Flexible Manipulators book cover

Flexible Manipulators

Modeling, Analysis and Optimum Design

The Intelligent Systems Series comprises titles that present state-of-the-art knowledge and the latest advances in intelligent systems. Its scope includes theoretical studies, design methods, and real-world implementations and applications.

Flexible manipulators play a critical role in applications in a diverse range of fields, such as construction automation, environmental applications, and space engineering. Due to the complexity of the link deformation and dynamics, the research effort on accurate modeling and high performance control of flexible manipulators has increased dramatically in recent years. This book presents analysis, data and insights that will of particular use for researchers and engineers working on the optimization and control of robotic manipulators and automation systems.

Audience

Electrical and Electronic Engineers; Mechanical Engineers; Computer Engineers; Intelligent Systems specialists.

Hardbound, 260 Pages

Published: April 2012

Imprint: Academic Press

ISBN: 978-0-12-397036-7

Contents

  • Contents

    1. Introduction *

    Abstract *

    1.1 Background and Problem Statement *

    1.2 Motivations *

    1.3 Organization of the Book *

    References *

    2. PAST AND RECENT WORKS *

    2.1 Earlier Research on Flexible Manipulators *

    2.2 Recent Work on Flexible Manipulators *

    References *

    3. Modeling of Flexible Manipulators *

    Abstract *

    3.1 Introduction *

    3.2 Problem Description and Energy Calculations *

    3.2.1 Problem Statement *

    3.2.2 Kinetic Energy of the Beam *

    3.2.3 Kinetic Energy of the Tip load *

    3.2.4 Total Potential Energy *

    3.2.5 The Work Done by External Forces *

    3.3 Derivation of Equations of Motion *

    3.3.1 Euler-Bernoulli Beam Model Derivation *

    3.3.2 Equations of Motion for Euler-Bernoulli Beam Model *

    3.3.3 Timoshenko Beam Model Derivation *

    3.3.4 Equations of Motion for Timoshenko Beam Model *

    3.4 Linearization of the Beam Dynamic Models *

    3.4.1 Introduction *

    3.4.2 Euler-Bernoulli Model after Linearization *

    3.4.3 Timoshenko Model after Linearization *

    3.4.4 Dimensionless Functions, Variables and Parameters *

    3.5 Finite Dimensional Modeling of Flexible Manipulators *

    3.5.1 Natural Frequency and Modal Shapes *

    3.5.2 Finite Modal Model of Euler-Bernoulli Beam *

    3.5.3 Finite Difference Model *

    3.5.4 Finite Element Model *

    References *

    4. Analysis of Flexible Manipulators *

    Abstract *

    4.1 Introduction *

    4.2 Dynamic Analysis of Vibrations of Flexible Manipulators Considering Effects of Rotary Inertia, Shear Deformation and Tip Load *

    4.2.1 Introduction *

    4.2.2 Dynamic Models for One-Link Flexible Manipulators *

    4.2.3 Characteristic Equations for Modal Frequencies and Vibration Modes *

    4.2.4 Asymptotic Behavior of Modal Frequencies and Vibration Modes *

    4.2.5 Experimental Verification and Numerical Analysis *

    4.2.6 Natural Frequencies and Model Shape Functions *

    4.2.7 Step Responses and General Solutions *

    4.3 Passivity, Control and Stability Analysis *

    4.3.1 Nonlinear Dynamical Motion Equations *

    4.3.2 Discretization of Nonlinear Model *

    4.3.3 Stability Analysis *

    References *

    5. Optimization of Flexible Manipulators *

    Abstract *

    5.1 Optimum Design of Flexible Beams with a New Iteration Approach *

    5.1.1 Introduction *

    5.1.2 Basic Equations *

    5.1.3 Analysis of Singularity at the Free End *

    5.1.4 Solution by Successive Iterations: New Formulation *

    5.1.5 Numerical Examples *

    5.2 Geometrically Constrained and Composite Material Designs *

    5.2.1 Minimum and Maximum Radius Constraints *

    5.2.2 Uniform and Variable Tunnel Cross Section Designs *

    5.2.3 Composite Material Designs *

    5.3 Optimum Shape Design of Flexible Manipulators with Tip Loads *

    5.3.1 Problem Setup *

    5.3.2 Euler-Bernoulli Equations *

    5.3.3 Analytical Solutions *

    5.3.4 Segmentized Optimization Approach *

    5.3.5 Multiple Tip Load and Multiple Link Optimum Designs *

    5.3.6 Sensitivity Analysis *

    5.4 Optimum Shape Construction with Total Weight Constraint *

    5.4.1 Basic Equations and the Variation Formulation *

    5.4.2 Analytical Approach of Unconstrained Shape Design *

    5.4.3 Optimization Approach of Constrained Shape Design *

    5.4.4 Numerical Examples and Discussions *

    5.4.5 Sensitivity Analysis of the Optimal Frequency *

    5.5 Minimum-Weight Design of Flexible Manipulators for a Specified Fundamental Frequency *

    5.5.1 Basic Equations *

    5.5.2 Problem Formulation *

    5.5.3 Solution by Iterations *

    5.5.4 Numerical Examples *

    5.6 Optimum Design of Flexible Manipulators: The Segmentized Solution *

    5.6.1 Basic Equations *

    5.6.2 Segmentized Solutions *

    5.6.3 Optimization Formulations for Linear Mass and Bending Rigidity Distributions *

    5.6.4 Practical Issues in Link Construction *

    References *

    6. Mechatronic Design of Flexible Manipulators *

    Abstract *

    6.1 Introduction *

    6.2 Overview of Mechatronics Design *

    6.2.1 Why Mechatronic Design? *

    6.2.2 What is Mechatronic Design *

    6.2.3 How Does Mechatronic Design Work? *

    6.3 Mechatronic Design of Flexible Manipulators Based on LQR with IHR Programming *

    6.3.1 Dynamics of Flexible Manipulator Systems *

    6.3.2 LQR Formula- Inner Loop Optimizations *

    6.3.3 IHR Algorithm- Outer Loop Optimization *

    6.3.4 Integrated Optimization Process *

    6.3.5 Results and Discussion *

    6.4 Mechatronic Design of Flexible Manipulators-Based on with IHR Algorithm *

    6.4.1 State-Space Formulae forControl Problems *

    6.4.2 Generalized Plant of a Flexible Beam System *

    6.4.3 Controller Design *

    6.4.4 Simulation Results *

    6.4.5 System Robustness Analysis *

    6.5 On the Closed-Loop Design of Flexible Robotic Links *

    6.5.1 Dynamics of Single-Link Flexible Manipulator Systems *

    6.5.2 Transfer Functions of the Integrated Systems *

    6.5.3 Segmentized Solution for Transfer Functions *

    6.5.4 Optimization Formulations for Mechatronic Design *

    6.6 Concurrent Design *

    6.6.2 Existing Representation of Special Concurrent Designs *

    6.6.3 Problems *

    6.7 Concurrent Design of a Single-Link Flexible Manipulator Based on PID Controller *

    6.7.1 Dynamics of Single-link Flexible Manipulator Systems *

    6.7.2 Implementation of Concurrent Design *

    6.7.3 Simulation Results *

    References *

    7. Conclusions and Future Research *

    Index

Advertisement

advert image