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UBC Theses and Dissertations
Design, construction and operation of a variable geometry manipulator Chu, Mark Sin Tian
Abstract
This thesis focuses on design, dynamical simulation, operation and performance evaluation of a variable geometry manipulator used in space as well as ground based operations. The system is composed of a mobile base supporting two modules connected in a chain topology. Each module consists of two links: one free to slew while the other is permitted to deploy. The governing equations of motion for the planar dynamics of the manipulator system are obtained using the Lagrangian procedure. A Fortran computer program is written for the dynamical simulation of the system. The accuracy of the formulation and the validity of the computer simulation code are verified through energy conservation tests. An extensive parametric study follows which provides better appreciation of the complex interactions between the system variables, initial disturbances, manipulator maneuvers, as well as the revolute joints and pay load flexibility. It also identifies critical combinations of system parameters and maneuvers which may lead to an unacceptable response. Results indicate that the coupling effects together with the flexibility at the revolute joints have significant impact on the manipulator's performance. Obviously, this will affect the desired trajectory tracking by the end-effector, suggesting a need for a suitable control algorithm. This is achieved through the classical Proportional-Integral-Derivative (PID) control strategy. The design, construction and integration of a prototype manipulator system, which progressed concurrently with the numerical simulation phase are also described in detail. Finally, the numerically predicted results are compared with the prototype performance. The remarkable agreement tends to substantiate integrity of the prototype design and effective implementation of the controller. The study lays a sound foundation for further exploration of this class of novel manipulators.
Item Metadata
Title |
Design, construction and operation of a variable geometry manipulator
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Creator | |
Publisher |
University of British Columbia
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Date Issued |
1997
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Description |
This thesis focuses on design, dynamical simulation, operation and performance
evaluation of a variable geometry manipulator used in space as well as ground based
operations. The system is composed of a mobile base supporting two modules connected
in a chain topology. Each module consists of two links: one free to slew while the other
is permitted to deploy. The governing equations of motion for the planar dynamics of the
manipulator system are obtained using the Lagrangian procedure. A Fortran computer
program is written for the dynamical simulation of the system. The accuracy of the
formulation and the validity of the computer simulation code are verified through energy
conservation tests. An extensive parametric study follows which provides better
appreciation of the complex interactions between the system variables, initial
disturbances, manipulator maneuvers, as well as the revolute joints and pay load
flexibility. It also identifies critical combinations of system parameters and maneuvers
which may lead to an unacceptable response. Results indicate that the coupling effects
together with the flexibility at the revolute joints have significant impact on the
manipulator's performance. Obviously, this will affect the desired trajectory tracking by
the end-effector, suggesting a need for a suitable control algorithm. This is achieved
through the classical Proportional-Integral-Derivative (PID) control strategy. The design,
construction and integration of a prototype manipulator system, which progressed
concurrently with the numerical simulation phase are also described in detail. Finally, the
numerically predicted results are compared with the prototype performance. The
remarkable agreement tends to substantiate integrity of the prototype design and effective
implementation of the controller. The study lays a sound foundation for further
exploration of this class of novel manipulators.
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Extent |
10677392 bytes
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Genre | |
Type | |
File Format |
application/pdf
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Language |
eng
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Date Available |
2009-03-25
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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 |
10.14288/1.0080940
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URI | |
Degree | |
Program | |
Affiliation | |
Degree Grantor |
University of British Columbia
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Graduation Date |
1997-11
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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.