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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    Titel :

    Dynamic Analysis of a Two Member Manipulator


    Beteiligte:
    McGinley, W. Mark (Autor:in) / Shen, Ji Y. (Autor:in)

    Erscheinungsdatum :

    1997-04-22


    Medientyp :

    Report


    Format :

    Keine Angabe


    Sprache :

    Englisch


    Schlagwörter :


    Dynamic Analysis of a Two Member Manipulator Arm

    McGinley, Mark / Shen, Ji Y. | NTRS | 1997


    Dynamic interaction between the manipulator and vehicle of a mobile manipulator

    Meghdari, A. / Durali, M. / Naderi, D. | Tema Archiv | 1999


    Dynamic Interaction Between the Manipulator and Vehicle of a Mobile Manipulator

    Meghdari, A. / Durali, M. / Naderi, D. et al. | British Library Conference Proceedings | 1999


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