Flexible Manipulators

by Gao, Yanqing; Wang, Fei-Yue; Xiao, Zhi-Quan

• ISBN13: 9780123970367
• ISBN10: 0123970369
• Format: Hardcover
• Copyright: 2012-04-12
• Publisher: Academic Pr

Summary

The Series in Intelligent Systems publishes titles that cover state of the art knowledge and the latest advances in research and development in intelligent systems. Its scope includes theoretical studies, design methods, and real-world implementations and applications. The Series publishes titles in three core sub-topic areas: Intelligent Automation, Intelligent Transportation Systems, and Intelligent Computing. Titles focus on professional and academic reference works and handbooks. The readership for the series is broad, reflecting the wide range of intelligent systems interest and application, but focuses on engineering (in particular automation, control, mechatronics, robotics, transportation, automotive, aerospace), electronics and electronic design, and computer science. This book presents the latest issues and development in service science. (Service Science is the interdisciplinary approach to the study, design, and implementation of services systems - complex systems in which specific arrangements of people and technologies take actions that provide value for others. More precisely, service science has been defined as the application of science, management, and engineering disciplines to tasks that one organization beneficially performs for and with another). Both theory and applications issues are covered in the book, which integrates a variety of disciplines - including areas in management, engineering, and information systems. These substantive topics are all related to service science from various perspectives. Extensive applications and cast studies of latest developments showcase current best practice and provide insights and guidelines to assist in building of successful service systems. Presents the latest service science research from both theoretical and applications perspectives Includes coverage of applications in a wide variety high growth sectors, along with real-world frameworks and design techniques Extensive applications and cast studies of latest developments showcase current best practice and provide insights and guidelines to assist in building of successful service systems.

Author Biography

Dr. Yanqing Gao is a research scientist at University of Arizona, USA. She is an IEEE member and has served in various positions at IEEE and ASME conferences. Fei-Yue Wang, Professor, NUDT, Chinese Academy of Sciences. Currently, Prof. Wang is the Editor-in-Chief of the IEEE Intelligent Systems and IEEE Transactions on Intelligent Transportation Systems. He is a Fellow of IEEE, INCOSE, IFAC, ASME, and AAAS. In 2007, he received the 2nd Class National Prize in Natural Sciences of China and was awarded ACM Distinguished Scientist for his work in intelligent systems and social computing. In 2011, he received IEEE ITSS Outstanding ITS Research Award. Dr. Zhi-Quan Xiao is an Assistant Professor at Wuhan Textile University, China.

Table of Contents

Preface	p. ix
Introduction	p. 1
Background and Problem Statement	p. 1
Motivations	p. 3
Organization of the Book	p. 3
References	p. 3
Past and Recent Works	p. 5
Earlier Research on Flexible Manipulators	p. 5
Recent Work on Flexible Manipulators	p. 6
References	p. 11
Modeling of Flexible Manipulators	p. 15
Introduction	p. 16
Problem Description and Energy Calculations	p. 17
Problem Statement	p. 17
Kinetic Energy of the Beam	p. 19
Kinetic Energy of the Tip Load	p. 20
Total Potential Energy	p. 21
Work Done by External Forces	p. 21
Derivation of Equations of Motion	p. 21
Euler-Bernoulli Beam Model Derivation	p. 22
Equations of Motion for Euler-Bernoulli Beam Model	p. 26
Timoshenko Beam Model Derivation	p. 27
Equations of Motion for Timoshenko Beam Model	p. 33
Linearization of the Beam Dynamic Models	p. 34
Introduction	p. 34
Euler-Bernoulli Model after Linearization	p. 35
Timoshenko Model after Linearization	p. 35
Dimensionless Functions, Variables, and Parameters	p. 36
Finite-Dimensional Modeling of Flexible Manipulators	p. 37
Natural Frequency and Modal Shapes	p. 37
Finite Modal Model of Euler-Bernoulli Beam	p. 41
Finite Difference Model	p. 47
Finite Element Model	p. 51
References	p. 57
Analysis of Flexible Manipulators	p. 59
Introduction	p. 60
Dynamic Analysis of Vibrations of Flexible Manipulators Considering Effects of Rotary Inertia, Shear Deformation, and Tip Load	p. 60
Introduction	p. 60
Dynamic Models for One-Link Flexible Manipulators	p. 61
Characteristic Equations for Modal Frequencies and Vibration Modes	p. 64
Asymptotic Behavior of Modal Frequencies and Vibration Modes	p. 70
Experimental Verification and Numerical Analysis	p. 72
Natural Frequencies and Modal Shape Functions	p. 80
Step Responses and General Solutions	p. 88
Passivity, Control, and Stability Analysis	p. 91
Nonlinear Dynamic Equations of Motion	p. 91
Discretization of Nonlinear Model	p. 92
Stability Analysis	p. 94
References	p. 97
Optimization of Flexible Manipulators	p. 99
Optimum Design of Flexible Beams with a New Iteration Approach	p. 100
Introduction	p. 101
Basic Equations	p. 102
Analysis of Singularity at the Free End	p. 104
Solution by Successive Iterations: New Formulation	p. 106
Numerical Examples	p. 111
Geometrically Constrained and Composite Material Designs	p. 116
Minimum and Maximum Radius Constraints	p. 116
Uniform and Variable Tunnel Cross-Section Designs	p. 116
Composite Material Designs	p. 119
Optimum Shape Design of Flexible Manipulators with Tip Loads	p. 120
Problem Setup	p. 120
Euler-Bernoulli Equations	p. 122
Analytical Solutions	p. 125
Segmentized Optimization Approach	p. 133
Multiple Tip Load and Multiple Link Optimum Designs	p. 142
Sensitivity Analysis	p. 146
Optimum Shape Construction with Total Weight Constraint	p. 148
Basic Equations and the Variation Formulation	p. 148
Analytical Approach of Unconstrained Shape Design	p. 151
Optimization Approach of Constrained Shape Design	p. 156
Numerical Examples and Discussion	p. 159
Sensitivity Analysis of the Optimal Frequency	p. 164
Minimum-Weight Design of Flexible Manipulators for a Specified Fundamental Frequency	p. 166
Basic Equations	p. 166
Problem Formulation	p. 168
Solution by Iterations	p. 169
Numerical Examples	p. 172
Optimum Design of Flexible Manipulators: The Segmentized Solution	p. 172
Basic Equations	p. 174
Segmentized Solutions	p. 175
Optimization Formulations for Linear Mass and Bending Rigidity Distributions	p. 178
Practical Issues in Link Construction	p. 181
References	p. 182
Mechatronic Design of Flexible Manipulators	p. 185
Introduction	p. 186
Overview of Mechatronics Design	p. 187
Why Mechatronic Design?	p. 187
What is Mechatronic Design?	p. 188
How Does Mechatronic Design Work?	p. 189
Mechatronic Design of Flexible Manipulators Based on LQR with IHR Programming	p. 190
Dynamics of Flexible Manipulator Systems	p. 190
LQR Formula: Inner Loop Optimizations	p. 193
IHR Algorithm: Outer Loop Optimization	p. 195
Integrated Optimization Process	p. 196
Results and Discussion	p. 196
Mechatronic Design of Flexible Manipulators-Based on H∞ with IHR Algorithm	p. 210
State-Space Formulas for H∞, Control Problems	p. 210
Generalized Plant of a Flexible Beam System	p. 212
H∞ Controller Design	p. 215
Simulation Results	p. 216
System Robustness Analysis	p. 225
Closed-Loop Design of Flexible Robotic Links	p. 229
Dynamics of Single-Link Flexible Manipulator Systems	p. 230
Transfer Functions of the Integrated Systems	p. 231
Segmentized Solution for Transfer Functions	p. 232
Optimization Formulations for Mechatronic Design	p. 234
Concurrent Design	p. 237
General Concepts	p. 238
Existing Representation of Special Concurrent Designs	p. 239
Problems	p. 240
Concurrent Design of a Single-Link Flexible Manipulator Based on PID Controller	p. 241
Dynamics of Single-Link Flexible Manipulator Systems	p. 241
Implementation of Concurrent Design	p. 243
Simulation Results	p. 245
References	p. 248
Conclusions and Future Research	p. 251
Index	p. 253
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