Timoshenko Beam Theory based Dynamic Modeling of Lightweight Flexible Link Robotic Manipulators

Loudini, Malik

doi:10.5772/9661

Cited by 11 publications

(8 citation statements)

References 46 publications

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“…The geometrical properties refer mainly to the length l , size and shape of the cross-section such as area A, moment of inertia I with respect to the central axis of bending, and Timoshenko's shear coefficient k, which is a modifying factor (k<1) to account for the distribution of shearing stress such that effective shear area is equal to kA. The material properties refer to the density in mass per unit volume ρ, Young's modulus or modulus of elasticity E and shear modulus or modulus of rigidity G [19].…”

Section: Preliminariesmentioning

confidence: 99%

“…After some manipulations, detailed in [19], we obtain the fifth-order TB homogeneous linear PDE with internal and external damping effects expressing the deflection w(x,t) (Eq. 16).…”

Section: Dynamic Modelling Of the Elastic Robot Manipulatormentioning

confidence: 99%

“…Inspired by these works, we have proposed [23] to adopt the mode shapes of a damped EB beam [24] with βnormalm4=ρAEIωnormaldnormalm2 as the m th damped frequency.…”

Section: Dynamic Modelling Of the Elastic Robot Manipulatormentioning

confidence: 99%

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Modelling and Intelligent Control of an Elastic Link Robot Manipulator

Loudini

2013

International Journal of Advanced Robotic Systems

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In this paper, precise control of the end‐point position of a planar single‐link elastic manipulator robot is discussed. The Timoshenko beam theory (TBT) has been used to characterize the structural link elasticity including important damping mechanisms. A suitable nonlinear model is derived based on the Lagrangian assumed modes method. Elastic link manipulators are classified as systems possessing highly complex dynamics. In addition, the environment in which they operate may have a lot of disturbances. These give rise to special problems that may be solved using intelligent control techniques. The application of two advanced control strategies based on fuzzy set theory is investigated. The first closed‐loop control scheme to be applied is the standard Proportional‐Derivative (PD) type fuzzy logic controller (FLC), also known as PD‐type Mamdani’s FLC (MPDFLC). Then, a genetic algorithm (GA) is used to optimize the MPDFLC parameters with innovative tuning procedures. Both the MPDFLC and the GA optimized FLC (GAOFLC) are implemented and tested to achieve a precise control of the manipulator end‐point. The performances of the adopted closed‐loop intelligent control strategies are examined via simulation experiments

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Section: Preliminariesmentioning

confidence: 99%

“…After some manipulations, detailed in [19], we obtain the fifth-order TB homogeneous linear PDE with internal and external damping effects expressing the deflection w(x,t) (Eq. 16).…”

Section: Dynamic Modelling Of the Elastic Robot Manipulatormentioning

confidence: 99%

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Modelling and Intelligent Control of an Elastic Link Robot Manipulator

Loudini

2013

International Journal of Advanced Robotic Systems

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“…[ 81] where ‫ܭ‬ is the material dampening factor, ‫ܫ‬ is the moment of inertia, ‫ܣ݇‬ is the effective shear area, ‫ܩ‬ is the shear modulus, ߩ is the density of the beam, and ‫ܣ‬ is the air dampening factor. If the beam has a uniform cross section and a constant density, then one PDE describing vertical displacement can be acquired…”

Section: Dynamic Analysismentioning

confidence: 99%

“…[ 81] which is a very large PDE to work with. Assumptions can be made that reduce the size of Eq 54 and are very useful.…”

Section: Dynamic Analysismentioning

confidence: 99%

Bi-stable buckled energy harvesters actuated via torque arms.

Porter¹

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ACKNOWLEDGMENTSMuch thanks to my advisor, Dr. Berfield, for giving me direction and an opportunity to achieve something I never thought I could have in this life. The gift of confidence, knowledge, and teamwork will serve me well. I wish him the best.I would like to thank my mother, father, sister, and brother for their love and support throughout this long endeavor. Knowing I have a loving family who encouraged me to grasp the best life has to offer keeps my resolve strong and my potential limitless.Thanks to my friends, Kyle Hord, Trung Hoang, Russel Prater, Andrew Work, and Tim Broering who kept me sane during long and rigorous work hours, they are of great importance and may never know how greatly needed they were and are.Lastly I would like to thank the Mechanical Engineering Department which through the long years has granted me the know-how to solve problems in the field of mechanical engineering. Problem solving is a feat no one should live without.Most men and women struggle all their lives for fame or money… mine was and always will be knowledge. This dissertation investigates a novel method of actuating the primary buckled energy harvesting structure using torque arms as a force amplification mechanism.Buckled structures can exhibit snap-through and has the potential to broaden the operating frequency for the VEH. Macro and MEMS size prototypes are fabricated and evaluated via a custom made shaker table. The effect of compliance arms, which pin the center beam with piezoelectric strips, are also evaluated along with damping ratios. ANSYS models evaluating generated power are created for use in future optimization studies. Lastly, high energy orbitals (HEO) are observed in the devices.Results show that buckling lowers and broadens the output power of the new devices. Reverse sweeps drastically increase the operating frequency during snap-through.Rectangular compliance arms made of poly-lactic acid (PLA) generated the most power of all compliance arms tested. HEO performance can be induced by perturbing the system while maintaining the same input force which increases power output.

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Tool point frequency response function prediction using RCSA based on Timoshenko beam model

Sun

2017

Int J Adv Manuf Technol

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Timoshenko Beam Theory based Dynamic Modeling of Lightweight Flexible Link Robotic Manipulators

Cited by 11 publications

References 46 publications

Modelling and Intelligent Control of an Elastic Link Robot Manipulator

Modelling and Intelligent Control of an Elastic Link Robot Manipulator

Bi-stable buckled energy harvesters actuated via torque arms.

Tool point frequency response function prediction using RCSA based on Timoshenko beam model

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