DocumentCode
1869637
Title
Minimum-weight robot arm for a specified fundamental frequency
Author
Wang, Fei-Yue ; Russell, Jeffery L.
Author_Institution
Dept. of Syst. & Ind. Eng., Arizona Univ., Tucson, AZ, USA
fYear
1993
fDate
2-6 May 1993
Firstpage
490
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
Keywords
iterative methods; manipulators; robots; variational techniques; iteration schemes; mass; minimum-weight robot arm; nonlinear Euler equations; one-link flexible manipulator; optimal distribution; optimum design problem; specified fundamental frequency; stiffness; variational method; Calculus; Frequency; Laboratories; Manipulators; Nonlinear equations; Numerical analysis; Productivity; Robotics and automation; Service robots; Structural beams;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1993. Proceedings., 1993 IEEE International Conference on
Conference_Location
Atlanta, GA
Print_ISBN
0-8186-3450-2
Type
conf
DOI
10.1109/ROBOT.1993.292220
Filename
292220
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