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    Modeling and simulation of one-link flexible manipulators

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    azu_td_1346736_sip1_m.pdf
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    Author
    Guan, Guoguang, 1965-
    Issue Date
    1991
    Keywords
    Engineering, Industrial.
    Engineering, System Science.
    Advisor
    Wang, Fei-Yue
    
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    Show full item record
    Publisher
    The University of Arizona.
    Rights
    Copyright © is held by the author. Digital access to this material is made possible by the University Libraries, University of Arizona. Further transmission, reproduction or presentation (such as public display or performance) of protected items is prohibited except with permission of the author.
    Abstract
    First, this thesis presents four types of dynamic models for one-link flexible manipulators: Euler-Bernoulli model, Euler-Bernoulli model with rotatory inertia, Timoshenko model, and Euler-Bernoulli model with tip mass through Hamilton Principle, and exact modal frequencies and vibration modes are derived through Laplace transformation and eigenanalysis. The numerical analysis is conducted to verify the established models and investigate the influences of rotatory inertia, shear deformation and tip mass. Second, this thesis presents the exact dynamic solutions of Euler-Bernoulli model for the step torque input and design of a dynamics simulator for one-link flexible manipulators based on the exact dynamic solutions. Several types of sensor models have been specified in the designed simulator to provide various sensory data sets required for feedback controls. A simulation study is performed to verify the designed simulator and to demonstrate the usage of the dynamics simulator for controller design and evaluations.
    Type
    text
    Thesis-Reproduction (electronic)
    Degree Name
    M.S.
    Degree Level
    masters
    Degree Program
    Graduate College
    Degree Grantor
    University of Arizona
    Collections
    Master's Theses

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