Title page for ETD etd-3198-143639


Type of Document Master's Thesis
Author Gilbert, Gregory S. Jr.
Author's Email Address ggilbert@roanoke.infi.net
URN etd-3198-143639
Title Scaling a Prismatic Revolute Joint (Pr) Manipulator Using Similitude and Buckingham Pi Techniques
Degree Master of Science
Department Mechanical Engineering
Advisory Committee
Advisor Name Title
Saunders, William R. Committee Chair
Baumann, William T. Committee Member
Robertshaw, Harry H. Committee Member
Keywords
  • Dimensional Analysis
  • Buckingham Pi Theorem
  • Similitude
  • Scaling
  • Brushed DC Permanent Magnet Motors
  • Coulomb
  • Viscous
  • Static
  • Nonlinear Friction
  • Computed Torque Control
Date of Defense 1998-03-17
Availability unrestricted
Abstract
This thesis presents scaling methods for sizing a prototype micro prismatic revolute (PR) manipulator actuated by permanent magnet (PM) direct current (d.c.) gearmotors. Dimensional analysis was the principle tool used in this investigation, and addressed the problems of scaling a trajectory planner, control law, and gearmotors that exhibit internal nonlinear friction. Similitude methods were used to develop a scaleable two degree-of-freedom trajectory planner from a third order polynomial. Scaling laws were developed from Buckingham's Pi theorem to facilitate the selection process of gearmotors. Nondimensional, nonlinear, differential equations were developed to describe viscous, Coulomb and static friction in comparative PM d.c. motors. From the insights gained through dimensional analysis, a scaleable controller based on the computed torque method was developed and implemented with a cubic trajectory planner. Model and prototype PR manipulator systems were simulated using a hybrid Matlab/Simulink simulation scheme. Experimental systems were constructed with dissimilar model and prototype motors. Control was provided by an AT class PC equipped with 12-bit A/D, D/A cards operating at a sample rate of 100 Hz. The control algorithm was written in Borland 3.1 C for DOS. Results from the experimental testing showed excellent agreement between the test and simulated data and verified the viability of the scaling laws. The techniques presented in this thesis are expected to be applicable to any application that involves scaling PM d.c. micro gearmotors that have significant internal friction terms. These simple, practical tools should be especially beneficial to designers of micro robotic systems.
Files
  Filename       Size       Approximate Download Time (Hours:Minutes:Seconds) 
 
 28.8 Modem   56K Modem   ISDN (64 Kb)   ISDN (128 Kb)   Higher-speed Access 
  appendix.pdf 128.46 Kb 00:00:35 00:00:18 00:00:16 00:00:08 < 00:00:01
  chap1.pdf 21.21 Kb 00:00:05 00:00:03 00:00:02 00:00:01 < 00:00:01
  chap2.pdf 88.52 Kb 00:00:24 00:00:12 00:00:11 00:00:05 < 00:00:01
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  chap4.pdf 338.61 Kb 00:01:34 00:00:48 00:00:42 00:00:21 00:00:01
  chap5.pdf 413.63 Kb 00:01:54 00:00:59 00:00:51 00:00:25 00:00:02
  chap6.pdf 21.17 Kb 00:00:05 00:00:03 00:00:02 00:00:01 < 00:00:01
  intro.pdf 17.23 Kb 00:00:04 00:00:02 00:00:02 00:00:01 < 00:00:01
  notes.pdf 8.90 Kb 00:00:02 00:00:01 00:00:01 < 00:00:01 < 00:00:01

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