On the Extremal Fundamental Frequencies of One-Link Flexible Manipulators
文献类型：期刊论文
| 作者 | Fei-Yue Wang
|
| 刊名 | Int’l Journal of Robotics Research
 |
| 出版日期 | 1994 |
| 卷号 | 13期号:2页码:162-170 |
| 关键词 | Flexible Manipulators |
| 通讯作者 | Fei-Yue Wang |
| 英文摘要 |
The problem of maximizing the fundamental vibration frequency
of a flexible manipulator through the optimum design of its
link is addressed. A larger fundamental vibration frequency is
desired because it will enable the manipulator to move faster
without causing serious oscillation of its end point. Using the
variational method, we show that this design problem can be
formulated as a nonlinear eigenvalue problem and thus solved
by a set of successive iteration schemes. Sensitivity analysis
for the optimum design is also performed to obtain useful information
for machining allowance specifications. The results
of this investigation should be very useful in the design of
lightweight and high-performance robotic arms. For example,
numeric calculations indicated that an increase ranging from
194.92% to 600.25% in the fundamental vibration frequency
can be achieved by the optimum tapering of a flexible manipulator
with a link of geometrically similar cross sections. This
may lead to a significant improvement in productivity, as the
manipulator can rotate three to seven times faster. |
| 源URL | [http://ir.ia.ac.cn/handle/173211/14203]  |
| 专题 | 自动化研究所_09年以前成果 |
| 推荐引用方式 GB/T 7714 | Fei-Yue Wang. On the Extremal Fundamental Frequencies of One-Link Flexible Manipulators[J]. Int’l Journal of Robotics Research,1994,13(2):162-170. |
| APA | Fei-Yue Wang.(1994).On the Extremal Fundamental Frequencies of One-Link Flexible Manipulators.Int’l Journal of Robotics Research,13(2),162-170. |
| MLA | Fei-Yue Wang."On the Extremal Fundamental Frequencies of One-Link Flexible Manipulators".Int’l Journal of Robotics Research 13.2(1994):162-170. |
入库方式： OAI收割
来源：自动化研究所
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