Persistent Link:
http://hdl.handle.net/10150/278062
Title:
Modeling and simulation of one-link flexible manipulators
Author:
Guan, Guoguang, 1965-
Issue Date:
1991
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:
First, this thesis presents four types of dynamic models for one-link flexible manipulators: Euler-Bernoulli model, Euler-Bernoulli model with rotatory inertia, Timoshenko model, and Euler-Bernoulli model with tip mass through Hamilton Principle, and exact modal frequencies and vibration modes are derived through Laplace transformation and eigenanalysis. The numerical analysis is conducted to verify the established models and investigate the influences of rotatory inertia, shear deformation and tip mass. Second, this thesis presents the exact dynamic solutions of Euler-Bernoulli model for the step torque input and design of a dynamics simulator for one-link flexible manipulators based on the exact dynamic solutions. Several types of sensor models have been specified in the designed simulator to provide various sensory data sets required for feedback controls. A simulation study is performed to verify the designed simulator and to demonstrate the usage of the dynamics simulator for controller design and evaluations.
Type:
text; Thesis-Reproduction (electronic)
Keywords:
Engineering, Industrial.; Engineering, System Science.
Degree Name:
M.S.
Degree Level:
masters
Degree Program:
Graduate College
Degree Grantor:
University of Arizona
Advisor:
Wang, Fei-Yue

Full metadata record

DC FieldValue Language
dc.language.isoen_USen_US
dc.titleModeling and simulation of one-link flexible manipulatorsen_US
dc.creatorGuan, Guoguang, 1965-en_US
dc.contributor.authorGuan, Guoguang, 1965-en_US
dc.date.issued1991en_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.abstractFirst, this thesis presents four types of dynamic models for one-link flexible manipulators: Euler-Bernoulli model, Euler-Bernoulli model with rotatory inertia, Timoshenko model, and Euler-Bernoulli model with tip mass through Hamilton Principle, and exact modal frequencies and vibration modes are derived through Laplace transformation and eigenanalysis. The numerical analysis is conducted to verify the established models and investigate the influences of rotatory inertia, shear deformation and tip mass. Second, this thesis presents the exact dynamic solutions of Euler-Bernoulli model for the step torque input and design of a dynamics simulator for one-link flexible manipulators based on the exact dynamic solutions. Several types of sensor models have been specified in the designed simulator to provide various sensory data sets required for feedback controls. A simulation study is performed to verify the designed simulator and to demonstrate the usage of the dynamics simulator for controller design and evaluations.en_US
dc.typetexten_US
dc.typeThesis-Reproduction (electronic)en_US
dc.subjectEngineering, Industrial.en_US
dc.subjectEngineering, System Science.en_US
thesis.degree.nameM.S.en_US
thesis.degree.levelmastersen_US
thesis.degree.disciplineGraduate Collegeen_US
thesis.degree.grantorUniversity of Arizonaen_US
dc.contributor.advisorWang, Fei-Yueen_US
dc.identifier.proquest1346736en_US
dc.identifier.bibrecord.b27279650en_US
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