動的ふるまいを考慮した適応トラスの動作計画 : 冗長自由度の活用による振動の軽減(機械力学,計測,自動制御)

概要

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The aim of the present study is to improve the dynamic behavior of the 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 account of 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.
社団法人日本機械学会の論文
1997-04-25