Abstract
This thesis presents a theoretical and experimental study on the elastodynamic analysis and control of the flexible linkage mechanisms using piczoelectric actuators. A mixed variational principle is developed to provide the basis for deriving the finite element equation which govern the dynamic responses of the flexible links, the behaviors of the piezoelectric materials and their coupling relationships. To ensure robust stability, the LQG/LTR (Linear Quadratic Gaussian with Loop Transfer Recovery) design methodology and the classical frequency-domain approach are employed to design the control system for actively suppressing the vibratory motions of the flexible links. In order to verify the mathematical model and the results of computer simulations, an experimental study on a four-bar linkage mechanism with one flexible link is performed. This experimentation not only demonstrates the capability of the piezoletric materials for vibration reductions but also provides an opportunity to examine the robustness of the control system. Essentially, this thesis introduces a design methodology by incorporating smart materials into a computer-controlled intelligent machinery which are capable of both reducing link deflections and slso operating with more versatile path-generation capability.