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On the Extremal Fundamental Frequencies of One-Link Flexible Manipulators
Fei-Yue Wang
Source PublicationInt’l Journal of Robotics Research
1994
Volume13Issue:2Pages:162-170
Abstract
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.
KeywordFlexible Manipulators
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/14203
Collection09年以前成果
Corresponding AuthorFei-Yue Wang
Recommended Citation
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.
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