The Mechanical Systems Design Handbook

The Mechanical Systems Design Handbook
اسم المؤلف
Osita D. I. Nwokah , Yildirim Hurmuzlu
22 ديسمبر 2020

The Mechanical Systems Design Handbook
Modeling, Measurement, and Control
Osita D. I. Nwokah Yildirim Hurmuzlu
Southern Methodist University
Dallas, Texas
Section I Manufacturing
1 Manufacturing Systems and Their Design Principles
1.1 Introduction
1.2 Major Manufacturing Paradigms and Their Objectives
1.3 Significance of Functionality/Capacity Adjustments in Modern Manufacturing Systems
1.4 Critical Role of Computers in Modern Manufacturing
1.5 Design Principles of Modern Manufacturing Systems
1.6 Future Trends and Research Directions
Selected References
2 Computer-Aided Process Planning for Machining
2.1 Introduction
2.2 What Is Computer-Aided Process Planning (CAPP)?
2.3 Review of CAPP Systems
2.4 Drivers of CAPP System Development
2.5 Characteristics of CAPP Systems
2.6 Integrating CAD with CAPP: Feature Extraction
2.7 Integrating CAPP with Manufacturing
2.8 CAPP for New Domains
2.9 Conclusions
3 Discrete Event Control of Manufacturing Systems
3.1 Introduction
3.2 Background on the Logic Control Problems
3.3 Current Industrial Practice
3.4 Current Trends
3.5 Formal Methods for Logic Control
3.6 Further Reading
References4 Machine Tool Dynamics and Vibrations
4.1 Introduction
4.2 Chatter Vibrations in Cutting
4.3 Analytical Prediction of Chatter Vibrations in Milling
5 Machine Tool Monitoring and Control
5.1 Introduction
5.2 Process Monitoring
5.3 Process Control
5.4 Conclusion
6 Process Monitoring and Control of Machining Operations
6.1 Introduction
6.2 Force/Torque/Power Generation
6.3 Forced Vibrations and Regenerative Chatter
6.4 Tool Condition Monitoring and Control
6.5 Other Process Phenomena
6.6 Future Direction and Efforts
7 Forming Processes: Monitoring and Control
7.1 Introduction: Process and Control Objectives
7.2 The Plant or Load: Forming Physics
7.3 Machine Control
7.4 Machine Control: Force or Displacement?
7.5 Process Resolution Issues: Limits to Process Control
7.6 Direct Shape Feedback and Control
7.7 Summary
8 Assembly and Welding Processes and Their Monitoring and Control
8.1 Assembly Processes
8.2 Monitoring and Control of Resistance Welding Process
8.3 Monitoring and Control of Arc Welding Processes
9 Control of Polymer Processing
9.1 Introduction
9.2 Process Description9.3 Process Variability
9.4 Modeling
9.5 Process Control
9.6 Conclusions
10 Precision Manufacturing
10.1 Deterministic Theory Applied to Machine Tools
10.2 Basic Definitions
10.3 Motion
10.4 Sources of Error and Error Budgets
10.5 Some Typical Methods of Measuring Errors
10.6 Conclusion
10.7 Terminology
SECTION II Vibration Control
11 Active Damping of Large Trusses
11.1 Introduction
11.2 Active Struts
11.3 Active Tendon Control
11.4 Active Damping Generic Interface
11.5 Microvibrations
11.6 Conclusions
12 Semi-Active Suspension Systems
12.1 Introduction
12.2 Semi-Active Suspensions Design
12.3 Adjustable Suspension Elements
12.4 Automotive Semi-Active Suspensions
12.5 Application of Control Techniques to Semi-Active Suspensions
12.6 Practical Considerations and Related Topics
13 Semi-Active Suspension Systems II
13.1 Concepts of Semi-Active Suspension Systems
13.2 Control Design Methodology13.3 Properties of Semi-Active Suspensions: Performance Indexes
13.4 Examples of Practical Applications
14 Active Vibration Absorption and Delayed Feedback Tuning
14.1 Introduction
14.2 Delayed Resonator Dynamic Absorbers
14.3 Multiple Frequency ATVA and Its Stability
15 Vibration Suppression Utilizing Piezoelectric Networks
15.1 Introduction
15.2 Passive and Semi-Active Piezoelectric Networks for Vibration
Absorption and Damping
15.3 Active-Passive Hybrid Piezoelectric Network Treatments for General
Modal Damping and Control
15.4 Active-Passive Hybrid Piezoelectric Network Treatments for Narrowband
Vibration Suppression
15.5 Nonlinear Issues Related to Active-Passive Hybrid Piezoelectric Networks
15.6 Summary and Conclusions
16 Vibration Reduction via the Boundary Control Method
16.1 Introduction
16.2 Cantilevered Beam
16.3 Axially Moving Web
16.4 Flexible Link Robot Arm
16.5 Summary
SECTION III Dynamics and Control of Aerospace Systems
17 An Introduction to the Mechanics of Tensegrity Structures
17.1 Introduction
17.2 Planar Tensegrity Structures Efficient in Bendin
17.3 Planar Class K Tensegrity Structures Efficient in Compression17.4 Statics of a 3-Bar Tensegrity
17.5 Concluding Remarks
Appendix 17.A Nonlinear Analysis of Planar Tensegrity
Appendix 17.B Linear Analysis of Planar Tensegrity
Appendix 17.C Derivation of Stiffness of the C4T1i Structure
18 The Dynamics of the Class 1 Shell Tensegrity Structure
18.1 Introduction
18.2 Tensegrity Definitions
18.3 Dynamics of a Two-Rod Element
18.4 Choice of Independent Variables and Coordinate Transformations
18.5 Tendon Forces
18.6 Conclusion
Appendix 18.A Proof of Theorem 18.1
Appendix 18.B Algebraic Inversion of the Q Matrix
Appendix 18.C General Case for (n, m) = (i, 1)
Appendix 18.D Example Case (n,m) = (3,1)
Appendix 18.E Nodal Forces
19 Robot Kinematics
19.1 Introduction
19.2 Description of Orientation
19.3 Direct Kinematics
19.4 Inverse Kinematics
19.5 Differential Kinematics
19.6 Differential Kinematics Inversion
19.7 Inverse Kinematics Algorithms
19.8 Further Reading
20 Robot Dynamics
20.1 Fundamentals of Robot Dynamic Modeling
20.2 Recursive Formulation of Robot Dynamics
20.3 Complete Model of Robot Dynamics20.4 Some Application of Computer-Aided Dynamics
20.5 Extension of Dynamic Modeling — Some Additional Dynamic Effects
Appendix: Calculation of Transformation Matrices
21 Actuators and Computer-Aided Design of Robots
21.1 Robot Driving Systems
21.2 Computer-Aided Design
22 Control of Robots
22.1 Introduction
22.2 Hierarchical Control of Robots
22.3 Control of a Single Joint of the Robot
22.4 Control of Simultaneous Motion of Several Robot Joints
23 Control of Robotic Systems in Contact Tasks
23.1 Introduction
23.2 Contact Tasks
23.3 Classification of Robotized Concepts for Constrained Motion Control
23.4 Model of Robot Performing Contact Tasks
23.5 Passive Compliance Methods
23.6 Active Compliant Motion Control Methods
23.7 Contact Stability and Transition
23.8 Synthesis of Impedance Control at Higher Control Levels
23.9 Conclusion
24 Intelligent Soft-Computing Techniques in Robotics
24.1 Introduction
24.2 Connectionist Approach in Robotics
24.3 Neural Network Issues in Robotics
24.4 Fuzzy Logic Approach
24.5 Neuro-Fuzzy Approach in Robotics
24.6 Genetic Approach in Robotics
24.7 Conclusion
25 Teleoperation and Telerobotics
25.1 Introduction
25.2 Hand Controllers25.3 FRHC Control System
25.4 ATOP Computer Graphics
25.5 ATOP Control Experiments
25.6 Anthropomorphic Telerobotics
25.7 New Trends in Applications
26 Mobile Robotic Systems
26.1 Introduction
26.2 Fundamental Issues
26.3 Dynamics of Mobile Robots
26.4 Control of Mobile Robots
27 Humanoid Robots
27.1 Zero-Moment Point — Proper Interpretation
27.2 Modeling of Biped Dynamics and Gait Synthesis
27.3 Control Synthesis for Biped Gait
27.4 Dynamic Stability Analysis of Biped Gait
27.5 Realization of Anthropomorphic Mechanisms and Humanoid Robots
27.6 Conclusion
28 Present State and Future Trends in Mechanical Systems Design
for Robot Application
28.1 Introduction
28.2 Industrial Robots
28.3 Service Robots
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