Motion Planning of Kinematically Redundant Adaptive Truss : Use of Redundancy for Vibration Reduction
スポンサーリンク
概要
- 論文の詳細を見る
The aim of the present study is to improve the dynamic behavior of an adaptive truss by considering the redundant kinematical degrees of freedom(DOFs). It is assumed that the truss follows the prescribed path in its workspace. The motion planning problem with respect to vibration is formulated in a discrete form with a criterion function based on the strain energy of the adaptive truss. It is also shown that the proposed approach is applicable to a real model of the adaptive truss which takes into account the nodal offset, as well as an ideal model which is based on the ideal truss node assumption. Simulation studies are carried out for both ideal and real models of the adaptive truss. The effectiveness of the proposed approach on the vibration reduction is demonstrated.
- 一般社団法人日本機械学会の論文
- 1998-12-15
著者
-
TANAKA Masao
Faculty of Engineering Science, Osaka University
-
Sugiyama Yoshihiko
College Of Engineering Osaka Prefecture University
-
HANAHARA Kazuyuki
Faculty of Engineering, Kobe University
-
Hanahara Kazuyuki
Faculty Of Engineering Kobe University
-
Tanaka Masao
Faculty Of Engineering Science Osaka University
-
Tanaka Masao
Faculty Of Engineering Science : Osaka University
関連論文
- The Effect of Repeated Operation on Electrochromism in an All-Solid-State Device Using Li-Doped MgF_2 Thin-Film Electrolyte
- Electrolysis in Electrochromic Devices Consisting of WO_3 and MgF_2 Thin Films
- Parameter Identification for Respiratory Dynamics by Personalized Simulation and Experiment
- Breathing-Ventilation Model, and Simulation of High-Frequency Ventilation
- Studies on the Stability of Pipes Conveying Fluid : (The Combined Effect of a Spring Support and a Lumped Mass)
- Dynamic Analysis of a Truss-Type Flexible Robot Arm
- Electrochromism in a Thin-Film Device Using Li_2 WO_4 as an Li-Electrolyte
- Mechanism of Spectral Sensitization of Zn0 Coadsorbing p-Type and n-Type Dyes
- Influence of Illumination on the Surface Potential of ZnO Adsorbing p-Type Dye and n-Type Dye
- Contact Potential Difference of ZnO Layer Adsorbing p-Type Dye and n-Type Dye
- Sensory Evaluation of Past Design Cases and Design Candidates for Conceptual Structural Design
- Motion Planning of Kinematically Redundant Adaptive Truss : Use of Redundancy for Vibration Reduction
- SEPARATION MECHANISM OF ANION CHROMATOGRAPHY ON SILICA GEL COATED WITH POLYAMIDE CROWN RESIN AND ITS APPLICATION