Accession Number:

ADA237857

Title:

Performance and Stability in High Speed Articulated Structures Undergoing Quick Manuevers - Theory and Applications

Descriptive Note:

Final rept. 1 Sep-31 Dec 1991,

Corporate Author:

ILLINOIS UNIV AT CHICAGO CIRCLE DEPT OF MECHANICAL ENGINEERING

Personal Author(s):

Report Date:

1991-01-01

Pagination or Media Count:

46.0

Abstract:

The proposed research is divided into two phases. The first introduces the PUTD Pseudo-Uptriangular-Decomposition to reduce the governing equations of motion of articulated mechanical systems. This investigation proposes a new method, which allows the constrained systems to operate in the presence of singularities. This is achieved by regularization technique which makes use of a new representation of the kinematical and geometrical constraint equations at singular positions. This method of stability analysis is compared with the asymptotic stability presented by Baumgarte. The PUTD is extended to accommodate the dynamics of such systems. An illustration of the utility and effectiveness of the method proposed is shown through a two arm planar robot undergoing large motions and driven through singularities. The driving torques are then compared to check for discontinuities and jerks. The second phase of the research project set the stage for the testing of the proposed method when the articulated structures are composed of flexible bodies.

Subject Categories:

  • Machinery and Tools

Distribution Statement:

APPROVED FOR PUBLIC RELEASE