Design synthesis & prototype implementation of parallel orientation manipulators for optomechatronic applications

Rahman, Taufiqur (2016) Design synthesis & prototype implementation of parallel orientation manipulators for optomechatronic applications. Doctoral (PhD) thesis, Memorial University of Newfoundland.

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This thesis documents a research endeavor undertaken to develop high-performing designs for parallel orientation manipulators (POM) capable of delivering the speed and the accuracy requirements of a typical optomechatronic application. In the course of the research, the state of the art was reviewed, and the areas in the existing design methodologies that can be potentially improved were identified, which included actuator design, dimensional synthesis of POMs, control system design, and kinematic calibration. The gaps in the current art of designing each of these POM system components were addressed individually. The outcomes of the corresponding development activities include a novel design of a highly integrated voice coil actuator (VCA) possessing the speed, the size, and the accuracy requirements of small-scale parallel robotics. Furthermore, a method for synthesizing the geometric dimensions of a POM was developed by adopting response surface methodology (RSM) as the optimization tool. It was also experimentally shown how conveniently RSM can be utilized to develop an empirical quantification of the actual kinematic structure of a POM prototype. In addition, a motion controller was formulated by adopting the active disturbance rejection control (ADRC) technology. The classic formulation of the ADRC algorithm was modified to develop a resource-optimized implementation on control hardware based on field programmable gate arrays (FPGA). The practicality and the effectiveness of the synthesized designs were ultimately demonstrated by performance benchmarking experiments conducted on POM prototypes constructed from these components. In specific terms, it was experimentally shown that the moving platforms of the prototyped manipulators can achieve highspeed motions that can exceed 2000 degrees/s in angular velocity, and 5×105 degrees/s2 in angular acceleration.

Item Type: Thesis (Doctoral (PhD))
Item ID: 12211
Additional Information: Includes bibliographical references (pages 201-223).
Keywords: Mechatronics, Optomechatronics, Parallel Orientation Manipulators, Dimensional Synthesis, Kinematic Calibration, Active Disturbance Rejection Control, Field Programmable Gate Array (FPGA), Voice Coil Actuator
Department(s): Engineering and Applied Science, Faculty of
Date: January 2016
Date Type: Submission
Library of Congress Subject Heading: Mechatronics; Optoelectronic devices; Actuators; Automatic control

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