Shape Design and Experimental Study of Flexible Arm Taking Account of Vibration Suppression
In this study, we present an optimal design of flexible arm considering the vibration suppression and demonstrate the effectiveness of shape design by an experimental measurement.A constrained planar single-link flexible arm is considered.An FEM model of the flexible arm is constructed as a cantilever-like beam model.The vibration equation with damping term is derived by means of the FEM.The damping term is assumed to consist of the linear combination of the stiffness matrix and the mass matrix.The coefficients of linear combination are determined experimentally.We adopt the height of each element as a design variable in the shape design process.The objective function is the H2-norm of the transfer function of the flexible arm.We solve the optimization problem by using the Particle Swarm Optimization (PSO).In order to confirm the performance of the obtained design, we conduct the experiment of vibration measurement.We prepare three-type of arms that are made of poly ethylene terephthalate (PET).We utilize a laser displacement sensor and a strain gauge as the measurement devices.As the result of experimentation, we show the superiority of the obtained shape for the vibration suppression.
Structural Optimization Flexible Manipulator Vibration Measurement H2-norm
Kenji Matsunotani Takao Muromaki Yukio Tada
Graduate School of System Informatics,Kobe University,1-1 Rokkodai,Nada,Kobe,Japan Graduate School of Engineering,Kobe University,1-1 Rokkodai,Nada,Kobe,Japan
国际会议
黄山
英文
1-6
2012-06-18（万方平台首次上网日期，不代表论文的发表时间）