Please use this identifier to cite or link to this item: http://hdl.handle.net/10603/472941
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dc.coverage.spatialDesign of long reach manipulator for controlling base disturbance
dc.date.accessioned2023-03-28T07:08:40Z-
dc.date.available2023-03-28T07:08:40Z-
dc.identifier.urihttp://hdl.handle.net/10603/472941-
dc.description.abstractLong reach manipulators (lrm) find terrestrial and space applications involving remotely controlled tasks. lrm is a serial-chain, rigid or flexible, robotic arm that deploys the end-effector at task locations to perform precise motions. the structure and dynamics of lrm induce disturbances on its mounting base in the form vibrations. such disturbances impair the precise function of end-effector, and creates base attitude changes that may lead to disastrous collisions. this brings great rigor in the design of lrm. solutions are explored by researchers in the domains like modelling and control, smart materials, active and passive damping, and nonlinear analysis. methods involving balancing arm arrangement or eddy current (ec) damping arrangement are not much studied. also, the effect of the mass of the balancing arrangement is not investigated. newlinehence this research work is based on the following broader objectives: 1. idealize and analyse a model of manipulator system with a balancing arm arrangement with variable mass. newline2. idealize and analyse an ec damping model. two planar models are developed and analysed for ground conditions. the first model consists of a two-link rigid manipulator, balanced by a single link. a hydraulic arrangement dynamically varies the mass of the balancing link. the governing equations are derived using newton-euler formulation and expressed as simultaneous constraint matrices. an integrated model is developed and analysed using simulink®. the second model has a single rigid link, mounted on a flexible base, and it carries conducting coils and an oscillating magnet to induce eddy currents. system equations are developed using euler-lagrange formulation, linearized, and expressed as matrix equations. matlab® ode solver is used to numerically simulate the model, with and without dampin newline newline
dc.format.extentxviii,117p.
dc.languageEnglish
dc.relationp.108-116
dc.rightsuniversity
dc.titleDesign of long reach manipulator for controlling base disturbance
dc.title.alternative
dc.creator.researcherSrinivasan, A
dc.subject.keywordEngineering and Technology
dc.subject.keywordEngineering
dc.subject.keywordEngineering Mechanical
dc.subject.keywordOng reach manipulator
dc.subject.keywordSimultaneous constraint method
dc.subject.keywordEddy current damping
dc.description.note
dc.contributor.guideJegan, A
dc.publisher.placeChennai
dc.publisher.universityAnna University
dc.publisher.institutionFaculty of Mechanical Engineering
dc.date.registered
dc.date.completed2022
dc.date.awarded2022
dc.format.dimensions21cm
dc.format.accompanyingmaterialNone
dc.source.universityUniversity
dc.type.degreePh.D.
Appears in Departments:Faculty of Mechanical Engineering

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01_title.pdfAttached File25.94 kBAdobe PDFView/Open
02_prelim pages.pdf4.32 MBAdobe PDFView/Open
03_content.pdf128.55 kBAdobe PDFView/Open
04_abstract.pdf8.39 kBAdobe PDFView/Open
05_chapter 1.pdf534.02 kBAdobe PDFView/Open
06_chapter 2.pdf527.1 kBAdobe PDFView/Open
07_chapter 3.pdf640.29 kBAdobe PDFView/Open
08_chapter 4.pdf771.24 kBAdobe PDFView/Open
09_chapter 5.pdf741.56 kBAdobe PDFView/Open
10_chapter 6.pdf1.35 MBAdobe PDFView/Open
11_annexures.pdf160 kBAdobe PDFView/Open
80_recommendation.pdf124.57 kBAdobe PDFView/Open


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