22 June 2000 Systematic method to enhance the operating speed and precision of mechanical systems with nonlinear dynamics using integrated smart actuators
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Abstract
The operating speed and precision of computer controlled machines such as robot manipulators are limited mostly by the dynamic response limitations of their primary actuators. The dynamics of systems such as robot manipulators with revolute joints, even when the structural flexibility is not considered is highly nonlinear. The presence of dynamics nonlinearity places an even greater demand on the dynamic response of the prime actuators. This is the case since due to the nonlinear dynamics of such systems, the actuating torques (forces) required for accurate tracking of the desired motions must contain higher harmonics of the joint trajectory harmonics. Such higher harmonic components of the actuating torques become increasingly more significant as the operating speed of the system is increased and can cause serious vibration and control problems. In this paper, a systematic method is presented for optimal integration of smart (active) materials based actuators into the structure of robot manipulators for the purpose of minimizing the high harmonic components of the required actuating torques (forces). The proposed approach is based on the Trajectory Pattern Method (TPM). It is shown that with properly synthesized low harmonic motion trajectories and by minimizing the high harmonic components of the required actuating torques with properly sized and placed smart actuators, such computer controlled machines can operate at higher speeds, greater tracking precision and minimal vibration and control problems.
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Jahangir S. Rastegar, Lifang Yuan, "Systematic method to enhance the operating speed and precision of mechanical systems with nonlinear dynamics using integrated smart actuators", Proc. SPIE 3985, Smart Structures and Materials 2000: Smart Structures and Integrated Systems, (22 June 2000); doi: 10.1117/12.388820; https://doi.org/10.1117/12.388820
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KEYWORDS
Actuators

Smart materials

Vibration control

Complex systems

Kinematics

Nonlinear dynamics

Control systems

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