自走式極限ロボット駆動系の非線形ねじり振動解析
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概要
- 論文の詳細を見る
In these ten years, many types of robots have been developed and produced in many fields.Especially, some kinds of working robots for surveillance, maintenance and/or measurement used at nuclear power plant, space or deep sea are faced with such severe circumstances as extremely high or low temperature, radioactivity, strong electromagnetic noise and so forth. The materials of driving shaft in those robots, therefore, are sometimes composed with nonferrous metal or non-metallic material, and this results in that the material strength becomes lower and also the spreading of gap at a certain connecting point occurs due to transient over loads. On the other hand, as it can be imagined by its name, the micro-machine has relatively larger gap on the viewpoint of machining accuracy. Such a larger gap in driving line frequently generates noise, vibration and/or failure of shaft owing to the nonlinear vibration. Thus it is very important task to examine the dynamic characteristics of rotating shaft at design stage prior to production. In this paper is presented a newly developed technique to analyze the nonlinear torsional vibration of rotating shaft related to the resonance region which is the most important one from the point of reliability and safety design. The technique is based on the asymptotic method of Bogoliuboff-Mitropolsky which is one of the most powerful tool in order to estimate the maximum response around the resonance region, and can deal with the multi-degree-of-freedom nonlinear system with plural gaps in line. The proposed technique is verified through the comparison with numerical simulations.
- 近畿大学の論文
- 2002-12-30