立体静定トラス形高多自由度アームの運動と振動

概要

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The geometrical configurations of statically determinate trusses having the same topology but different lengths of members are not the same. This suggests that the truss structure may work as a flexible arm by changing the length of each member actively, and a highly multiple degree of freedom may be obtained by regarding each member as one degree of freedom. The scope of this paper is to establish the fundamental idea and the formulae to describe the dynamic motion of the truss-type arm system. The incremental relationship for kinematic motion is described first, and then the equation of motions are established in the context of an extended matrix structural analysis based on the Lagrangean approach, since the kinematic degrees of freedom are identical to that of its structural deformation. Some numerical simulations are demonstrated with respect to the kinematic and elastic motion of the arm.
社団法人日本機械学会の論文
1988-07-25