On the Extremal Fundamental Frequencies of One-Link Flexible Manipulators

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	On the Extremal Fundamental Frequencies of One-Link Flexible Manipulators
	Fei-Yue Wang
发表期刊	Int’l Journal of Robotics Research
	1994
卷号	13 期号:2 页码:162-170
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.
关键词	Flexible Manipulators
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/14203
专题	09年以前成果
通讯作者	Fei-Yue Wang
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.

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