750 West Sproul Road EASA (JAA): 145.5497 Springfield, PA 19064-4084 USA Cage Code: 1K426 Tel: +1-610-328-4000 Fax: +1-610-605-6216 FAA / EASA Approved Repair Station Location, Blacksburg, VA FAA Repair Station: 21MR057C 1213 North Main Street Cage Code: 99932 Blacksburg VA 24060-3127 USA Tel: +1-540-552-3011 Fax: +1-540-557-6719 2 Moog • www.moog.com Rotary Actuators Rotary Actuators Rotary servoactuators utilize brush and brushless type DC motors using both neodymium and rare earth magnets. -
Fluid Mechanics
FLUID MECHANICS PROF. DR. METİN GÜNER COMPILER ANKARA UNIVERSITY FACULTY OF AGRICULTURE DEPARTMENT OF AGRICULTURAL MACHINERY AND TECHNOLOGIES ENGINEERING 1 1. INTRODUCTION Mechanics is the oldest physical science that deals with both stationary and moving bodies under the influence of forces. Mechanics is divided into three groups: a) Mechanics of rigid bodies, b) Mechanics of deformable bodies, c) Fluid mechanics Fluid mechanics deals with the behavior of fluids at rest (fluid statics) or in motion (fluid dynamics), and the interaction of fluids with solids or other fluids at the boundaries (Fig.1.1.). Fluid mechanics is the branch of physics which involves the study of fluids (liquids, gases, and plasmas) and the forces on them. Fluid mechanics can be divided into two. a)Fluid Statics b)Fluid Dynamics Fluid statics or hydrostatics is the branch of fluid mechanics that studies fluids at rest. It embraces the study of the conditions under which fluids are at rest in stable equilibrium Hydrostatics is fundamental to hydraulics, the engineering of equipment for storing, transporting and using fluids. Hydrostatics offers physical explanations for many phenomena of everyday life, such as why atmospheric pressure changes with altitude, why wood and oil float on water, and why the surface of water is always flat and horizontal whatever the shape of its container. Fluid dynamics is a subdiscipline of fluid mechanics that deals with fluid flow— the natural science of fluids (liquids and gases) in motion. It has several subdisciplines itself, including aerodynamics (the study of air and other gases in motion) and hydrodynamics (the study of liquids in motion). -
Fluid Mechanics
cen72367_fm.qxd 11/23/04 11:22 AM Page i FLUID MECHANICS FUNDAMENTALS AND APPLICATIONS cen72367_fm.qxd 11/23/04 11:22 AM Page ii McGRAW-HILL SERIES IN MECHANICAL ENGINEERING Alciatore and Histand: Introduction to Mechatronics and Measurement Systems Anderson: Computational Fluid Dynamics: The Basics with Applications Anderson: Fundamentals of Aerodynamics Anderson: Introduction to Flight Anderson: Modern Compressible Flow Barber: Intermediate Mechanics of Materials Beer/Johnston: Vector Mechanics for Engineers Beer/Johnston/DeWolf: Mechanics of Materials Borman and Ragland: Combustion Engineering Budynas: Advanced Strength and Applied Stress Analysis Çengel and Boles: Thermodynamics: An Engineering Approach Çengel and Cimbala: Fluid Mechanics: Fundamentals and Applications Çengel and Turner: Fundamentals of Thermal-Fluid Sciences Çengel: Heat Transfer: A Practical Approach Crespo da Silva: Intermediate Dynamics Dieter: Engineering Design: A Materials & Processing Approach Dieter: Mechanical Metallurgy Doebelin: Measurement Systems: Application & Design Dunn: Measurement & Data Analysis for Engineering & Science EDS, Inc.: I-DEAS Student Guide Hamrock/Jacobson/Schmid: Fundamentals of Machine Elements Henkel and Pense: Structure and Properties of Engineering Material Heywood: Internal Combustion Engine Fundamentals Holman: Experimental Methods for Engineers Holman: Heat Transfer Hsu: MEMS & Microsystems: Manufacture & Design Hutton: Fundamentals of Finite Element Analysis Kays/Crawford/Weigand: Convective Heat and Mass Transfer Kelly: Fundamentals -
Classical Mechanics
Classical Mechanics Hyoungsoon Choi Spring, 2014 Contents 1 Introduction4 1.1 Kinematics and Kinetics . .5 1.2 Kinematics: Watching Wallace and Gromit ............6 1.3 Inertia and Inertial Frame . .8 2 Newton's Laws of Motion 10 2.1 The First Law: The Law of Inertia . 10 2.2 The Second Law: The Equation of Motion . 11 2.3 The Third Law: The Law of Action and Reaction . 12 3 Laws of Conservation 14 3.1 Conservation of Momentum . 14 3.2 Conservation of Angular Momentum . 15 3.3 Conservation of Energy . 17 3.3.1 Kinetic energy . 17 3.3.2 Potential energy . 18 3.3.3 Mechanical energy conservation . 19 4 Solving Equation of Motions 20 4.1 Force-Free Motion . 21 4.2 Constant Force Motion . 22 4.2.1 Constant force motion in one dimension . 22 4.2.2 Constant force motion in two dimensions . 23 4.3 Varying Force Motion . 25 4.3.1 Drag force . 25 4.3.2 Harmonic oscillator . 29 5 Lagrangian Mechanics 30 5.1 Configuration Space . 30 5.2 Lagrangian Equations of Motion . 32 5.3 Generalized Coordinates . 34 5.4 Lagrangian Mechanics . 36 5.5 D'Alembert's Principle . 37 5.6 Conjugate Variables . 39 1 CONTENTS 2 6 Hamiltonian Mechanics 40 6.1 Legendre Transformation: From Lagrangian to Hamiltonian . 40 6.2 Hamilton's Equations . 41 6.3 Configuration Space and Phase Space . 43 6.4 Hamiltonian and Energy . 45 7 Central Force Motion 47 7.1 Conservation Laws in Central Force Field . 47 7.2 The Path Equation . -
Modern Design and Control of Automatic Transmission and The
Review Paper doi:10.5937/jaes13-7727 Paper number: 13(2015)1, 313, 51 - 59 MODERN DESIGN AND CONTROL OF AUTOMATIC TRANSMISSION AND THE PROSPECTS OF DEVELOPMENT Dejan Matijević The School of Electrical and Computer Engineering of Applied Studies, Belgrade, Serbia Ivan Ivanković* University of Belgrade, Faculty of Mechanical Engineering, Belgrade, Serbia Dr Vladimir Popović University of Belgrade, Faculty of Mechanical Engineering, Belgrade, Serbia The paper provides an overview of modern technical solutions of automatic transmissions in auto- motive industry with their influence on sustainable development. The objective of the first section is a structural view of specific constructions and control systems of presently used automatic transmis- sions, with emphasis on mechatronics implementation. The second section is based on perspectives of development, by integrating some branches of soft computing, such as fuzzy logic and artificial neural networks in order to create an optimal control algorithm for obtaining a contribution to fuel economy, exhaust emission, comfort and vehicle performance. Key words: Automatic transmission, Mechatronics, Automotive industry, Soft Computing INTRODUCTION which is depended by coefficient of friction and normal load on the drive axle. Lower limitation Almost all automobiles in use today are driven by is defined by maximal speed that vehicle can internal combustion engines, which are charac- reach. Shaded areas between traction forces terized by many advantages, such as relatively through gears are power losses. To decrease good efficiency, relatively compact energy stor- power losses and to be as closely as possible age and high power – to – weight ratio [07]. to the ideal traction hyperbola, the gearbox with But, fundamental disadvantages are: enough gear ratios is needed. -
Mdrive® Linear Actuator Compact, Integrated All-In-One Linear Motion Systems
MDrive® Linear Actuator Compact, integrated all-in-one linear motion systems MDrive 23 Hybrid Linear Actuator Step • Torque • Speed Description MDrive® Hybrid Linear Actuator Step • Torque • Speed Presentation The MDrive® Hybrid Step • Torque • Speed Linear Actuator is a very compact, low cost linear motion system that includes a 1.8° 2-phase stepper motor linear actuator integrated with a high performance microstepping drive, performance enhancing Hybrid Motion Technology™ and internal encoder integral to system operation. MDrive Hybrid systems use RS-422/485 communications. The MDrive Hybrid MDrive®Hybrid Step•Torque•Speed Linear Actuator, Step • Torque • Speed Linear Actuator systems can be confi gured to operate in one of non-captive and external shaft styles four modes: ■ Step — in Step / Direction mode, the MDrive Hybrid is controlled by an external step clock signal. ■ Torque — in Torque Control mode, the MDrive Hybrid maintains a constant, preset torque output of the motor. The torque may be set in software, or controlled via the analog input using a 0 to +5 V, 0 to +10 V or -10 to +10 V signal. ■ Speed — in Speed Control mode, the MDrive Hybrid operates as an intelligent speed control, with velocity being controlled via the analog input by a 0 to +5 V, 0 to +10 V or -10 to +10 V signal. ■ Velocity — in Velocity Control mode, the MDrive Hybrid operates at a constant velocity commanded by the slew parameter. MDrive Hybrid Step • Torque • Speed Linear Actuator system settings are via a supplied configuration GUI featuring: ■ Easy installation via web interface ■ Automatic communication configuration ■ Tool-tips display valid range settings for each option Application areas The MDrive Hybrid Linear Actuator is ideal for machine builders who want a low cost linear motion alternative to servo motors and brushed DC motors. -
Lecture 13: Earth Materials
Earth Materials Lecture 13 Earth Materials GNH7/GG09/GEOL4002 EARTHQUAKE SEISMOLOGY AND EARTHQUAKE HAZARD Hooke’s law of elasticity Force Extension = E × Area Length Hooke’s law σn = E εn where E is material constant, the Young’s Modulus Units are force/area – N/m2 or Pa Robert Hooke (1635-1703) was a virtuoso scientist contributing to geology, σ = C ε palaeontology, biology as well as mechanics ij ijkl kl ß Constitutive equations These are relationships between forces and deformation in a continuum, which define the material behaviour. GNH7/GG09/GEOL4002 EARTHQUAKE SEISMOLOGY AND EARTHQUAKE HAZARD Shear modulus and bulk modulus Young’s or stiffness modulus: σ n = Eε n Shear or rigidity modulus: σ S = Gε S = µε s Bulk modulus (1/compressibility): Mt Shasta andesite − P = Kεv Can write the bulk modulus in terms of the Lamé parameters λ, µ: K = λ + 2µ/3 and write Hooke’s law as: σ = (λ +2µ) ε GNH7/GG09/GEOL4002 EARTHQUAKE SEISMOLOGY AND EARTHQUAKE HAZARD Young’s Modulus or stiffness modulus Young’s Modulus or stiffness modulus: σ n = Eε n Interatomic force Interatomic distance GNH7/GG09/GEOL4002 EARTHQUAKE SEISMOLOGY AND EARTHQUAKE HAZARD Shear Modulus or rigidity modulus Shear modulus or stiffness modulus: σ s = Gε s Interatomic force Interatomic distance GNH7/GG09/GEOL4002 EARTHQUAKE SEISMOLOGY AND EARTHQUAKE HAZARD Hooke’s Law σij and εkl are second-rank tensors so Cijkl is a fourth-rank tensor. For a general, anisotropic material there are 21 independent elastic moduli. In the isotropic case this tensor reduces to just two independent elastic constants, λ and µ. -
An Overview of Novel Actuators for Soft Robotics
actuators Review An Overview of Novel Actuators for Soft Robotics Pinar Boyraz 1,2,* ID , Gundula Runge 3 and Annika Raatz 3 1 Mechanics and Maritime Sciences Department, Chalmers University of Technology, 41296 Gothenburg, Sweden 2 Mechanical Engineering Department, Istanbul Technical University, Istanbul 34437, Turkey 3 Institut fur Montagetechnik (match), Leibniz Universität Hannover, 30823 Garbsen, Hannover, Germany; [email protected] (G.R.); [email protected] (A.R.) * Correspondence: [email protected]; Tel.: +46-730-49-8780 Received: 10 June 2018; Accepted: 9 August 2018; Published: 16 August 2018 Abstract: In this systematic survey, an overview of non-conventional actuators particularly used in soft-robotics is presented. The review is performed by using well-defined performance criteria with a direction to identify the exemplary and potential applications. In addition to this, initial guidelines to compare the performance and applicability of these novel actuators are provided. The meta-analysis is restricted to five main types of actuators: shape memory alloys (SMAs), fluidic elastomer actuators (FEAs), shape morphing polymers (SMPs), dielectric electro-activated polymers (DEAPs), and magnetic/electro-magnetic actuators (E/MAs). In exploring and comparing the capabilities of these actuators, the focus was on eight different aspects: compliance, topology-geometry, scalability-complexity, energy efficiency, operation range, modality, controllability, and technological readiness level (TRL). The overview presented here provides a state-of-the-art summary of the advancements and can help researchers to select the most convenient soft actuators using the comprehensive comparison of the suggested quantitative and qualitative criteria. Keywords: soft-robotics; actuator performance; SMA; SMP; FEA; DEAP; E/MA 1. -
1 Fluid Flow Outline Fundamentals of Rheology
Fluid Flow Outline • Fundamentals and applications of rheology • Shear stress and shear rate • Viscosity and types of viscometers • Rheological classification of fluids • Apparent viscosity • Effect of temperature on viscosity • Reynolds number and types of flow • Flow in a pipe • Volumetric and mass flow rate • Friction factor (in straight pipe), friction coefficient (for fittings, expansion, contraction), pressure drop, energy loss • Pumping requirements (overcoming friction, potential energy, kinetic energy, pressure energy differences) 2 Fundamentals of Rheology • Rheology is the science of deformation and flow – The forces involved could be tensile, compressive, shear or bulk (uniform external pressure) • Food rheology is the material science of food – This can involve fluid or semi-solid foods • A rheometer is used to determine rheological properties (how a material flows under different conditions) – Viscometers are a sub-set of rheometers 3 1 Applications of Rheology • Process engineering calculations – Pumping requirements, extrusion, mixing, heat transfer, homogenization, spray coating • Determination of ingredient functionality – Consistency, stickiness etc. • Quality control of ingredients or final product – By measurement of viscosity, compressive strength etc. • Determination of shelf life – By determining changes in texture • Correlations to sensory tests – Mouthfeel 4 Stress and Strain • Stress: Force per unit area (Units: N/m2 or Pa) • Strain: (Change in dimension)/(Original dimension) (Units: None) • Strain rate: Rate -
Light and Illumination
ChapterChapter 3333 -- LightLight andand IlluminationIllumination AAA PowerPointPowerPointPowerPoint PresentationPresentationPresentation bybyby PaulPaulPaul E.E.E. Tippens,Tippens,Tippens, ProfessorProfessorProfessor ofofof PhysicsPhysicsPhysics SouthernSouthernSouthern PolytechnicPolytechnicPolytechnic StateStateState UniversityUniversityUniversity © 2007 Objectives:Objectives: AfterAfter completingcompleting thisthis module,module, youyou shouldshould bebe ableable to:to: •• DefineDefine lightlight,, discussdiscuss itsits properties,properties, andand givegive thethe rangerange ofof wavelengthswavelengths forfor visiblevisible spectrum.spectrum. •• ApplyApply thethe relationshiprelationship betweenbetween frequenciesfrequencies andand wavelengthswavelengths forfor opticaloptical waves.waves. •• DefineDefine andand applyapply thethe conceptsconcepts ofof luminousluminous fluxflux,, luminousluminous intensityintensity,, andand illuminationillumination.. •• SolveSolve problemsproblems similarsimilar toto thosethose presentedpresented inin thisthis module.module. AA BeginningBeginning DefinitionDefinition AllAll objectsobjects areare emittingemitting andand absorbingabsorbing EMEM radiaradia-- tiontion.. ConsiderConsider aa pokerpoker placedplaced inin aa fire.fire. AsAs heatingheating occurs,occurs, thethe 1 emittedemitted EMEM waveswaves havehave 2 higherhigher energyenergy andand 3 eventuallyeventually becomebecome visible.visible. 4 FirstFirst redred .. .. .. thenthen white.white. LightLightLight maymaymay bebebe defineddefineddefined -
Efficient Hydraulic Fluids Compressibility Is Still One of the Most Critically Important Factors
WORLDWIDE R. David Whitby Efficient hydraulic fluids Compressibility is still one of the most critically important factors. ydraulic fluids transmit power as a hydraulic system con- while phosphate and vegetable-oil esters have compressibilities H verts mechanical energy into fluid energy and subsequently similar to that of water. Polyalphaolefins are more compressible to mechanical work. To achieve this conversion efficiently, hydrau- than mineral oils. Water-glycol fluids are intermediate between lic fluids need to be relatively incompressible. Hydraulic fluids mineral oils and water. must also minimize wear, reduce friction, provide cooling and pre- Mineral oils are relatively incompressible, but volume reduc- vent rust and corrosion, be compatible with system components tions can be approximately 0.5% for pressures ranging from 6,900 and help keep the system free of deposits. kPa (1,000 psi) up to 27,600 kPa (4,000 psi). Compressibility in- Compressibility measures the rela- creases with pressure and temperature tive change in volume of a fluid or solid and has significant effects on high-pres- as a response to a change in pressure and sure fluid systems. Hydraulic oils typi- is the reciprocal of the volume-elastic cally contain 6% to 10% of dissolved air, modulus or bulk modulus of elasticity. which has no measurable effect on bulk Bulk modulus defines the pressure in- modulus provided it stays in solution. crease needed to cause a given relative Bulk modulus is an inherent property decrease in volume. of the hydraulic fluid and, therefore, is The bulk modulus of a fluid is nonlin- an inherent inefficiency of the hydraulic ear.