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UBC Theses and Dissertations
Design, integration, and dynamical model of a multi-module deployable manipulator system (MDMS) Wong, Ho-Keung Kenneth
Abstract
This thesis focuses on the mechanical design, development, mathematical dynamical model formulation, and demonstration of controlled operation of a Multi-module Deployable Manipulator System (MDMS). The new robot system can be used in ground-based as well as space-based operations. The system is composed of a mobile base supporting four modules connected in a chain topology. Each module consists of two links: one free to slew while the other permitted to deploy and retrieve. It is designed for future experimental investigations aimed at dynamics and control of this variable geometry manipulator by implementing different control algorithms to regulate its performance. The manipulator design involves the selection and sizing of actuators, the design of mounting and connecting components, and the selection of hardware as well as software for real-time control. The integration of computer control system components for the MDMS is also discussed in details. The governing equations of motion for the planar dynamics of the manipulator system are obtained using an 0(N) algorithm, based on the Lagrangian approach and velocity transformations. The 0(N) character is computationally efficient permitting real-time control of the system. A dynamical simulation program is written in C language. The accuracy of the formulation and the validity of the computer code can be verified through energy conservation tests. The classical Proportional-Integral-Derivative (PID) control strategy is implemented to illustrate satisfactory operation of the designed system.
Item Metadata
Title |
Design, integration, and dynamical model of a multi-module deployable manipulator system (MDMS)
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Creator | |
Publisher |
University of British Columbia
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Date Issued |
2000
|
Description |
This thesis focuses on the mechanical design, development, mathematical dynamical
model formulation, and demonstration of controlled operation of a Multi-module Deployable
Manipulator System (MDMS). The new robot system can be used in ground-based as well as
space-based operations. The system is composed of a mobile base supporting four modules
connected in a chain topology. Each module consists of two links: one free to slew while the
other permitted to deploy and retrieve. It is designed for future experimental investigations
aimed at dynamics and control of this variable geometry manipulator by implementing
different control algorithms to regulate its performance. The manipulator design involves the
selection and sizing of actuators, the design of mounting and connecting components, and the
selection of hardware as well as software for real-time control. The integration of computer
control system components for the MDMS is also discussed in details. The governing
equations of motion for the planar dynamics of the manipulator system are obtained using an
0(N) algorithm, based on the Lagrangian approach and velocity transformations. The 0(N)
character is computationally efficient permitting real-time control of the system. A
dynamical simulation program is written in C language. The accuracy of the formulation and
the validity of the computer code can be verified through energy conservation tests. The
classical Proportional-Integral-Derivative (PID) control strategy is implemented to illustrate
satisfactory operation of the designed system.
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Extent |
6717999 bytes
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Genre | |
Type | |
File Format |
application/pdf
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Language |
eng
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Date Available |
2009-07-09
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Provider |
Vancouver : University of British Columbia Library
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Rights |
For non-commercial purposes only, such as research, private study and education. Additional conditions apply, see Terms of Use https://open.library.ubc.ca/terms_of_use.
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DOI |
10.14288/1.0080960
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URI | |
Degree | |
Program | |
Affiliation | |
Degree Grantor |
University of British Columbia
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Graduation Date |
2000-05
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Campus | |
Scholarly Level |
Graduate
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Aggregated Source Repository |
DSpace
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Item Media
Item Citations and Data
Rights
For non-commercial purposes only, such as research, private study and education. Additional conditions apply, see Terms of Use https://open.library.ubc.ca/terms_of_use.