| Preface |
| Introduction / Chapter 1： |
| Background and Problem Statement / 1.1： |
| Motivations / 1.2： |
| Organization of the Book / 1.3： |
| References |
| Past and Recent Works / Chapter 2： |
| Earlier Research on Flexible Manipulators / 2.1： |
| Recent Work on Flexible Manipulators / 2.2： |
| Modeling of Flexible Manipulators / Chapter 3： |
| Problem Description and Energy Calculations / 3.1： |
| Problem Statement / 3.2.1： |
| Kinetic Energy of the Beam / 3.2.2： |
| Kinetic Energy of the Tip Load / 3.2.3： |
| Total Potential Energy / 3.2.4： |
| Work Done by External Forces / 3.2.5： |
| Derivation of Equations of Motion / 3.3： |
| Euler-Bernoulli Beam Model Derivation / 3.3.1： |
| Equations of Motion for Euler-Bernoulli Beam Model / 3.3.2： |
| Timoshenko Beam Model Derivation / 3.3.3： |
| Equations of Motion for Timoshenko Beam Model / 3.3.4： |
| Linearization of the Beam Dynamic Models / 3.4： |
| Euler-Bernoulli Model after Linearization / 3.4.1： |
| Timoshenko Model after Linearization / 3.4.3： |
| Dimensionless Functions, Variables, and Parameters / 3.4.4： |
| Finite-Dimensional Modeling of Flexible Manipulators / 3.5： |
| Natural Frequency and Modal Shapes / 3.5.1： |
| Finite Modal Model of Euler-Bernoulli Beam / 3.5.2： |
| Finite Difference Model / 3.5.3： |
| Finite Element Model / 3.5.4： |
| Analysis of Flexible Manipulators / Chapter 4： |
| Dynamic Analysis of Vibrations of Flexible Manipulators Considering Effects of Rotary Inertia, Shear Deformation, and Tip Load / 4.1： |
| Dynamic Models for One-Link Flexible Manipulators / 4.2.1： |
| Characteristic Equations for Modal Frequencies and Vibration Modes / 4.2.3： |
| Asymptotic Behavior of Modal Frequencies and Vibration Modes / 4.2.4： |
| Experimental Verification and Numerical Analysis / 4.2.5： |
| Natural Frequencies and Modal Shape Functions / 4.2.6： |
| Step Responses and General Solutions / 4.2.7： |
| Passivity, Control, and Stability Analysis / 4.3： |
| Nonlinear Dynamic Equations of Motion / 4.3.1： |
| Discretization of Nonlinear Model / 4.3.2： |
| Stability Analysis / 4.3.3： |
| Optimization of Flexible Manipulators / Chapter 5： |
| Optimum Design of Flexible Beams with a New Iteration Approach / 5.1： |
| Basic Equations / 5.1.1： |
| Analysis of Singularity at the Free End / 5.1.3： |
| Solution by Successive Iterations: New Formulation / 5.1.4： |
| Numerical Examples / 5.1.5： |
| Geometrically Constrained and Composite Material Designs / 5.2： |
| Minimum and Maximum Radius Constraints / 5.2.1： |
| Uniform and Variable Tunnel Cross-Section Designs / 5.2.2： |
| Composite Material Designs / 5.2.3： |
| Optimum Shape Design of Flexible Manipulators with Tip Loads / 5.3： |
| Problem Setup / 5.3.1： |
| Euler-Bernoulli Equations / 5.3.2： |
| Analytical Solutions / 5.3.3： |
| Segmentized Optimization Approach / 5.3.4： |
| Multiple Tip Load and Multiple Link Optimum Designs / 5.3.5： |
| Sensitivity Analysis / 5.3.6： |
| Optimum Shape Construction with Total Weight Constraint / 5.4： |
| Basic Equations and the Variation Formulation / 5.4.1： |
| Analytical Approach of Unconstrained Shape Design / 5.4.2： |
| Optimization Approach of Constrained Shape Design / 5.4.3： |
| Numerical Examples and Discussion / 5.4.4： |
| Sensitivity Analysis of the Optimal Frequency / 5.4.5： |
| Minimum-Weight Design of Flexible Manipulators for a Specified Fundamental Frequency / 5.5： |
| Problem Formulation / 5.5.1： |
| Solution by Iterations / 5.5.3： |
| Optimum Design of Flexible Manipulators: The Segmentized Solution / 5.5.4： |
| Segmentized Solutions / 5.6.1： |
| Optimization Formulations for Linear Mass and Bending Rigidity Distributions / 5.6.3： |
| Practical Issues in Link Construction / 5.6.4： |
| Mechatronic Design of Flexible Manipulators / Chapter 6： |
| Overview of Mechatronics Design / 6.1： |
| Why Mechatronic Design? / 6.2.1： |
| What is Mechatronic Design? / 6.2.2： |
| How Does Mechatronic Design Work? / 6.2.3： |
| Mechatronic Design of Flexible Manipulators Based on LQR with IHR Programming / 6.3： |
| Dynamics of Flexible Manipulator Systems / 6.3.1： |
| LQR Formula: Inner Loop Optimizations / 6.3.2： |
| IHR Algorithm: Outer Loop Optimization / 6.3.3： |
| Integrated Optimization Process / 6.3.4： |
| Results and Discussion / 6.3.5： |
| Mechatronic Design of Flexible Manipulators-Based on H∞ with IHR Algorithm / 6.4： |
| State-Space Formulas for H∞, Control Problems / 6.4.1： |
| Generalized Plant of a Flexible Beam System / 6.4.2： |
| H∞ Controller Design / 6.4.3： |
| Simulation Results / 6.4.4： |
| System Robustness Analysis / 6.4.5： |
| Closed-Loop Design of Flexible Robotic Links / 6.5： |
| Dynamics of Single-Link Flexible Manipulator Systems / 6.5.1： |
| Transfer Functions of the Integrated Systems / 6.5.2： |
| Segmentized Solution for Transfer Functions / 6.5.3： |
| Optimization Formulations for Mechatronic Design / 6.5.4： |
| Concurrent Design / 6.6： |
| General Concepts / 6.6.1： |
| Existing Representation of Special Concurrent Designs / 6.6.2： |
| Problems / 6.6.3： |
| Concurrent Design of a Single-Link Flexible Manipulator Based on PID Controller / 6.7： |
| Implementation of Concurrent Design / 6.7.1： |
| Conclusions and Future Research / 6.7.3： |
| Index |
| Preface |
| Introduction / Chapter 1： |
| Background and Problem Statement / 1.1： |
