Modelling and control of active systems with variable geometry. Part I: General approach and its application

The problem of active systems from the standpoint of adaptation to different working conditions is discussed. Every active system during its practical operation is subject to more or less intense static, kinematic and dynamic requirements. The attempt to meet all the requirements very often leads to conflict situations and compromise is needed. This paper examines the possibility to approach this problem through system reconfiguration. Thus, a new function is proposed to component the basic properties of active systems: the system can, in a purposeful way, adjust itself to various tasks and different working modes. This new adaptive characteristic of an active system follows from its capability for in-process change of geometry. In this way, it is possible to achieve better system performance. A wide class of active systems is considered under variable external and inertial loads and different kinematic requirements. The paper is organised in two parts. In Part I the general approach is derived and the applications are discussed. Part 2 presents a case study and numerical results.