Optimized Design of Single Link Flexible Manipulator

2011 ◽  
Author(s):  
S. Mahto ◽  
U. S. Dixit
Keyword(s):  
Flexible Manipulator ◽  
Optimized Design ◽  
Fundamental Frequencies ◽  
Numerical Experimentation ◽  
Single Link ◽  
Sequential Quadratic Programming Method ◽  
Flexible Robotic Manipulator ◽  
Quadratic Programming Method ◽  
Work Size ◽  
Euler Bernoulli Beam

In this work, size optimization of a single link flexible robotic manipulator is carried out by considering the link as an Euler-Bernoulli beam. Finite element method is used for obtaining the natural frequencies and time response. Sequential quadratic programming method is used to maximize fundamental frequencies of the manipulator for different designs. A comparative study of the optimized designs is carried out to find out their suitability for real world situation. Based on the numerical experimentation, suggestion for formulating optimization problem for varying tip loads is provided.

Comparative Dynamic Response of a Optimized Single Link Flexible Manipulator

2011 ◽  
Vol 110-116 ◽  
pp. 4748-4756 ◽  
Author(s):  
S. Mahto ◽  
U.S. Dixit
Keyword(s):  
Finite Element Method ◽  
Dynamic Response ◽  
Cross Section ◽  
Sequential Quadratic Programming ◽  
Flexible Manipulator ◽  
Bernoulli Beam ◽  
Circular Area ◽  
Single Link ◽  
Flexible Robotic Manipulator ◽  
Euler Bernoulli Beam

—In this work, comparative study for dynamic response is carried out for optimized single link flexible robotic manipulator under various types of excitations. Manipulator is considered as an Euler-Bernoulli beam and shape is optimized for circular area of cross-section. Finite element method is used to obtain fundamental frequency and sequential quadratic programming (SQP) is used for its maximization.

Multi-Objective Optimized Design of High-Performance Concrete Based on Matlab

2011 ◽  
Vol 261-263 ◽  
pp. 202-207
Author(s):  
Xian Song Xie ◽  
Yue Zhai Zheng ◽  
Fang Tian
Keyword(s):  
Sequential Quadratic Programming ◽  
High Performance ◽  
High Performance Concrete ◽  
Nonlinear Problems ◽  
Raw Material ◽  
Optimized Design ◽  
Material Consumption ◽  
Mix Proportion ◽  
Sequential Quadratic Programming Method ◽  
Quadratic Programming Method

Based on the Compressive strength, workability and raw material consumption of concrete, a mathematical model is established for mix proportion design of high performance concrete (hereinafter referred to as HPC) with chlorine ion’s diffusion coefficient and per cubic meter cost as its optimized objectives. Matlab’s Sequential Quadratic Programming method is used for the solution of constrained nonlinear problems, with which the calculation and optimization of mix proportion of concrete are solved satisfactorily. HPC with optimized design can meet all requirements for its type and has obvious economic benefit.

scholarly journals Distributed Mode-Dependent Event-Triggered Passive Filtering for Flexible Manipulator with Semi-Markov Parameters

Sensors ◽  
2021 ◽  
Vol 21 (6) ◽  
pp. 2058
Author(s):  
Yidao Ji ◽  
Suiwu Zheng
Keyword(s):  
Sensor Networks ◽  
Sufficient Conditions ◽  
Robotic Manipulator ◽  
Flexible Manipulator ◽  
System Perspective ◽  
Event Triggering ◽  
Single Link ◽  
Flexible Robotic Manipulator ◽  
Distributed Filter ◽  
Filtering Problem

In this paper, the passive filtering problem of flexible robotic manipulator is investigated over sensor networks in a distributed manner from the control system perspective. The sensor networks are adopted to estimate true states of flexible robotic manipulator. In particular, the semi-Markov model is utilized for flexible manipulators with varying loads in unstructured environment, which is more flexible for practical implementations. Moreover, the new mode-dependent event-triggering mechanism is developed for distributed filter communications. Based on model transformation, sufficient conditions are first established to guarantee prescribed passive performance under disturbances. Then, desired mode-dependent filters are developed with the aid of convex optimization. In the end, several simulations results of a single-link flexible robotic manipulator are provided to verify the usefulness of the developed filtering algorithm.

Vibration Control of a Flexible Link Manipulator Using an Array of Fiber-Optic Curvature Sensors and Piezoelectric Actuators

2007 ◽  
Author(s):  
Kerem Gurses ◽  
Bradley J. Buckman ◽  
Edward J. Park
Keyword(s):  
Motion Control ◽  
Sensor Array ◽  
Fiber Optic ◽  
Element Model ◽  
Flexible Manipulator ◽  
Flexible Link ◽  
Velocity Feedback ◽  
Lyapunov Approach ◽  
Single Link ◽  
Actuator Control

This paper presents a novel feedback sensing approach for actively suppressing vibrations of a single-link flexible manipulator. Slewing of the flexible link by a rotating hub induces vibrations in the link that persist long after the hub stops rotating. These vibrations are suppressed through a combined scheme of PD-based hub motion control and proposed piezoelectric (PZT) actuator control, which is a composite linear and velocity feedback controller. Lyapunov approach was used to synthesize the controller based on a finite element model of the system. Its realization was possible due to the availability of both linear and angular velocity feedback provided by a unique, commercially-available fiber optic curvature sensor array, called ShapeTape™. It is comprised of an array of fiber optic curvature sensors, laminated on a long, thin ribbon tape, geometrically arranged in such a way that, when it is embedded into the flexible link, the bend and twist of the link’s centerline can be measured. Experimental results show the effectiveness of the proposed approach.

scholarly journals Dynamic modelling and vibration suppression of a single-link flexible manipulator with two cables

2021 ◽  
Vol 162 ◽  
pp. 104347
Author(s):  
Lewei Tang ◽  
Marc Gouttefarde ◽  
Haining Sun ◽  
Lairong Yin ◽  
Changjiang Zhou
Keyword(s):  
Vibration Suppression ◽  
Dynamic Modelling ◽  
Flexible Manipulator ◽  
Single Link

Numerical Dynamic Analysis of a Single Link Soft Robot Finger

2013 ◽  
Vol 459 ◽  
pp. 449-454 ◽  
Author(s):  
Elango Natarajan ◽  
Ahmad Athif Mohd Faudzi ◽  
Viknesh Malliga Jeevanantham ◽  
Muhammad Rusydi Muhammad Razif ◽  
Ili Najaa Aimi Mohd Nordin
Keyword(s):  
Room Temperature ◽  
Natural Frequencies ◽  
Dynamic Stiffness ◽  
Mode Shapes ◽  
Soft Robot ◽  
Fundamental Frequencies ◽  
Single Link ◽  
Hyper Elastic ◽  
Finger Model ◽  
Strain Dependent

In this paper, a solid, single link soft robot finger was modeled with SILASTIC P-1 Silicone, supplied by Dow Corning®. The material is anon-linear hyper elastic, strain dependent, room temperature vulcanized (RTV) rubber. When the fingers are actuated for grasping and object manipulation, they vibrate with excessive amplitudes, which will disturb the precise positioning of the fingers. Vibration analysis through numerical simulation was conducted in ANSYS®V12. The first ten fundamental frequencies and their mode shapes were numerically computed and presented from modal analysis. The lowest natural frequency of the finger model was found to be 2.14 Hz. The dynamic stiffness of the finger model was then computed from the natural frequencies. It was found to be nonlinear in nature. The dynamic characteristics of the finger model during the excitation between 1 Hz and 1000 Hz were studied in transient analysis. The peak acceleration occurred at 9.3 Hz, while the peak velocity occurs at 3.75 Hz and 4.8 Hz with the magnitude of 0.013 mm/s.

scholarly journals Parameter optimization of tuned mass damper for three-degree-of-freedom vibration systems

2013 ◽  
Vol 35 (3) ◽  
Author(s):  
Nguyen Van Khang ◽  
Trieu Quoc Loc ◽  
Nguyen Anh Tuan
Keyword(s):  
Inequality Constraints ◽  
Tuned Mass Damper ◽  
Parameters Optimization ◽  
Degree Of Freedom ◽  
Aerospace Engineering ◽  
Lower And Upper Bounds ◽  
Mass Damper ◽  
Sequential Quadratic Programming Method ◽  
Quadratic Programming Method ◽  
Three Degree Of Freedom

There are problems in mechanical, structural and aerospace engineering that can be formulated as Nonlinear Programming. In this paper, the problem of parameters optimization of tuned mass damper for three-degree-of-freedom vibration systems is investigated using sequential quadratic programming method. The objective is to minimize the extreme vibration amplitude of vibration models. It is shown that the constrained formulation, that includes lower and upper bounds on the updating parameters in the form of inequality constraints, is important for obtaining a correct updated model.

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