A planar flexible robotic manipulator

Presents the dynamic modelling of a flexible robotic manipulator with two flexible links and two revolute joints, which rotates in the horizontal plane. The dynamic equations are derived using the Newton-Euler formulation and the finite element method, based on elementary beam theory, which is used to discretize the displacements such that the small motion is represented in terms of nodal displacements. Computer simulation results are presented to illustrate this study. The dynamic model becomes necessary for use in future design and control applications.

Automation and cybernetics: Control of a flexible one-link manipulator

States that control is of the essence in cybernetics. Summarizes the dynamic equations for a flexible one-link manipulator moving in the horizontal plane. Employs the finite element method, based on elementary beam theory, during the process of formulation. Develops and instruments a one-link flexible manipulator in order to control its vibration modes. Uses a simple second-order vibration model which permits vibrations on the rod to be estimated using the hub angle. The validation of the dynamic model and the structural analysis of the flexible manipulator is reached using proper infrared cameras and active light sources for determining actual positions of objects in space. Shows that the performance of the control is satisfactory, even under perturbation action.

Dynamic modeling and simulation of a flexible robotic manipulator

This work focuses on the dynamic modeling of a flexible robotic manipulator with two flexible links and two revolute joints, which rotates in the horizontal plane. The dynamic equations are derived using the Newton-Euler formulation and the finite element method, based on elementary beam theory. Computer simulation results are presented to illustrate this study. The dynamic model becomes necessary for use in future design and control applications.

Fatigue crack growth rate in mode I of a carbon fiber 5HS weave composite laminate processed via RTM

Delamination or crack propagation between plies is a critical issue for structural composites. In viewing this issue and the large application of woven fabrics in structural applications, especially the ones that requires high drapeability to be preformed in a RTM mold cavity such as the asymmetric ones, e.g HS series, this research aimed in dynamically testing the carbon fiber 5HS/RTM6 epoxy composites under opening mode using DCB set up in order to investigate the crack growth rate behavior in an irregular surface produced by the fabric waviness. The evaluation of the energy involved in each crack increment was based on the Irwin-Kies equation using compliance beam theory. The tests were conducted at constant stress ratio of R=0.1 with displacement control, frequency of 10 Hz, in accordance to ASTM E647-00 for measurement of crack growth rate. The results showed large scatter when compared to unidirectional carbon fiber composites due to damage accumulation at the fill tows.

Contribuições na modelagem dinâmica e no controle neural de um braço robótico com elos flexíveis

Em geral, estruturas espaciais e manipuladores robóticos leves têm uma característica similar e inerente que é a flexibilidade. Esta característica torna a dinâmica do sistema muito mais complexa e com maiores dificuldades para a análise de estabilidade e controle. Então, braços robóticos bastantes leves, com velocidade elevada e potencia limitada devem considerar o controle de vibração causada pela flexibilidade. Por este motivo, uma estratégia de controle é desejada não somente para o controle do modo rígido mas também que seja capaz de controlar os modos de vibração do braço robótico flexível. Também, redes neurais artificiais (RNA) são identificadas como uma subespecialidade de inteligência artificial. Constituem atualmente uma teoria para o estudo de fenômenos complexos e representam uma nova ferramenta na tecnologia de processamento de informação, por possuírem características como processamento paralelo, capacidade de aprendizagem, mapeamento não-linear e capacidade de generalização. Assim, neste estudo utilizam-se RNA na identificação e controle do braço robótico com elos flexíveis. Esta tese apresenta a modelagem dinâmica de braços robóticos com elos flexíveis, 1D no plano horizontal e 2D no plano vertical com ação da gravidade, respectivamente. Modelos dinâmicos reduzidos são obtidos pelo formalismo de Newton-Euler, e utiliza-se o método dos elementos finitos (MEF) na discretização dos deslocamentos elásticos baseado na teoria elementar da viga. Além disso, duas estratégias de controle têm sido desenvolvidas com a finalidade de eliminar as vibrações devido à flexibilidade do braço robótico com elos flexíveis. Primeiro, utilizase um controlador neural feedforward (NFF) na obtenção da dinâmica inversa do braço robótico flexível e o calculo do torque da junta. E segundo, para obter precisão no posicionamento... (Resumo completo, clicar acesso eletrônico abaixo)

Theory of optical dispersive shock waves in photorefractive media

The theory of optical dispersive shocks generated in the propagation of light beams through photorefractive media is developed. A full one-dimensional analytical theory based on the Whitham modulation approach is given for the simplest case of a sharp steplike initial discontinuity in a beam with one-dimensional striplike geometry. This approach is confirmed by numerical simulations, which are extended also to beams with cylindrical symmetry. The theory explains recent experiments where such dispersive shock waves have been observed.

Linear analysis of building floor structures by a BEM formulation based on Reissner's theory

In this work, the plate bending formulation of the boundary element method (BEM) based on the Reissner's hypothesis is extended to the analysis of zoned plates in order to model a building floor structure. In the proposed formulation each sub-region defines a beam or a slab and depending on the way the sub-regions are represented, one can have two different types of analysis. In the simple bending problem all sub-regions are defined by their middle surface. on the other hand, for the coupled stretching-bending problem all sub-regions are referred to a chosen reference surface, therefore eccentricity effects are taken into account. Equilibrium and compatibility conditions are automatically imposed by the integral equations, which treat this composed structure as a single body. The bending and stretching values defined on the interfaces are approximated along the beam width, reducing therefore the number of degrees of freedom. Then, in the proposed model the set of equations is written in terms of the problem values on the beam axis and on the external boundary without beams. Finally some numerical examples are presented to show the accuracy of the proposed model.

A Transmission Problem for Euler-Bernoulli beam with Kelvin-Voigt Damping

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

A BEM formulation based on Reissner's theory to perform simple bending analysis of plates reinforced by rectangular beams

In this work, the plate bending formulation of the boundary element method (BEM), based on the Reissner's hypothesis, is extended to the analysis of plates reinforced by rectangular beams. This composed structure is modelled by a zoned plate, being the beams represented by narrow sub-regions with larger thickness. The integral equations are derived by applying the weighted residual method to each sub-region, and summing them to get the equation for the whole plate. Equilibrium and compatibility conditions are automatically imposed by the integral equations, which treat this composed structure as a single body. In order to decrease the number of degrees of freedom, some approximations are considered for both displacements and tractions along the beam width. The accuracy of the proposed model is illustrated by simple examples whose exact solution are known as well as by more complex examples whose numerical results are compared with a well-known finite element code.

Elucidating the real-time Ag nanoparticle growth on alpha-Ag2WO4 during electron beam irradiation: experimental evidence and theoretical insights

Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)