Optimum Shape Construction of Flexible Manipulators with Total Weight Constraint
文献类型：期刊论文
| 作者 | Fei-Yue Wang ; Jeffrey L. Russell
|
| 刊名 | IEEE Transactions on Systems, Man, and Cybernetics
 |
| 出版日期 | 1995 |
| 卷号 | 25期号:4页码:605-614 |
| 关键词 | Flexible Manipulators |
| 英文摘要 | This paper addresses the problem of optimum shape design of flexible manipulators that maximizes the fundamental frequency of vibration under a specified total weight constraint. Successive iteration schemes are developed to solve the unconstrained optimum shape design problem analytically using the variational approach, while nonlinear programming methods are used to solve the constrained optimum shape design problem numerically using the optimization approach. In addition, since the tip load greatly influences the optimum frequency of a flexible arm and it is unavoidable for the arm to handle multiple tip loads, a minimax design method is proposed to construct the optimum shape under a finite range of tip loads. It is shown that the fundamental frequency of a flexible manipulator can be increased substantially through the optimum tapering of the cross section of its link. For example, numerical analysis indicates that, depending on the values of hub inertia and tip load, an increment from 149.76% to 642.31% in the fundamental frequency can be achieved for manipulators with links of geometrically similar cross sections. The results of this paper suggest a practical method of building flexible manipulators which can move faster d e r a given weight without causing serious vibration problems, thereby increasing productivity. |
| 源URL | [http://ir.ia.ac.cn/handle/173211/14891]  |
| 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,Jeffrey L. Russell. Optimum Shape Construction of Flexible Manipulators with Total Weight Constraint[J]. IEEE Transactions on Systems, Man, and Cybernetics,1995,25(4):605-614. |
| APA | Fei-Yue Wang,&Jeffrey L. Russell.(1995).Optimum Shape Construction of Flexible Manipulators with Total Weight Constraint.IEEE Transactions on Systems, Man, and Cybernetics,25(4),605-614. |
| MLA | Fei-Yue Wang,et al."Optimum Shape Construction of Flexible Manipulators with Total Weight Constraint".IEEE Transactions on Systems, Man, and Cybernetics 25.4(1995):605-614. |
入库方式： OAI收割
来源：自动化研究所
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