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| Title: |
Dynamic Analysis of a Two Member Manipulator
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| Author(s): |
McGinley, W. Mark; Shen, Ji Y.
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| Abstract: |
Attenuating start-up and stopping vibrations when maneuvering large payloads attached to flexible manipulator systems is a great concern for many space missions. To address this concern, it was proposed that the use of smart materials, and their applications in smart structures, may provide an effective method of control for aerospace structures. In this paper, a modified finite element model has been developed to simulate the performance of piezoelectric ceramic actuators, and was applied to a flexible two-arm manipulator system. Connected to a control voltage, the piezoelectric actuators produce control moments based on the optimal control theory. The computer simulation modeled the end-effector vibration suppression of the NASA manipulator testbed for berthing operations of the Space Shuttle to the Space Station. The results of the simulation show that the bonded piezoelectric actuators can effectively suppress follow-up vibrations of the end-effector, stimulated by some external disturbance.
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| NASA Center: |
Langley Research Center
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| Publication Date: |
Apr. 22, 1997
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| Document Source: |
CASI |
| Online Source: |
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| Document ID: |
19970017807
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| Accession ID: |
97N19922
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| Publication Information: |
Number of Pages = 14 |
| Report Number: |
NAS 1.26:204197; NASA-CR-204197
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| Contract-Grant-Task Number: |
NAG1-1997 |
| Price Code: |
A03 |
| Keywords: |
COMPUTERIZED SIMULATION; SPACE MISSIONS; ACTUATORS; CONTROL THEORY; VIBRATION; ATTENUATION; SMART STRUCTURES; PIEZOELECTRIC CERAMICS; PAYLOADS; FINITE ELEMENT METHOD; SPACE SHUTTLES; ELECTRIC POTENTIAL; OPTIMAL CONTROL;
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| Accessibility: |
Unclassified; No Copyright; Unlimited; Publicly available; Progress Report |
| Updated/Added to NTRS: |
2005-08-25 |
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