Feedback control of underactuated cable-driven parallel robots

In this work an Underactuated Cable-Driven Parallel Robot (UACDPR) that operates in the three dimensional Euclidean space is considered. The End-Effector has 6 degrees of freedom and is actuated by 4 cables, therefore from a mechanical point of view the robot is defined underconstrained. However, considering only three controlled pose variables, the degree of redundancy for the control theory can be considered one. The aim of this thesis is to design a feedback controller for a point-to-point motion that satisfies the transient requirements, and is capable of reducing oscillations that derive from the reduced number of constraints. A force control is chosen for the positioning of the End-Effector, and error with respect to the reference is computed through data measure of several sensors (load cells, encoders and inclinometers) such as cable lengths, tension and orientation of the platform. In order to express the relation between pose and cable tension, the inverse model is derived from the kinematic and dynamic model of the parallel robot. The intrinsic non-linear nature of UACDPRs systems introduces an additional level of complexity in the development of the controller, as a result the control law is composed by a partial feedback linearization, and damping injection to reduce orientation instability. The fourth cable allows to satisfy a further tension distribution constraint, ensuring positive tension during all the instants of motion. Then simulations with different initial conditions are presented in order to optimize control parameters, and lastly an experimental validation of the model is carried out, the results are analysed and limits of the presented approach are defined.

Seismic mitigation of existing masonry structures by means of added damping and stiffness

In this work seismic upgrading of existing masonry structures by means of hysteretic ADAS dampers is treated. ADAS are installed on external concrete walls, which are built parallel to the building, and then linked to the building's slab by means of steel rod connection system. In order to assess the effectiveness of the intervention, a parametric study considering variation of damper main features has been conducted. To this aim, the concepts of equivalent linear system (ELS) or equivalent viscous damping are deepen. Simplified equivalent linear model results are then checked respect results of the yielding structures. Two alternative displacement based methods for damper design are herein proposed. Both methods have been validated through non linear time history analyses with spectrum compatible accelerograms. Finally ADAS arrangement for the non conventional implementation is proposed.

Sintesi e caratterizzazione di nuovi politiofeni double-cable per applicazioni fotovoltaiche

In questo lavoro di tesi è stato sintetizzato un nuovo copolimero contenente il gruppo fullerenico in catena laterale. Il copolimero è risultato solubile nei comuni solventi organici e ha dato una efficienza di conversione fotovoltaica in un sistema BHJ del 2.19%.

Aereodynamics of dry helically-filleted bridge cables

Dry limited amplitude vibrations flow-transition induced vibrations were experienced on a helically-filleted tube, in a previous study performed by Kleissl and Georgakis (2012). These vibrations have never been reported in previous studies. A deep study on the same inclined-yawed cable configuration has been performed, in order to investigate and further understand the nature of these vibrations. The investigation has been carried out through passive-dynamic wind tunnel tests in the Climatic Wind Tunnel at FORCE Technology, Kgs. Lyngby, Denmark. The results are carried out in terms of aerodynamic damping and peak to peak amplitude at different flow velocities and different boundary conditions. The latter are done by testing the model with and without the spray system installed in the wind tunnel cross section, in order to understand and evaluate the influence of the spray system on the start of the vibrations mechanism and on the flow turbulence. The gained experiences are finally presented for the use in future testing activities with the purpose of improving the performance of passive-dynamic tests.

Damping and Thermomechanical behaviour of CFRP laminates modified with rubbery nanofibers

Nanofibrous membranes are a promising material for tailoring the properties of laminated CFRP composites by embedding them into the structure. This project aimed to understand the effect of number, position and thickness of nanofibrous modifications specifically on the damping behaviour of the resulting nano-modified CFRP composite with an epoxy matrix. An improvement of damping capacity is expected to improve a composites lifetime and fatigue resistance by prohibiting the formation of microcracks and consequently hindering delamination, it also promises a rise in comfort for a range of final products by intermission of vibration propagation and therefore diminution of noise. Electrospinning was the technique employed to produce nanofibrous membranes from a blend of polymeric solutions. SEM, WAXS and DSC were utilised to evaluate the quality of the obtained membranes before they were introduced, following a specific stacking sequence, in the production process of the laminate. A suitable curing cycle in an autoclave was applied to mend the modifications together with the matrix material, ensuring full crosslinking of the matrix and therefore finalising the production process. DMA was exercised in order to gain an understanding about the effects of the different modifications on the properties of the composite. During this investigation it became apparent that a high number of modifications of laminate CFRP composites, with an epoxy matrix, with thick rubbery nanofibrous membranes has a positive effect on the damping capacity and the temperature range the effect applies in. A suggestion for subsequent studies as well as a recommendation for the production of nano-modified CFRP structures is included at the end of this document.

Optimal pose selection for the calibration of an overconstrained Cable-Driven Parallel Robot

In this project an optimal pose selection method for the calibration of an overconstrained Cable-Driven Parallel robot is presented. This manipulator belongs to a subcategory of parallel robots, where the classic rigid "legs" are replaced by cables. Cables are flexible elements that bring advantages and disadvantages to the robot modeling. For this reason, there are many open research issues, and the calibration of geometric parameters is one of them. The identification of the geometry of a robot, in particular, is usually called Kinematic Calibration. Many methods have been proposed in the past years for the solution of the latter problem. Although these methods are based on calibration using different kinematic models, when the robot’s geometry becomes more complex, their robustness and reliability decrease. This fact makes the selection of the calibration poses more complicated. The position and the orientation of the endeffector in the workspace become important in terms of selection. Thus, in general, it is necessary to evaluate the robustness of the chosen calibration method, by means, for example, of a parameter such as the observability index. In fact, it is known from the theory, that the maximization of the above mentioned index identifies the best choice of calibration poses, and consequently, using this pose set may improve the calibration process. The objective of this thesis is to analyze optimization algorithms which aim to calculate an optimal choice of poses both in quantitative and qualitative terms. Quantitatively, because it is of fundamental importance to understand how many poses are needed. Not necessarily a greater number of poses leads to a better result. Qualitatively, because it is useful to understand if the selected combination of poses actually gives additional information in the process of the identification of the parameters.

Direct Kinematics of Underactuated Cable-Driven Parallel Robots: Sensitivity to Redundant Measurements

Underactuated cable-driven parallel robots (UACDPRs) shift a 6-degree-of-freedom end-effector (EE) with fewer than 6 cables. This thesis proposes a new automatic calibration technique that is applicable for under-actuated cable-driven parallel robots. The purpose of this work is to develop a method that uses free motion as an exciting trajectory for the acquisition of calibration data. The key point of this approach is to find a relationship between the unknown parameters to be calibrated (the lengths of the cables) and the parameters that could be measured by sensors (the swivel pulley angles measured by the encoders and roll-and-pitch angles measured by inclinometers on the platform). The equations involved are the geometrical-closure equations and the finite-difference velocity equations, solved using the least-squares algorithm. Simulations are performed on a parallel robot driven by 4 cables for validation. The final purpose of the calibration method is, still, the determination of the platform initial pose. As a consequence of underactuation, the EE is underconstrained and, for assigned cable lengths, the EE pose cannot be obtained by means of forward kinematics only. Hence, a direct-kinematics algorithm for a 4-cable UACDPR using redundant sensor measurements is proposed. The proposed method measures two orientation parameters of the EE besides cable lengths, in order to determine the other four pose variables, namely 3 position coordinates and one additional orientation parameter. Then, we study the performance of the direct-kinematics algorithm through the computation of the sensitivity of the direct-kinematics solution to measurement errors. Furthermore, position and orientation error upper limits are computed for bounded cable lengths errors resulting from the calibration procedure, and roll and pitch angles errors which are due to inclinometer inaccuracies.