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
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;
Conference_Titel :
Robotics and Automation, 1993. Proceedings., 1993 IEEE International Conference on
Conference_Location :
Atlanta, GA
Print_ISBN :
0-8186-3450-2
DOI :
10.1109/ROBOT.1993.292220
