Adam Morecki, Giovanni Bianchi, Cezary Rzymkowski's Romansy 13: Theory and Practice of Robots and Manipulators PDF

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Extra resources for Romansy 13: Theory and Practice of Robots and Manipulators

Example text

This control force can be introduced to the aerofoil by active control of the ailerons or flaps. However, in [3] a scheme which can be more efficient at high frequencies and which, hence, could serve as a supplement to the conventional methods, is in question. For canying out the active control by means of sound, acoustics is used. Although the pressures, generated by the loudspeaker are small, it was demonstrated that they can, in fact, induce significant and useful control forces on the aerofoil.

Ll26ll32,1987. 4. , Physical Fluid Dynamics, Van Nostrand Reinhold, pp. 312, 1977. 5. , "Influence of the Environment on the Stability of Shaft Vehicle with Parametric Excitation and Small Parameter'', Proc. of First ECPD Intern. Conference on Advanced Robotics and Intelligent Automation, Athens, pp. 625-631, 1995. 6. , "Structural Control Using Active Tuned Mass Dampers", Journal of the Engineering Mechanics Division, Proc. of the American Society of Civil Engineers, Vol. 106, No. , 1980. 7. The Akashi-Kaikyo Bridge, Honshu-Shikoku Bridge Authority, Japan, October 1998.

The parallel array is viewed as a programmable force generator, rather than as a motion generator. In this paper, we will discuss the wrench workspace generated by the prototype parallel array and also present an efficient method for controlling the wrench generation. 1 Introduction In contrast to most biological systems, the use of actuation units in most artificial systems is relatively conservative. In a biological system, muscle fibers are bundled in very large numbers to form muscles (McMahon, 1984).

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