Search results for "VDP::Technology: 500::Mechanical engineering: 570::Machine construction and engineering technology: 571"
showing 4 items of 4 documents
Frequency domain control based on quantitative feedback theory for vibration suppression in structures equipped with magnetorheological dampers
2009
This is an author-created, un-copyedited version of an article accepted for publication in Smart Materials and Structures. IOP Publishing Ltd is not responsible for any errors or omissions in this version of the manuscript or any version derived from it. The definitive publisher authenticated version is available online at http://dx.doi.org/10.1088/0964-1726/18/9/095041 This paper addresses the problem of designing quantitative feedback theory (QFT) based controllers for the vibration reduction in a structure equipped with an MR damper. In this way, the controller is designed in the frequency domain and the natural frequencies of the structure can be directly accounted for in the process. T…
The Gantry-Tau parallel kinematic machine-kinematic and elastodynamic design optimisation
2011
Pubished version of an article in the journal: Meccanica. Also available from the publisher at: http://dx.doi.org/10.1007/s11012-010-9394-9 One of the main advantages of the Gantry-Tau machine is a large accessible workspace/footprint ratio compared to many other parallel machines. The optimal kinematic, elastostatic and elastodynamic design parameters of the machine are still difficult to calculate and this paper introduces an optimisation scheme based on the geometric and functional dependencies to define the workspace and first resonance frequency. This method assumes that each link and universal joint can be described by a mass-spring-damper model and calculates the transfer function fr…
Optimised assembly mode reconfiguration of the 5-DOF Gantry-Tau using mixed-integer programming
2010
Pulished version of an article in the journal: Meccanica. Also available from the publisher at: http://dx.doi.org/10.1007/s11012-010-9404-y This paper presents a systematic approach based on Mixed Integer Linear Programming for finding an optimal singularity-free reconfiguration path of the 5-DOF Gantry-Tau parallel kinematic machine. The results in the paper demonstrate that singularity-free reconfiguration (change of assembly mode) of the machine is possible, which significantly increases the usable workspace. The method has been applied to a full-scale prototype and the singularity-free path has been verified both in simulations and with physical experiments using real-time control of th…
Kinematic and Elastostatic Design Optimisation of the 3-DOF Gantry-Tau Parallel Kinematic Manipulator
2009
Published version of an article in the journal: Modeling Identification and Control. Also available from the publisher:http://dx.doi.org/10.4173/mic.2009.2.1 One of the main advantages of the Gantry-Tau machine is a large accessible workspace/footprint ratio compared to many other parallel machines. The Gantry-Tau improves this ration further by allowing a change of assembly mode without internal link collisions or collisions between the links and end-effector. The reconfigurable Gantry-Tau kinematic design obtained by multi-objective optimisation according to this paper gives the following features: 3-D workspace/footprint ration is more than 3.19, lowest Cartesian stiffness in the workspa…