The Mechanical Systems Design Handbook. Modeling, Measurement, and Control PDF
Preview The Mechanical Systems Design Handbook. Modeling, Measurement, and Control
THE MECHANICAL SYSTEMS DESIGN HANDBOOK Modeling, Measurement, and Control © 2002 by CRC Press LLC The Electrical Engineering Handbook Series Series Editor Richard C. Dorf University of California, Davis Titles Included in the Series The Avionics Handbook, Cary R. Spitzer The Biomedical Engineering Handbook, 2nd Edition, Joseph D. Bronzino The Circuits and Filters Handbook, Wai-Kai Chen The Communications Handbook, Jerry D. Gibson The Control Handbook, William S. Levine The Digital Signal Processing Handbook, Vijay K. Madisetti & Douglas Williams The Electrical Engineering Handbook, 2nd Edition, Richard C. Dorf The Electric Power Engineering Handbook, Leo L. Grigsby The Electronics Handbook, Jerry C. Whitaker The Engineering Handbook, Richard C. Dorf The Handbook of Formulas and Tables for Signal Processing, Alexander D. Poularikas The Industrial Electronics Handbook, J. David Irwin The Measurement, Instrumentation, and Sensors Handbook, John G. Webster The Mechanical Systems Design Handbook, Osita D.I. Nwokah The RF and Microwave Handbook, Mike Golio The Mobile Communications Handbook, 2nd Edition, Jerry D. Gibson The Ocean Engineering Handbook, Ferial El-Hawary The Technology Management Handbook, Richard C. Dorf The Transforms and Applications Handbook, 2nd Edition, Alexander D. Poularikas The VLSI Handbook, Wai-Kai Chen The Mechatronics Handbook, Robert H. Bishop The Computer Engineering Handbook, Vojin Oklobdzija Forthcoming Titles The Circuits and Filters Handbook, 2nd Edition, Wai-Kai Chen The Handbook of Ad hoc Wireless Networks, Mohammad Ilyas The Handbook of Optical Communication Networks, Mohammad Ilyas The Handbook of Nanoscience, Engineering, and Technology, William A. Goddard, Donald W. Brenner, Sergey E. Lyshevski, and Gerald J. Iafrate © 2002 by CRC Press LLC THE MECHANICAL SYSTEMS DESIGN HANDBOOK Modeling, Measurement, and Control OSITA D. I. NWOKAH YILDIRIM HURMUZLU Southern Methodist University Dallas, Texas CRC PR ESS Boca Raton London New York Washington, D.C. Library of Congress Cataloging-in-Publication Data The Mechanical systems design handbook : modeling, measurement, and control / edited by Osita D.I. Nwokah, Yildirim Hurmuzlu. p. cm. -- (The Electrical engineering handbook series) Includes bibliographical references and index. ISBN 0-8493-8596-2 (alk. paper) 1. Production engineering. 2. Manufacturing processes. I. Nwokah, Osita D. I. II. Hurmuzlu, Yildirim. III. Series. TS176 .M42 2001 658.5--dc21 2001043150 This book contains information obtained from authentic and highly regarded sources. Reprinted material is quoted with permission, and sources are indicated. A wide variety of references are listed. Reasonable efforts have been made to publish reliable data and information, but the authors and the publisher cannot assume responsibility for the validity of all materials or for the consequences of their use. Neither this book nor any part may be reproduced or transmitted in any form or by any means, electronic or mechanical, including photocopying, microfilming, and recording, or by any information storage or retrieval system, without prior permission in writing from the publisher. All rights reserved. Authorization to photocopy items for internal or personal use, or the personal or internal use of specific clients, may be granted by CRC Press LLC, provided that $1.50 per page photocopied is paid directly to Copyright Clearance Center, 222 Rosewood Drive, Danvers, MA 01923 USA The fee code for users of the Transactional Reporting Service is ISBN 0-8493-8596-2/02/$0.00+$1.50. The fee is subject to change without notice. For organizations that have been granted a photocopy license by the CCC, a separate system of payment has been arranged. The consent of CRC Press LLC does not extend to copying for general distribution, for promotion, for creating new works, or for resale. Specific permission must be obtained in writing from CRC Press LLC for such copying. Direct all inquiries to CRC Press LLC, 2000 N.W. Corporate Blvd., Boca Raton, Florida 33431. Trademark Notice: Product or corporate names may be trademarks or registered trademarks, and are used only for identification and explanation, without intent to infringe. Visit the CRC Press Web site at www.crcpress.com © 2002 by CRC Press LLC No claim to original U.S. Government works International Standard Book Number 0-8493-8596-2 Library of Congress Card Number 2001043150 Printed in the United States of America 1 2 3 4 5 6 7 8 9 0 Printed on acid-free paper Preface This handbook is targeted as a reference for the use of engineers and scientists in industry. We have compiled a collection of selected topics that are directly related to the design and control of mechanical systems. The main motivation for the book is to present a practical overview of fundamental issues associated with design and control of mechanical systems. The reader will find four sections in the handbook: (1) Manufacturing, (2) Vibration Control, (3) Aerospace Systems, and (4) Robotics. Although the sections are arranged in a certain order, each contribution can stand alone to represent its subject. Thus, people can read the handbook in any order they see fit. The late Professor Osita Nwokah envisioned this project. Unfortunately, he could not see it through to completion. Professor Nwokah was the chairman of the mechanical engineering department at South- ern Methodist University and a distinguished member of the control community when he passed away on April 20, 1999. It was important to me to finish one of Professor Nwokah’s last projects. The reader will find a broad range of thoroughly covered important topics by well-known experts in their respective fields. Section I encompasses control issues related to manufacturing systems including several topics from precision manufacturing to machine vibrations. Section II deals with active vibration control including a diverse spectrum of topics such as suspension systems and piezoelectric networks. Section III touches upon aerospace systems, and the authors have presented a detailed analysis of tensegrity structures. Section IV covers robotics and is an encyclopedic review of most issues related to the control and design of robotic systems. It has been a pleasure to work with the four section editors, each a renowned international expert in his respective area. They, in turn, recruited very competent people who wrote chapters that, in my view, are individually important contributions to the design and control of mechanical systems. I also thank the people at CRC Press whose energy and constant support were essential to the completion of this handbook. I especially thank Nora Konopka who has spent numerous hours developing and producing this handbook. Yildirim Hurmuzlu Dallas, Texas © 2002 by CRC Press LLC Editors Yildirim Hurmuzlu currently serves as the Chairman of the Department of Mechanical Engineering at Southern Methodist University in Dallas, Texas. He has been with the department since 1987, and has served as assistant, associate, and full professor. Dr. Hurmuzlu's research interests are in the field of dynamic systems and controls, with particular emphasis on robotics and biomechanics. His research has been supported by the National Science Foundation, Whitaker Foundation, and Texas National Labora- tory Commission, and industrial corporations such as Bell Helicopter, Raytheon, Saudi Aramco, and Alcatel Corp. He has authored more than 50 articles in journals and conference proceedings and has organized sessions at national and international conferences. Dr. Hurmuzlu is an associate editor of the ASME Journal of Dynamic Systems Measurement and Control. He has also served as the chairman of IEEE Dallas–Fort Worth Control Systems Society and the ASME DSC biomechanics panel. Osita Nwokah was a leading international authority on the application of multivariable design methods for the control of high-performance, high-bypass ratio turbomachinery. As a graduate student at the University of Manchester Institute of Science and Technology (UMIST), Manchester, England, he was a member of the team that wrote the initial control algorithms for the regulation of the Rolls Royce Concordce Olympus 925 Engines using the inverse Nyquist array in 1971. After moving to the United States, Dr. Nwokah continued this line of work and developed fundamental methodologies to combine the inverse Nyquist array with the quantitative feedback theory (QFT) design method of Horowitz. At the time of his death, Dr. Nwokah was studying multivariable control design and implementation for the RASCAL Helicopter for NASA and U.S. Army at NASA Ames RC, Moffet Field, California. © 2002 by CRC Press LLC Contributors Rajesh Adhikari Kourosh Danai Martin Hosek Department of Mechanical and Department of Mechanical and University of Connecticut Aerospace Engineering Industrial Engineering Storrs, CT University of California, University of Massachusetts San Diego Amherst, MA S. Jack Hu La Jolla, CA Department of Mechanical Darren M. Dawson Engineering Yusuf Altintas Electrical and Computer University of Michigan Department of Mechanical Engineering Ann Arbor, MI Engineering Clemson University The University of British Clemson, SC Yildirim Hurmuzlu Columbia Department of Mechanical Vancouver, B.C., Canada Richard J. Furness Engineering Advanced Manufacturing Southern Methodist University Antal K. Bejczy Technology Development Dallas, TX Jet Propulsion Lab Ford Motor Company California Institute Detroit, MI Kenji Inoue of Technology Department of Systems and Pasadena, CA Martin Hägele Human Science Fraunhofer Institute Osaka University Branislav Borovac´ Stuttgart, Germany Osaka, Japan Faculty of Technical Sciences University of Novi Sad Novi Sad, Yugoslavia David E. Hardt Nader Jalili Professor of Mechanical Department of Mechanical Frederic Bossens Engineering Engineering Université Libre de Bruxelles Massachusetts Institute Clemson University Brussels, Belgium of Technology Clemson, SC Cambridge, MA Waileung Chan Elijah Kannatey-Asibu, Department of Mechanical and J. William Helton Jr. Aerospace Engineering Department of Mathematics Department of Mechanical University of California, University of California, Engineering San Diego San Diego University of Michigan La Jolla, CA La Jolla, CA Ann Arbor, MI © 2002 by CRC Press LLC Branko Karan Robert G. Landers Veljko Potkonjak Mihajlo Pupin Institute Department of Mechanical University of Belgrade Belgrade, Yugoslavia Engineering and Mathematics Belgrade, Yugoslavia University of Missouri Rolla, MO A. Preumont Dusko M. Katic´ Université Libre de Bruxelles Mihajlo Pupin Institute Nicolas Loix Brussels, Belgium Belgrade, Yugoslavia Micromega Dynamics Angleur, Belgium Rolf Dieter Schraft David Kazmer Fraunhofer Institute Department of Mechanical and M. G. Mehrabi Stuttgart, Germany Industrial Engineering Department of Mechanical University of Massachusetts Engineering Bruno Siciliano Amherst, MA University of Michigan Universita degli Studi di Napoli Ann Arbor, MI Frederico II P. P. Khargonekar Naples, Italy Department of Electrical D. L. Mingori Engineering and Computer Department of Mechanical and Robert E. Skelton Science Aerospace Engineering Department of Mechanical and University of Michigan University of California Aerospace Engineering Ann Arbor, MI Los Angeles, CA University of California La Jolla, CA Nenad M. Kircanski Siddharth P. Nagarkatti University of Toronto Lucent Technologies Dragan Stokic´ Toronoto, Ontario, Canada Sturbridge, MA ATB–Institute für Angewandte Systemtechnik Osita D. I. Nwokah Bremen, Germany Yoram Koren Department of Mechanical Department of Mechanical Engineering Dragoljub Sˇurdilovic´ Engineering Southern Methodist University Fraunhofer Institute University of Michigan Dallas, TX Stuttgart, Germany Ann Arbor, MI Nejat Olgac Masaharu Takano Willi Kortüm Department of Mechanical Department of Industrial German Aerospace Research Engineering Engineering Establishment University of Connecticut Kansai University Wessling, Germany Storrs, CT Osaka, Japan Thomas R. Kurfess Jean-Paul Pinaud D. M. Tilbury The George W. Woodruff School Department of Mechanical and Department of Mechanical of Mechanical Engineering Aerospace Engineering Engineering Georgia Institute of Technology University of California University of Michigan Atlanta, GA La Jolla, CA Ann Arbor, MI © 2002 by CRC Press LLC A. Galip Ulsoy Miomir Vukobratovic´ Derek Yip-Hoi Department of Mechanical Mihajlo Pupin Institute Department of Mechanical Engineering Belgrade, Yugoslavia Engineering University of Michigan University of Michigan Ann Arbor, MI Kon-Well Wang Ann Arbor, MI Structural Dynamics and Michael Valásˇek Controls Lab Czech Technical University Pennsylvania State University Prague, Czech Republic University Park, PA © 2002 by CRC Press LLC
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