Design synthesis & prototype implementation of parallel orientation manipulators for optomechatronic applications

This thesis documents a research endeavor undertaken to develop high-performing designs for parallel orientation manipulators (POM) capable of delivering the speed and the accuracy requirements of a typical optomechatronic application. In the course of the research, the state of the art was reviewed, and the areas in the existing design methodologies that can be potentially improved were identified, which included actuator design, dimensional synthesis of POMs, control system design, and kinematic calibration. The gaps in the current art of designing each of these POM system components were addressed individually. The outcomes of the corresponding development activities include a novel design of a highly integrated voice coil actuator (VCA) possessing the speed, the size, and the accuracy requirements of small-scale parallel robotics. Furthermore, a method for synthesizing the geometric dimensions of a POM was developed by adopting response surface methodology (RSM) as the optimization tool. It was also experimentally shown how conveniently RSM can be utilized to develop an empirical quantification of the actual kinematic structure of a POM prototype. In addition, a motion controller was formulated by adopting the active disturbance rejection control (ADRC) technology. The classic formulation of the ADRC algorithm was modified to develop a resource-optimized implementation on control hardware based on field programmable gate arrays (FPGA). The practicality and the effectiveness of the synthesized designs were ultimately demonstrated by performance benchmarking experiments conducted on POM prototypes constructed from these components. In specific terms, it was experimentally shown that the moving platforms of the prototyped manipulators can achieve highspeed motions that can exceed 2000 degrees/s in angular velocity, and 5×105 degrees/s2 in angular acceleration

Flow-3D CFD model of bifurcated open channel flow: setup and validation

Bifurcation is a morphological feature present in most of fluvial systems; where a river splits into two channels, each bearing a portion of the flow and sediments. Extensive theoretical studies of river bifurcations were performed to understand the nature of flow patterns at such diversions. Nevertheless, the complexity of the flow structure in the bifurcated channel has resulted in various constraints on physical experimentation, so computational modelling is required to investigate the phenomenon. The advantages of computational modelling compared with experimental research (e.g. simple variable control, reduced cost, optimize design condition etc.) are widely known. The great advancement of computer technologies and the exponential increase in power, memory storage and affordability of high-speed machines in the early 20th century led to evolution and wide application of numerical fluid flow simulations, generally referred to as Computational Fluid Dynamics {CFD). In this study, the open-channel flume with a lateral channel established by Momplot et al (2017) is modelled in Flow-3D. The original investigation on divided flow of equal widths as simulated in ANSYS Fluent and validated with velocity measurements