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Applied Vibration Suppression Using Piezoelectric Materials
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Authors: Mehrdad R. Kermani; Mehrdad Moallem and Rajni V. Patel (Univ. of Western Ontario, Canada) 
Book Description:
Subject Scope: Robotics, Materials Science, Electrical Engineering, Computer Science

The aim of this book is to provide insight on the vibration problem in structurally flexible mechanisms, particularly robotic manipulators. The book covers different aspects of flexible structures. It partially includes the fundamental formulations for modeling of a flexible structure actuated with piezoelectric actuators. Mathematical modeling, when possible, as well as expertimental techniques for obtaining models of flexible structures are discussed. Additionally, different control techniques adapted for flexible robotic manipulators equipped with piezoelectric actuators and sensors are covered in the book. Depending on the system, linear and nonlinear control techniques for stablilizng residual vibrations in the system are discussed.

Table of Contents:

Chapter 1 - Introduction and Mathematical Background
1.1 Introduction
1.2 Piezoelectricity
1.2.1 Constitutive Equations of Piezoelectric Materials
1.3 Beam Theory
1.3.1 Euler-Bernoulli Beam
1.3.2 Beam Equation
1.4 Piezoelectric Actuation
1.5 Piezoelectric Sensing
1.6 Piezoelectric Stack

Chapter 2 - Piezoelectric Actuator: Placement and Control
2.1 Introduction
2.2 Modeling an Actuated Flexible Beam
2.2.1 Solution of a Non-Homogeneous PDE
2.2.2 Discrete Model of an Actuated Beam
2.3 Optimizing Performance of a Piezoelectric Actuator
2.3.1 The Relative Thicknesses
2.3.2 The Relative Young’s Modulus of Elasticity
2.3.3 Location of the Piezoelectric Actuator
2.3.4 Numerical Example
2.4 General Considerations for Controlling a Flexible Beam
2.5 Experimental Results
2.5.1 Frequency Response Function
2.5.2 Closed-Loop Controller
2.6 Conclusion

Chapter 3 - Flexible Link Manipulator
3.1 Introduction
3.2 System Modeling
3.3 Control Design
3.4 Experimental Evaluations
3.4.1 Software Implementation
3.4.2 Case Studies
3.5 Conclusion

Chapter 4 - Friction Compensation
4.1 Introduction
4.2 Friction Modeling
4.2.1 Stability
4.3 Case Studies
4.4 Conclusion

Chapter 5 - Piezoelectric Stack: Design and Control
5.1 Introduction
5.2 Actuator Design
5.3 Mathematical Modeling
5.3.1 The Sub-Boundary Conditions
5.3.2 Piezoelectric Stack Formulation
5.3.3 Solution of the Partial Di_erential Equation
5.3.4 Matrix Model of an Actuated Beam
5.4 Piezoelectric Sensor
5.5 Optimum Parameters of the Actuator
5.5.1 Numerical Example
5.6 Experimental Results
5.6.1 Frequency Response Function
5.6.2 Closed-Loop Controller
5.7 Conclusion

Chapter 6 - Macro Manipulator
6.1 Introduction
6.1.1 Rigid Body Modeling
6.1.2 Flexible Link Modeling
6.2 Vibration Suppression of the Flexible Parts
6.2.1 Identification of the Upper Part
6.2.2 Model Analysis
6.2.3 Finite Element Analysis
6.3 Control Design
6.3.1 Selection of the Weighting Functions
6.3.2 Controller Implementation
6.4 Experimental Results
6.5 Conclusion

Chapter 7 - Conclusion
7.1 Summary of Contributions
7.2 Future Work

A - Dynamic Modeling
A.1 Flexible Link Manipulator
A.2 Solution of Ricatti Equation

B - Piezoelectric Stack Actuator
B.1 Mathematical Modeling

C - Macro Manipulator
C.1 Rigid Body Velocities
C.2 Automation


   Binding: Hardcover
   Pub. Date: 2008
   ISBN: 978-1-60021-896-5
   Status: AV
Status Code Description
AN Announcing
FM Formatting
PP Page Proofs
FP Final Production
EP Editorial Production
PR At Prepress
AP At Press
AV Available
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