INERTIAL VIBRATION DAMPING OF A FLEXIBLE BASE MANIPULATOR

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概要

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• A rigid (micro) robot mounted serially to the tip of a long, flexible (macro) manipulator is often used to increase reach capability, but flexibility in the macromanipulator can make them susceptible to vibration. A rigid manipulator attached to a flexible but unactuated base was used to study a scheme to achieve positioning of the micromanipulator combined with enhanced vibration damping of the base. The interaction forces and torques acting between the robot and its flexible base were modeled and studied. When these interactions are properly controlled, damping can be added to the base.

• 一般社団法人日本機械学会の論文

著者

• Book Wayne

  Intelligent Machine Dynamics Laboratory George W. Woodruff School Of Mechanical Engineering Georgia

• George Lynnane

  Intelligent Machine Dynamics Laboratory, George W. Woodruff School of Mechanical Engineering Georgia

• George Lynnane

  Intelligent Machine Dynamics Laboratory George W. Woodruff School Of Mechanical Engineering Georgia

関連論文

• INERTIAL VIBRATION DAMPING OF A FLEXIBLE BASE MANIPULATOR
• Inertial Vibration Damping of a Flexible Base Manipulator(Advances in Motion and Vibration Control Technology)

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