Proceedings ArticleDOI
Minimum-weight robot arm for a specified fundamental frequency
Fei-Yue Wang,J.L. Russell +1 more
- pp 490-495
TLDR
Numerical analysis shows that the weight of a flexible manipulator can be reduced significantly through the optimal distribution of mass and stiffness.Abstract:
The problem of designing a minimum-weight one-link flexible manipulator for a given fundamental vibration frequency is investigated. The optimum design problem is investigated. The optimum design problem is formulated by using the variational method. Iteration schemes are developed for solving the nonlinear Euler equations derived from variational calculus in various situations. Numerical analysis shows that the weight of a flexible manipulator can be reduced significantly through the optimal distribution of mass and stiffness. >read more
Citations
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Journal ArticleDOI
Dynamic analysis of flexible manipulators, a literature review
TL;DR: A survey of the literature related to dynamic analyses of flexible robotic manipulators has been carried out in this article, where both link and joint flexibility are considered in this work and an effort has been made to critically examine the methods used in these analyses, their advantages and shortcomings and possible extension of these methods to be applied to a general class of problems.
Journal ArticleDOI
On the Extremal Fundamental Frequencies of One-Link Flexible Manipulators
TL;DR: The problem of maximizing the fundamental vibration frequency of a flexible manipulator through the optimum design of its link is addressed using the variational method and can be formulated as a nonlinear eigenvalue problem and thus solved by a set of successive iteration schemes.
Journal ArticleDOI
Optimum shape construction of flexible manipulators with total weight constraint
Fei-Yue Wang,J.L. Russell +1 more
TL;DR: The results of this paper suggest a practical method of building flexible manipulators which can move faster under a given weight without causing serious vibration problems, thereby increasing productivity.
Journal ArticleDOI
Optimal construction and control of flexible manipulators: a case study based on LQR output feedback
TL;DR: In this paper, a mechatronic approach was used to design the mechanical system and controller concurrently for a robotic flexible manipulator, and the results showed substantial improvements on performance, but the performance was not as good as the traditional sequential design.
Journal ArticleDOI
Motion control of the flexible manipulator via controllable local degrees of freedom
Yushu Bian,Zhihui Gao,Chao Yun +2 more
TL;DR: In this paper, the concept of controllable local degree of freedom (CLF) was introduced to the topological structure of the flexible manipulator to suppress vibration in order to improve the end-effector accuracy.
References
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Proceedings ArticleDOI
A control-configured flexible arm: integrated structure control design
TL;DR: The integrated structure/control design of flexible robot arms is presented and the torque transmission technique makes it possible to remove nonminimum-phase zeros and make the endpoint control robustly stable.
Journal ArticleDOI
On the Extremal Fundamental Frequencies of One-Link Flexible Manipulators
TL;DR: The problem of maximizing the fundamental vibration frequency of a flexible manipulator through the optimum design of its link is addressed using the variational method and can be formulated as a nonlinear eigenvalue problem and thus solved by a set of successive iteration schemes.
Proceedings ArticleDOI
Optimum shape construction of flexible manipulators with tip loads
F.-Y. Wang,J.L. Russell +1 more
TL;DR: In this paper, the problem of constructing the optimum shape of a one-link flexible manipulator with a tip load under the total weight constraint is investigated using the variational method. But, it is not shown that the tip load greatly influences the optimum frequency of a flexible link.
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