Optimum Shape Construction of Flexible Manipulators with Total Weight Constraint

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	Optimum Shape Construction of Flexible Manipulators with Total Weight Constraint
	Fei-Yue Wang; Jeffrey L. Russell
发表期刊	IEEE Transactions on Systems, Man, and Cybernetics
	1995
卷号	25 期号:4 页码:605-614
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.
关键词	Flexible Manipulators
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/14891
专题	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.