Design, construction and operation of a variable geometry manipulator
Bibliographic record
Abstract
This thesis focuses on design, dynamical simulation, operation and performance evaluation of a variable geometry manipulator used in space as well as ground based operations. The system is composed of a mobile base supporting two modules connected in a chain topology. Each module consists of two links: one free to slew while the other is permitted to deploy. The governing equations of motion for the planar dynamics of the manipulator system are obtained using the Lagrangian procedure. A Fortran computer program is written for the dynamical simulation of the system. The accuracy of the formulation and the validity of the computer simulation code are verified through energy conservation tests. An extensive parametric study follows which provides better appreciation of the complex interactions between the system variables, initial disturbances, manipulator maneuvers, as well as the revolute joints and pay load flexibility. It also identifies critical combinations of system parameters and maneuvers which may lead to an unacceptable response. Results indicate that the coupling effects together with the flexibility at the revolute joints have significant impact on the manipulator's performance. Obviously, this will affect the desired trajectory tracking by the end-effector, suggesting a need for a suitable control algorithm. This is achieved through the classical Proportional-Integral-Derivative (PID) control strategy. The design, construction and integration of a prototype manipulator system, which progressed concurrently with the numerical simulation phase are also described in detail. Finally, the numerically predicted results are compared with the prototype performance. The remarkable agreement tends to substantiate integrity of the prototype design and effective implementation of the controller. The study lays a sound foundation for further exploration of this class of novel manipulators.
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How this classification was reachedexpand
Full frame machine prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. The Gemma side is a direct model label for every work in the frame, read from the title-only record. The Codex side is a classifier learned from the 10,348 direct Codex labels and calibrated to design-weighted sample rates; fields without enough sample support carry no Codex call. Candidate is the union of the two sides; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels.
Distilled classifier scores by category (both heads)
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.001 | 0.000 |
| Research integrity | 0.001 | 0.000 |
| Insufficient payload (model declined to judge) | 0.002 | 0.001 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from itClassification
machine, unvalidatedMachine predicted; a candidate call from one source (direct Gemma or distilled Codex), not a consensus.
How this classification was reached, model by model and score by score, is at the end of the page under "How this classification was reached".