The mechanical systems design handbook: modeling, measurement and control

Title:

Publication Information:

Boca Raton, FL : CRC Press, 2002

ISBN:

9780849385964

Subject Term:

Production engineering

Manufacturing processes

Added Author:

Nwokah, Osita D.I.

Hurmuzlu, Yildirim

Available:*

Library	Item Barcode	Call Number	Material Type	Item Category 1	Status
Searching... PSZ JB	30000004887364	TS176 M43 2002	Open Access Book	Book	Searching... Unknown

With a specific focus on the needs of the designers and engineers in industrial settings, The Mechanical Systems Design Handbook: Modeling, Measurement, and Control presents a practical overview of basic issues associated with design and control of mechanical systems. In four sections, each edited by a renowned expert, this book answers diverse questions fundamental to the successful design and implementation of mechanical systems in a variety of applications.

Manufacturing addresses design and control issues related to manufacturing systems. From fundamental design principles to control of discrete events, machine tools, and machining operations to polymer processing and precision manufacturing systems.

Vibration Control explores a range of topics related to active vibration control, including piezoelectric networks, the boundary control method, and semi-active suspension systems.

Aerospace Systems presents a detailed analysis of the mechanics and dynamics of tensegrity structures

Robotics offers encyclopedic coverage of the control and design of robotic systems, including kinematics, dynamics, soft-computing techniques, and teleoperation.

Mechanical systems designers and engineers have few resources dedicated to their particular and often unique problems. The Mechanical Systems Design Handbook clearly shows how theory applies to real world challenges and will be a welcomed and valuable addition to your library.

Reviews 1

Choice Review

Editors Nwokah and Hurmuzlu have assembled a useful addition to the literature on mechanical design and manufacturing. An interesting feature of this handbook is its systems view, a timely addition since the systems approach is gaining importance in engineering. The handbook's 28 chapters are classified in four sections, the first of which discusses general and precision manufacturing. This section also has a useful treatment of monitoring and controlling manufacturing processes such as forming and welding. The second section focuses on control of vibrations and presents active, semiactive, piezoelectric network, and boundary element methods for designing vibration control systems. The third section exclusively treats Tensegrity structures, which are bar-string structures in stable equilibrium. The fourth section presents a nice comprehensive treatment of robotics, including kinematics, dynamics, design, and control of robotics. A noteworthy feature of this last section is its presentation of telerobotics, mobile robots, humanoid robots, and current and future trends in the area of robotics. The handbook offers a good balance of description, mathematical details, and illustrations. A welcome addition to the literature on the systems approach in engineering. Upper-division undergraduates through professionals. M. G. Prasad Stevens Institute of Technology

Section I Manufacturing
1 Manufacturing Systems and Their Design Principles
1.1 Introduction	p. 1
1.2 Major Manufacturing Paradigms and Their Objectives	p. 2
1.3 Significance of Functionality/Capacity Adjustments in Modern Manufacturing Systems	p. 4
1.4 Critical Role of Computers in Modern Manufacturing	p. 5
1.5 Design Principles of Modern Manufacturing Systems	p. 6
1.6 Future Trends and Research Directions	p. 9
Selected References	p. 9
2 Computer-Aided Process Planning for Machining
Abstract	p. 11
2.1 Introduction	p. 12
2.2 What Is Computer-Aided Process Planning (CAPP)?	p. 12
2.3 Review of CAPP Systems	p. 13
2.4 Drivers of CAPP System Development	p. 18
2.5 Characteristics of CAPP Systems	p. 19
2.6 Integrating CAD with CAPP: Feature Extraction	p. 20
2.7 Integrating CAPP with Manufacturing	p. 29
2.8 CAPP for New Domains	p. 31
2.9 Conclusions	p. 33
References	p. 34
3 Discrete Event Control of Manufacturing Systems
3.1 Introduction	p. 39
3.2 Background on the Logic Control Problems	p. 40
3.3 Current Industrial Practice	p. 44
3.4 Current Trends	p. 46
3.5 Formal Methods for Logic Control	p. 48
3.6 Further Reading	p. 57
Acknowledgments	p. 58
References	p. 58
4 Machine Tool Dynamics and Vibrations
4.1 Introduction	p. 61
4.2 Chatter Vibrations in Cutting	p. 62
4.3 Analytical Prediction of Chatter Vibrations in Milling	p. 66
References	p. 73
5 Machine Tool Monitoring and Control
5.1 Introduction	p. 75
5.2 Process Monitoring	p. 75
5.3 Process Control	p. 79
5.4 Conclusion	p. 81
References	p. 81
6 Process Monitoring and Control of Machining Operations
6.1 Introduction	p. 85
6.2 Force/Torque/Power Generation	p. 86
6.3 Forced Vibrations and Regenerative Chatter	p. 90
6.4 Tool Condition Monitoring and Control	p. 94
6.5 Other Process Phenomena	p. 97
6.6 Future Direction and Efforts	p. 99
Acknowledgments	p. 101
References	p. 101
7 Forming Processes: Monitoring and Control
7.1 Introduction: Process and Control Objectives	p. 105
7.2 The Plant or Load: Forming Physics	p. 107
7.3 Machine Control	p. 114
7.4 Machine Control: Force or Displacement?	p. 115
7.5 Process Resolution Issues: Limits to Process Control	p. 116
7.6 Direct Shape Feedback and Control	p. 118
7.7 Summary	p. 118
References	p. 118
8 Assembly and Welding Processes and Their Monitoring and Control
8.1 Assembly Processes	p. 121
8.2 Monitoring and Control of Resistance Welding Process	p. 123
8.3 Monitoring and Control of Arc Welding Processes	p. 127
References	p. 134
9 Control of Polymer Processing
9.1 Introduction	p. 139
9.2 Process Description	p. 140
9.3 Process Variability	p. 142
9.4 Modeling	p. 143
9.5 Process Control	p. 144
9.6 Conclusions	p. 147
References	p. 148
10 Precision Manufacturing
10.1 Deterministic Theory Applied to Machine Tools	p. 151
10.2 Basic Definitions	p. 152
10.3 Motion	p. 153
10.4 Sources of Error and Error Budgets	p. 163
10.5 Some Typical Methods of Measuring Errors	p. 169
10.6 Conclusion	p. 177
10.7 Terminology	p. 177
References	p. 179
Section II Vibration Control
11 Active Damping of Large Trusses
Abstract	p. 181
11.1 Introduction	p. 181
11.2 Active Struts	p. 181
11.3 Active Tendon Control	p. 187
11.4 Active Damping Generic Interface	p. 191
11.5 Microvibrations	p. 192
11.6 Conclusions	p. 193
Acknowledgment	p. 194
References	p. 195
12 Semi-Active Suspension Systems
12.1 Introduction	p. 197
12.2 Semi-Active Suspensions Design	p. 199
12.3 Adjustable Suspension Elements	p. 203
12.4 Automotive Semi-Active Suspensions	p. 209
12.5 Application of Control Techniques to Semi-Active Suspensions	p. 213
12.6 Practical Considerations and Related Topics	p. 217
References	p. 217
13 Semi-Active Suspension Systems II
13.1 Concepts of Semi-Active Suspension Systems	p. 221
13.2 Control Design Methodology	p. 226
13.3 Properties of Semi-Active Suspensions: Performance Indexes	p. 232
13.4 Examples of Practical Applications	p. 233
References	p. 237
14 Active Vibration Absorption and Delayed Feedback Tuning
14.1 Introduction	p. 239
14.2 Delayed Resonator Dynamic Absorbers	p. 241
14.3 Multiple Frequency ATVA and Its Stability	p. 264
Acknowledgments	p. 278
References	p. 278
15 Vibration Suppression Utilizing Piezoelectric Networks
15.1 Introduction	p. 281
15.2 Passive and Semi-Active Piezoelectric Networks for Vibration Absorption and Damping	p. 282
15.3 Active-Passive Hybrid Piezoelectric Network Treatments for General Modal Damping and Control	p. 285
15.4 Active-Passive Hybrid Piezoelectric Network Treatments for Narrowband Vibration Suppression	p. 289
15.5 Nonlinear Issues Related to Active-Passive Hybrid Piezoelectric Networks	p. 293
15.6 Summary and Conclusions	p. 294
Acknowledgments	p. 295
References	p. 295
16 Vibration Reduction via the Boundary Control Method
16.1 Introduction	p. 299
16.2 Cantilevered Beam	p. 301
16.3 Axially Moving Web	p. 304
16.4 Flexible Link Robot Arm	p. 307
16.5 Summary	p. 311
Acknowledgments	p. 312
References	p. 312
Section III Dynamics and Control of Aerospace Systems
17 An Introduction to the Mechanics of Tensegrity Structures
Abstract	p. 316
17.1 Introduction	p. 316
17.2 Planar Tensegrity Structures Efficient in Bending	p. 326
17.3 Planar Class K Tensegrity Structures Efficient in Compression	p. 341
17.4 Statics of a 3-Bar Tensegrity	p. 363
17.5 Concluding Remarks	p. 375
Acknowledgment	p. 376
Appendix 17.A Nonlinear Analysis of Planar Tensegrity	p. 377
Appendix 17.B Linear Analysis of Planar Tensegrity	p. 379
Appendix 17.C Derivation of Stiffness of the C4Tli Structure	p. 381
References	p. 386
18 The Dynamics of the Class 1 Shell Tensegrity Structure
Abstract	p. 389
18.1 Introduction	p. 389
18.2 Tensegrity Definitions	p. 392
18.3 Dynamics of a Two-Rod Element	p. 397
18.4 Choice of Independent Variables and Coordinate Transformations	p. 400
18.5 Tendon Forces	p. 409
18.6 Conclusion	p. 417
Acknowledgment	p. 417
Appendix 18.A Proof of Theorem 18.1	p. 418
Appendix 18.B Algebraic Inversion of the Q Matrix	p. 427
Appendix 18.C General Case for (n, m) = (i, 1)	p. 430
Appendix 18.D Example Case (n,m) = (3,1)	p. 435
Appendix 18.E Nodal Forces	p. 438
References	p. 449
Section IV Robotics
19 Robot Kinematics
19.1 Introduction	p. 451
19.2 Description of Orientation	p. 452
19.3 Direct Kinematics	p. 456
19.4 Inverse Kinematics	p. 462
19.5 Differential Kinematics	p. 465
19.6 Differential Kinematics Inversion	p. 470
19.7 Inverse Kinematics Algorithms	p. 476
19.8 Further Reading	p. 483
References	p. 484
20 Robot Dynamics
20.1 Fundamentals of Robot Dynamic Modeling	p. 490
20.2 Recursive Formulation of Robot Dynamics	p. 497
20.3 Complete Model of Robot Dynamics	p. 503
20.4 Some Application of Computer-Aided Dynamics	p. 507
20.5 Extension of Dynamic Modeling--Some Additional Dynamic Effects	p. 509
Appendix Calculation of Transformation Matrices	p. 519
References	p. 523
21 Actuators and Computer-Aided Design of Robots
21.1 Robot Driving Systems	p. 524
21.2 Computer-Aided Design	p. 540
References	p. 555
22 Control of Robots
22.1 Introduction	p. 557
22.2 Hierarchical Control of Robots	p. 558
22.3 Control of a Single Joint of the Robot	p. 561
22.4 Control of Simultaneous Motion of Several Robot Joints	p. 577
References	p. 586
23 Control of Robotic Systems in Contact Tasks
23.1 Introduction	p. 587
23.2 Contact Tasks	p. 587
23.3 Classification of Robotized Concepts for Constrained Motion Control	p. 588
23.4 Model of Robot Performing Contact Tasks	p. 592
23.5 Passive Compliance Methods	p. 596
23.6 Active Compliant Motion Control Methods	p. 599
23.7 Contact Stability and Transition	p. 621
23.8 Synthesis of Impedance Control at Higher Control Levels	p. 627
23.9 Conclusion	p. 633
References	p. 634
24 Intelligent Soft-Computing Techniques in Robotics
24.1 Introduction	p. 639
24.2 Connectionist Approach in Robotics	p. 641
24.3 Neural Network Issues in Robotics	p. 648
24.4 Fuzzy Logic Approach	p. 656
24.5 Neuro-Fuzzy Approach in Robotics	p. 677
24.6 Genetic Approach in Robotics	p. 678
24.7 Conclusion	p. 680
References	p. 681
25 Teleoperation and Telerobotics
25.1 Introduction	p. 685
25.2 Hand Controllers	p. 686
25.3 FRHC Control System	p. 693
25.4 ATOP Computer Graphics	p. 695
25.5 ATOP Control Experiments	p. 698
25.6 Anthropomorphic Telerobotics	p. 701
25.7 New Trends in Applications	p. 703
Acknowledgment	p. 703
References	p. 705
26 Mobile Robotic Systems
26.1 Introduction	p. 707
26.2 Fundamental Issues	p. 707
26.3 Dynamics of Mobile Robots	p. 716
26.4 Control of Mobile Robots	p. 720
References	p. 726
27 Humanoid Robots
27.1 Zero-Moment Point--Proper Interpretation	p. 728
27.2 Modeling of Biped Dynamics and Gait Synthesis	p. 735
27.3 Control Synthesis for Biped Gait	p. 743
27.4 Dynamic Stability Analysis of Biped Gait	p. 752
27.5 Realization of Anthropomorphic Mechanisms and Humanoid Robots	p. 765
27.6 Conclusion	p. 774
References	p. 775
28 Present State and Future Trends in Mechanical Systems Design for Robot Application
28.1 Introduction	p. 779
28.2 Industrial Robots	p. 780
28.3 Service Robots	p. 794
References	p. 811
Index	p. 813

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