Design, development and control of a new generation high performance linear actuator for parallel robots and other applications

The main focus of this research is to design and develop a high performance linear actuator based on a four bar mechanism. The present work includes the detailed analysis (kinematics and dynamics), design, implementation and experimental validation of the newly designed actuator. High performance is characterized by the acceleration of the actuator end effector. The principle of the newly designed actuator is to network the four bar rhombus configuration (where some bars are extended to form an X shape) to attain high acceleration. Firstly, a detailed kinematic analysis of the actuator is presented and kinematic performance is evaluated through MATLAB simulations. A dynamic equation of the actuator is achieved by using the Lagrangian dynamic formulation. A SIMULINK control model of the actuator is developed using the dynamic equation. In addition, Bond Graph methodology is presented for the dynamic simulation. The Bond Graph model comprises individual component modeling of the actuator along with control. Required torque was simulated using the Bond Graph model. Results indicate that, high acceleration (around 20g) can be achieved with modest (3 N-m or less) torque input. A practical prototype of the actuator is designed using SOLIDWORKS and then produced to verify the proof of concept. The design goal was to achieve the peak acceleration of more than 10g at the middle point of the travel length, when the end effector travels the stroke length (around 1 m). The actuator is primarily designed to operate in standalone condition and later to use it in the 3RPR parallel robot. A DC motor is used to operate the actuator. A quadrature encoder is attached with the DC motor to control the end effector. The associated control scheme of the actuator is analyzed and integrated with the physical prototype. From standalone experimentation of the actuator, around 17g acceleration was achieved by the end effector (stroke length was 0.2m to 0.78m). Results indicate that the developed dynamic model results are in good agreement. Finally, a Design of Experiment (DOE) based statistical approach is also introduced to identify the parametric combination that yields the greatest performance. Data are collected by using the Bond Graph model. This approach is helpful in designing the actuator without much complexity.

Development of a high-frequency surface-wave radar cross section model for icebergs

In this thesis, the first-order radar cross section (RCS) of an iceberg is derived and simulated. This analysis takes place in the context of a monostatic high frequency surface wave radar with a vertical dipole source that is driven by a pulsed waveform. The starting point of this work is a general electric field equation derived previ- ously for an arbitrarily shaped iceberg region surrounded by an ocean surface. The condition of monostatic backscatter is applied to this general field equation and the resulting expression is inverse Fourier transformed. In the time domain the excitation current of the transmit antenna is specified to be a pulsed sinusoid signal. The result- ing electric field equation is simplified and its physical significance is assessed. The field equation is then further simplified by restricting the iceberg's size to fit within a single radar patch width. The power received by the radar is calculated using this electric field equation. Comparing the received power with the radar range equation gives a general expression for the iceberg RCS. The iceberg RCS equation is found to depend on several parameters including the geometry of the iceberg, the radar frequency, and the electrical parameters of both the iceberg and the ocean surface. The RCS is rewritten in a form suitable for simulations and simulations are carried out for rectangularly shaped icebergs. Simulation results are discussed and are found to be consistent with existing research.