Persistent Link:
http://hdl.handle.net/10150/187106
Title:
Optimization models for flexible manipulators.
Author:
Russell, Jeffrey Lynn.
Issue Date:
1995
Publisher:
The University of Arizona.
Rights:
Copyright © is held by the author. Digital access to this material is made possible by the University Libraries, University of Arizona. Further transmission, reproduction or presentation (such as public display or performance) of protected items is prohibited except with permission of the author.
Abstract:
The need for reducing manufacturing costs has recently stimulated research efforts in the area of flexible manipulator design. Flexible manipulators are lightweight and have a much larger speed range than heavier rigid-link manipulators; hence, their use greatly improves productivity while reducing energy consumption. But, due to their inherent flexibility, undesirable tip oscillations are encountered in normal operation. An important direction in flexible link research is the search for structural designs which either minimize the mass or maximize the speed, while at the same time limit tip oscillations. These two basic design problems are solved using two different models, both based on the link's fundamental frequency of vibration. An analytic model is developed as a theoretical basis of optimum link design. The resulting optimality equations are solved using an iterative method. In order to accommodate various constraints on link design, an optimization model is developed which uses mathematical programming methods to solve the segmentized formulation. The requirement of multiple tip loads is cast into a minimax optimum design model. Also, a multi-link optimum design model is developed which utilizes single-link solutions. Various geometrical constraints are integrated into the optimization model, allowing conformity to requirements of specialized applications. Composite material designs are considered due to their growing demand in high-speed lightweight applications. Finally, a sensitivity analysis of design parameters is conducted to reveal the robustness of optimum designs.
Type:
text; Dissertation-Reproduction (electronic)
Degree Name:
Ph.D.
Degree Level:
doctoral
Degree Program:
Systems and Industrial Engineering; Graduate College
Degree Grantor:
University of Arizona
Committee Chair:
Wang, Fei-Yue

Full metadata record

DC FieldValue Language
dc.language.isoenen_US
dc.titleOptimization models for flexible manipulators.en_US
dc.creatorRussell, Jeffrey Lynn.en_US
dc.contributor.authorRussell, Jeffrey Lynn.en_US
dc.date.issued1995en_US
dc.publisherThe University of Arizona.en_US
dc.rightsCopyright © is held by the author. Digital access to this material is made possible by the University Libraries, University of Arizona. Further transmission, reproduction or presentation (such as public display or performance) of protected items is prohibited except with permission of the author.en_US
dc.description.abstractThe need for reducing manufacturing costs has recently stimulated research efforts in the area of flexible manipulator design. Flexible manipulators are lightweight and have a much larger speed range than heavier rigid-link manipulators; hence, their use greatly improves productivity while reducing energy consumption. But, due to their inherent flexibility, undesirable tip oscillations are encountered in normal operation. An important direction in flexible link research is the search for structural designs which either minimize the mass or maximize the speed, while at the same time limit tip oscillations. These two basic design problems are solved using two different models, both based on the link's fundamental frequency of vibration. An analytic model is developed as a theoretical basis of optimum link design. The resulting optimality equations are solved using an iterative method. In order to accommodate various constraints on link design, an optimization model is developed which uses mathematical programming methods to solve the segmentized formulation. The requirement of multiple tip loads is cast into a minimax optimum design model. Also, a multi-link optimum design model is developed which utilizes single-link solutions. Various geometrical constraints are integrated into the optimization model, allowing conformity to requirements of specialized applications. Composite material designs are considered due to their growing demand in high-speed lightweight applications. Finally, a sensitivity analysis of design parameters is conducted to reveal the robustness of optimum designs.en_US
dc.typetexten_US
dc.typeDissertation-Reproduction (electronic)en_US
thesis.degree.namePh.D.en_US
thesis.degree.leveldoctoralen_US
thesis.degree.disciplineSystems and Industrial Engineeringen_US
thesis.degree.disciplineGraduate Collegeen_US
thesis.degree.grantorUniversity of Arizonaen_US
dc.contributor.chairWang, Fei-Yueen_US
dc.contributor.committeememberBahill, Terryen_US
dc.contributor.committeememberJagdale, Sanjayen_US
dc.contributor.committeememberParmenter, R. H.en_US
dc.contributor.committeememberLever, Paulen_US
dc.identifier.proquest9531125en_US
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