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Optimum Shape Construction of Flexible Manipulators with Total Weight Constraint
Fei-Yue Wang; Jeffrey L. Russell
1995
发表期刊IEEE Transactions on Systems, Man, and Cybernetics
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.
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