Flexible manipulator control experiments and analysis

Modeling and control design for flexible manipulators, both from an experimental and analytical viewpoint, are described. From the application perspective, an ongoing effort within the laboratory environment at the Ohio State University, where experimentation on a single link flexible arm is underway is described. Several unique features of this study are described here. First, the manipulator arm is slewed by a direct drive dc motor and has a rigid counterbalance appendage. Current experimentation is from two viewpoints: (1) rigid body slewing and vibration control via actuation with the hub motor, and (2) vibration suppression through the use of structure-mounted proof-mass actuation at the tip. Such an application to manipulator control is of interest particularly in design of space-based telerobotic control systems, but has received little attention to date. From an analytical viewpoint, parameter estimation techniques within the closed-loop for self-tuning adaptive control approaches are discussed. Also introduced is a control approach based on output feedback and frequency weighting to counteract effects of spillover in reduced-order model design. A model of the flexible manipulator based on experimental measurements is evaluated for such estimation and control approaches

An integrated study of structures, aerodynamics and controls on the forward swept wing X-29A and the oblique wing research aircraft

The results of an integrated study of structures, aerodynamics, and controls using the STARS program on two advanced airplane configurations are presented. Results for the X-29A include finite element modeling, free vibration analyses, unsteady aerodynamic calculations, flutter/divergence analyses, and an aeroservoelastic controls analysis. Good correlation is shown between STARS results and various other verified results. The tasks performed on the Oblique Wing Research Aircraft include finite element modeling and free vibration analyses

Applied Mathematics to Mechanisms and Machines

This book brings together all 16 articles published in the Special Issue "Applied Mathematics to Mechanisms and Machines" of the MDPI Mathematics journal, in the section “Engineering Mathematics”. The subject matter covered by these works is varied, but they all have mechanisms as the object of study and mathematics as the basis of the methodology used. In fact, the synthesis, design and optimization of mechanisms, robotics, automotives, maintenance 4.0, machine vibrations, control, biomechanics and medical devices are among the topics covered in this book. This volume may be of interest to all who work in the field of mechanism and machine science and we hope that it will contribute to the development of both mechanical engineering and applied mathematics

An Annular Plate Model in Arbitrary-Lagrangian-Eulerian Description for the DLR FlexibleBodies Library

The bending deformation of rotating annular plates and the associated vibration behaviour is important in engineering applications which range from automotive or railway brake systems to discs that form essential components in turbomachinery. In order to extend the capabilities of the DLR FlexibleBodies library for such use cases, a new Modelica class has been implemented which is based on the analytical description of an annular Kirchhoff plate. In addition the so-called Arbitray Langrangian-Eulerian (ALE) representation has been adopted so that rotating and non-rotating external loads may be applied conventiently to rotating plates. Besides these particularities the new class AnnularPlate completely corresponds to the concept of FlexibleBodies library with the two already available model classes Beam and ModalBody. This paper gives an overview on the theoretical background of the new class AnnularPlate, explains the usage and presents application examples

Active In-Flight Load Redistribution Utilizing Fiber-Optic Shape Sensing and Multiple Control Surfaces

Morphing wing technologies have gained research interest in recent years as technological advancements pave the way for such innovations. A key benefit of such a morphing wing concept is the ability of the wing to transition into an optimal configuration at multiple flight conditions. Such a morphing wing will have applications not only in drag reduction but also in flutter suppression and gust alleviation. By manipulating the wing geometry to match a given flight profile it is likely that the wing will yield increases in not just aerodynamic efficiency but also structural efficiency. These structurally efficient designs will likely rely on some type of structural sensing system which will ensure the wing maintains positive margins throughout its flight profile

Intelligent manipulator with flexible link and joint: modeling and vibration control

This paper presents a finite-element (FE) model of a manipulator with a flexible link and flexible joint as well as embedded PZT actuators and proposes a corrected rebuilt reduced model (CRRM) to make its dynamic characteristics more consistent with reality and facilitate control design. The CRRM considers the holding torque of the manipulator driving motor and eliminates the response divergence induced by a fault of the mass matrix of the FE model. In order to reduce the dimensions and maintain the precision of the model, an iterated improved reduction system (IIRS) method is adopted. Additionally, a LQR controller is designed based on the output function of the improved model. The simulation results demonstrate that the CRRM is consistent with reality and the active controller has good performance in suppressing vibration of the manipulator with both the flexible link and the flexible joint

A novel monolithic piezoelectric actuated flexure-mechanism based wire clamp for microelectronic device packaging

A novel monolithic piezoelectric actuated wire clamp is presented in this paper to achieve fast, accurate, and robust microelectronic device packaging. The wire clamp has compact, flexure-based mechanical structure and light weight. To obtain large and robust jaw displacements and ensure parallel jaw grasping, a two-stage amplification composed of a homothetic bridge type mechanism and a parallelogram leverage mechanism was designed. Pseudo-rigid-body model and Lagrange approaches were employed to conduct the kinematic, static, and dynamic modeling of the wire clamp and optimization design was carried out. The displacement amplification ratio, maximum allowable stress, and natural frequency were calculated. Finite element analysis (FEA) was conducted to evaluate the characteristics of the wire clamp and wire electro discharge machining technique was utilized to fabricate the monolithic structure. Experimental tests were carried out to investigate the performance and the experimental results match well with the theoretical calculation and FEA. The amplification ratio of the clamp is 20.96 and the working mode frequency is 895 Hz. Step response test shows that the wire clamp has fast response and high accuracy and the motion resolution is 0.2 μm. High speed precision grasping operations of gold and copper wires were realized using the wire clamper

Data-driven mode shape selection and model-based vibration suppression of 3-RRR parallel manipulator with flexible actuation links

The mode shape function is difficult to determine in modeling manipulators with flexible links using the assumed mode method. In this paper, for a planar 3-RRR parallel manipulator with flexible actuation links, we provide a data-driven method to identify the mode shape of the flexible links and propose a model-based controller for the vibration suppression. By deriving the inverse kinematics of the studied mechanism in analytical form, the dynamic model is established by using the assumed mode method. To select the mode shape function, the software of multi-body system dynamics is used to simulate the dynamic behavior of the mechanism, and then the data-driven method which combines the DMD and SINDy algorithms is employed to identify the reasonable mode shape functions for the flexible links. To suppress the vibration of the flexible links, a state observer for the end-effector is constructed by a neural network, and the model-based control law is designed on this basis. In comparison with the model-free controller, the proposed controller with developed dynamic model has promising performance in terms of tracking accuracy and vibration suppression